CN113681573A - Self-error-correction processing method for any angle of aluminum profile - Google Patents
Self-error-correction processing method for any angle of aluminum profile Download PDFInfo
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 title claims abstract description 120
- 229910052782 aluminium Inorganic materials 0.000 title claims abstract description 120
- 238000012937 correction Methods 0.000 title claims abstract description 28
- 238000003672 processing method Methods 0.000 title claims description 14
- 238000001514 detection method Methods 0.000 claims abstract description 90
- 238000012545 processing Methods 0.000 claims abstract description 85
- 238000000034 method Methods 0.000 claims abstract description 36
- 238000005259 measurement Methods 0.000 claims abstract description 30
- 238000003754 machining Methods 0.000 claims abstract description 11
- 238000012544 monitoring process Methods 0.000 claims description 21
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000012986 modification Methods 0.000 abstract 1
- 230000004048 modification Effects 0.000 abstract 1
- 229910000838 Al alloy Inorganic materials 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D19/00—Shearing machines or shearing devices cutting by rotary discs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention relates to the field of aluminum profile machining, and particularly discloses an arbitrary-angle self-error-correction machining method for an aluminum profile, which comprises a profile station and at least one multi-shaft mechanical arm, wherein the front end of the multi-shaft mechanical arm is provided with a machining part and a distance measuring module; the method comprises the steps of setting initial parameters, calculating safety parameters, establishing a detection model, detecting the offset of an aluminum profile through a distance measurement module, comparing a detected aluminum profile distance measurement result with an aluminum profile cross section two-dimensional model, and correcting processing parameters. The invention detects the actual spatial position of the section bar through the distance measuring sensor, improves the processing accuracy, has wide application range and small modification to the existing production line; through data acquisition of the product position, the product position is determined according to the change of the origin coordinates, and the problems caused by the deviation of workpiece self deformation and the like and the product placement deviation can be avoided, so that the robot is guided to realize accurate positioning of the product, and the processing qualified rate is improved.
Description
Technical Field
The invention relates to the field of aluminum profile processing, in particular to an arbitrary angle self-error-correction processing method for an aluminum profile.
Background
With global economic globalization, the market demand is continuously diversified and varied, and the innovation and personalized development of the building industry are further promoted. At present, the traditional structural processing technology is basically used for processing aluminum profiles in the building industry, and a multi-shaft machining center is used for matching with manual feeding and discharging for a long time or mechanical feeding and discharging are used.
However, in the product processing process of the section bar, position deviation is often generated after the section bar is conveyed at different stations, so that processing errors can be generated in the processing process, the processing precision of a finished product is influenced, certain deviation cannot be avoided in the position of the section bar in consideration of the deformation of the section bar, the processing errors of machined parts and errors caused by equipment assembly, and compared with the high precision requirement of an aluminum alloy frame or a door window in the modern building industry, the errors generated by the traditional processing technology must be overcome as far as possible.
Disclosure of Invention
In order to solve the problems, adapt to the change of the section, increase the fault-tolerant rate of processing equipment, strengthen the processing capacity and finally realize smooth and correct production, the invention provides a self-error-correcting processing method for any angle of the aluminum section.
The technical scheme adopted by the invention is as follows: an arbitrary angle self-error-correction processing method for an aluminum profile comprises an aluminum profile station and at least one multi-shaft mechanical arm, wherein the aluminum profile to be processed is fixed on the aluminum profile station; the front end of the multi-axis mechanical arm is provided with a processing part and at least one distance measuring module, and the distance measuring module is used for measuring the distance from the distance measuring module to the surface of the aluminum profile;
the method for realizing the self-error-correction sawing of the aluminum profile at any angle comprises the following steps:
s1, setting initial parameters: processing data before zero clearing is carried out, and three-dimensional parameters and processing parameters of the aluminum profile are recorded;
s2, calculating security parameters: introducing the allowable movement range of the multi-axis mechanical arm, the allowable movement track limiting parameter of the processing part and the maximum deviation value of the aluminum profile station, and calculating the safe working parameter of the processing part by combining the three-dimensional parameter of the aluminum profile;
s3, establishing a detection model: establishing a two-dimensional model of the cross section of the aluminum profile according to the three-dimensional parameters of the aluminum profile, automatically or manually setting n monitoring points outside an aluminum profile station corresponding to the cross section of the aluminum profile, wherein n is more than or equal to 2 and is respectively a first monitoring point, a second monitoring point to an nth monitoring point, and simultaneously setting the orientation of a distance measuring module at each monitoring point;
s4, detection offset amount: the front end of the mechanical arm moves to a first detection point, the distance measurement module measures the distance of the section bar and then moves to a second detection point, and the distance measurement module measures the distance of the section bar and repeats the steps in sequence until the nth detection point is detected;
s5, parameter correction: comparing the detected aluminum profile distance measurement result with the aluminum profile cross section two-dimensional model, calculating the offset of the aluminum profile, and substituting the offset into the processing data to perform parameter correction;
and S6, starting the processing part, and starting processing according to the corrected processing data after the processing part reaches the rated rotating speed.
Preferably, the step of detecting the offset at S4 includes the following sub-steps:
a1, setting a first safety distance and a second safety distance, wherein the second safety distance is smaller than the first safety distance, and setting the movement speeds of the distance measurement module to be fast, medium and slow when the mechanical arm detects, and the movement speeds are gradually decreased;
a2, rapidly moving the ranging module to a first safety distance outside the first detection point;
a3, moving at a medium speed to a second safety distance beyond the first detection point by the ranging module;
a4, the ranging module moves slowly to the position of a first detection point to start detection, and returns quickly to a first safety distance outside a second detection point after detection is finished;
a5, the ranging module rapidly moves to a first safety distance outside the second detection point;
a6, moving at a medium speed to a second safety distance beyond a second detection point by the ranging module;
a7, the ranging module moves slowly to the position of a second detection point to start detection, and returns quickly to a first safety distance outside the second detection point after detection is finished;
and A8, sequentially detecting until the detection of the nth monitoring point is completed.
Preferably, in the step S2 of calculating the safety parameters, the method for automatically setting n monitoring points includes:
according to the aluminum profile cross section two-dimensional model, a detection point is arranged on each side normal line which faces upwards and towards the right side on the outer wheel frame.
Preferably, the ranging module is one or any combination of a laser ranging module, a radar ranging module and a mechanical ranging module.
Preferably, the step S4 of detecting the distance measurement to the profile in the offset includes the following sub-steps:
b1, moving the distance measurement module along the parallel direction to perform linear continuous distance measurement according to the nearest edge of the two-dimensional model of the cross section of the aluminum profile after the distance measurement module reaches the detection point;
and B2, establishing a ranging two-dimensional model according to the continuous ranging result of each measuring point.
Preferably, in the step S3 of establishing the detection model, a length detection point is further provided, the length detection point is arranged on an extension line at one end of the aluminum profile and is not aligned with the hollow part of the aluminum profile, and the distance measurement module faces the end face of the aluminum profile during detection;
in the step S5 and the parameter correction, the method further includes: correcting the coordinate parameters of the length detection points according to the offset, moving the front end of the mechanical arm to the corrected length detection points, and measuring the distance of the sectional material by using a distance measuring module to obtain the length parameters; and calculating the length compensation value of the aluminum profile according to the length parameter, and substituting the length compensation value into the processing data to correct the three-dimensional parameter.
Preferably, the method further comprises the following steps:
s7, real-time detection: in the processing process of the processing part, the distance measuring module measures the relative distance between the distance measuring module and the aluminum profile in real time and is used for judging whether the aluminum profile generates displacement due to processing; if the aluminum profile generates displacement, the emergency stop processing part continues processing, the step S4 to the step S7 are carried out again, if the aluminum profile is detected to generate displacement again, the processing is stopped, and alarm information is sent to inform workers that the aluminum profile is not clamped stably.
Preferably, the method further comprises the following steps:
and S8, intermediate detection, namely dividing the processing process into a plurality of processing procedures, repeating the steps S4 to S6 after one processing procedure is finished, recalculating the offset of the aluminum profile, and continuing the next processing procedure.
The invention has the beneficial effects that:
(1) through range sensor, detect the actual spatial position of section bar, cooperate three-dimensional model output data, the operation gesture of correction robot work finally adapts to the correct production of section bar, has improved the accuracy nature of processing, and application scope is wide, reforms transform for a short time to current production line.
(2) Through data acquisition of the product position, the product position is determined according to the change of the origin coordinates, and the problems caused by the deviation of workpiece self deformation and the like and the product placement deviation can be avoided, so that the robot is guided to realize accurate positioning of the product, and the processing qualified rate is improved.
Drawings
FIG. 1 is a schematic view of a multi-axis robotic arm of the present invention;
FIG. 2 is a schematic view of an aluminum profile station of the present invention;
fig. 3 is a schematic diagram of the detection points and detection tracks of the present invention.
In the figure: 1. a processing section; 2. a distance measurement module; 201. a first detection point; 202. a second detection point; 3. a multi-axis robotic arm; 4. a mechanical arm base; 5. an aluminum profile; 6. a clamping module; 7. a station base; 8. aluminium alloy station.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict. The technology can be used for any material processing technology except the aluminum profile 5, and is not limited to the processing of the aluminum profile 5.
Referring to fig. 1 to 3, the invention relates to a self-correcting processing method for any angle of an aluminum profile, which is applied to a cutting processing production line for two ends of an aluminum profile 5, and comprises an aluminum profile station 8 and two multi-shaft mechanical arms 3 at two ends of the aluminum profile station 8, wherein the aluminum profile 5 to be processed is fixed on the aluminum profile station 8; the front end of multiaxis arm 3 all is equipped with processing portion 1 and at least one ranging module 2, and ranging module 2 is used for measuring ranging module 2 just to the distance on aluminium alloy 5 surface, and what ranging module 2 adopted of this embodiment is laser ranging module 2.
An aluminum profile station 8 for fixing the aluminum profile 5 is composed of a station base 7 and a plurality of clamping modules 6, wherein the clamping modules 6 are used for clamping the aluminum profile 5 for fixing, and preferably the clamping modules 6 can move horizontally on the station base 7. The multi-shaft mechanical arm 3 is provided with a mechanical arm base 4, and the station base 7 is adjacent to the mechanical arm base 4 and is fixedly connected with the ground or a processing table.
And establishing a coordinate system of the distance measuring module 2 on a control system for processing, setting an original user coordinate system of the aluminum profile 5, moving the coordinate system of the distance measuring module 2 to an original detection point, and collecting position data of the aluminum profile 5.
The method for realizing the self-correcting saw cutting of the aluminum profile 5 at any angle comprises the following steps:
s1, setting initial parameters: processing data before zero clearing is carried out, and three-dimensional parameters and processing parameters of the aluminum profile 5 are recorded;
s2, calculating security parameters: introducing the allowable movement range of the multi-axis mechanical arm 3, the allowable movement track limiting parameter of the processing part 1 and the maximum deviation value of the aluminum profile station 8, and calculating the safe working parameter of the processing part 1 by combining the three-dimensional parameter of the aluminum profile 5;
s3, establishing a detection model: establishing a two-dimensional model of the cross section of the aluminum profile 5 by using three-dimensional parameters of the aluminum profile 5, automatically setting five monitoring points outside an aluminum profile station 8 corresponding to the cross section of the aluminum profile 5, namely a first monitoring point 201, a second monitoring point 202 to a fifth monitoring point, simultaneously setting the orientation of the ranging module 2 at each monitoring point as the line-sending direction of a corresponding plane, simultaneously setting length detecting points which are arranged on an extension line at one end of the aluminum profile 5 and are not aligned with the hollow-out positions of the aluminum profile, and enabling the ranging module 2 to face the end face of the aluminum profile 5 during detection;
s4, detection offset amount: the front end of the mechanical arm moves to a first detection point 201 first, the distance measurement module 2 measures the distance of the section bar and then moves to a second detection point 202, the distance measurement module 2 measures the distance of the section bar and repeats the steps in sequence until the detection of the nth detection point is finished;
s5, parameter correction: comparing the detected aluminum profile 5 distance measurement result with the aluminum profile 5 cross section two-dimensional model, calculating the offset of the aluminum profile 5, and substituting the offset into the processing data to perform parameter correction; correcting the coordinate parameters of the length detection points according to the offset, moving the front end of the mechanical arm to the corrected length detection points, and measuring the distance of the section by the distance measuring module 2 to obtain the length parameters; calculating a length compensation value of the aluminum profile 5 according to the length parameter, and substituting the length compensation value into processing data to correct the three-dimensional parameter;
s6, starting the processing part 1, and starting processing according to the corrected processing data after the processing part 1 reaches the rated rotating speed;
s7, real-time detection: in the processing process of the processing part 1, the distance measuring module 2 measures the relative distance with the aluminum profile 5 in real time and is used for judging whether the aluminum profile 5 generates displacement due to processing; if the aluminum profile 5 is displaced, the emergency stop processing part 1 continues processing, the steps S4 to S7 are carried out again, if the aluminum profile 5 is detected to be displaced again, the processing is stopped, and an alarm message is sent to inform a worker that the aluminum profile 5 is not clamped firmly;
and S8, intermediate detection, namely dividing the processing process into a plurality of processing procedures, repeating the steps S4 to S6 after one processing procedure is finished, recalculating the offset of the aluminum profile 5, and continuing the next processing procedure.
Wherein steps S7 and S8 may be optionally not performed, and step S7 is to ensure that the aluminum profile 5 does not generate a new offset due to the machining force during the machining process, thereby affecting the machining accuracy; step S8 is for improving the machining accuracy of each step in the step machining, and less machining process causes accumulation of offset or error.
In the step S4, detecting the offset includes the following sub-steps:
a1, setting a first safety distance and a second safety distance, wherein the second safety distance is 20cm, the first safety distance is 50cm, and setting the movement speed of the distance measuring module 2 to be fast, medium and slow when the mechanical arm detects, and the movement speed is gradually decreased;
a2, the ranging module 2 moves rapidly to a first safe distance outside the first detection point 201;
a3, moving at a middle speed to a second safety distance beyond the first detection point 201 in the distance measurement module 2;
a4, the ranging module 2 moves slowly to the first detection point 201 to start detection, and returns quickly to the first safety distance outside the second detection point after detection is finished;
a5, the ranging module 2 moves rapidly to a first safety distance outside the second detection point 202;
a6, moving at a middle speed to a second safety distance beyond the second detection point 202 in the ranging module 2;
a7, the ranging module 2 moves slowly to the position of the second detection point 202 to start detection, and returns quickly to the first safety distance outside the second detection point 202 after detection is finished;
and A8, sequentially detecting until the detection of the fifth monitoring point is completed.
Similarly, the distance measurement of the length detection point in the parameter correction in step S5 is also detected in the above-described substeps.
The above steps are used for reducing the inertia error and the collision danger caused by high-speed motion while ensuring the detection speed and the safety of the multi-axis mechanical arm 3.
Step S3, in the establishment of the detection model, the method for automatically setting five monitoring points is as follows:
according to the two-dimensional model of the cross section of the aluminum profile 5, a detection point is arranged on each side normal line which faces upwards and towards the right side on the outer wheel frame.
Step S4, detecting the distance measurement of the section bar in the offset, which comprises the following steps:
b1, moving the distance measurement module 2 along the parallel direction to perform linear continuous distance measurement according to the nearest edge of the two-dimensional model of the cross section of the aluminum profile 5 after the distance measurement module reaches a detection point;
and B2, establishing a ranging two-dimensional model according to the continuous ranging result of each measuring point.
Through the measurement of continuous linearity, the data such as offset, deformation, distortion and the like of the aluminum profile 5 can be obtained more easily.
The laser displacement sensor used in the embodiment has the advantages of high precision and real-time online detection, is connected with the multi-axis mechanical arm 3 through data communication, and modifies a program after the laser displacement sensor detects a real-time deviation value of the aluminum profile 5 so as to control the self-correction algorithm function of the system and eliminate the deviation caused by hardware.
In the actual operation and processing process, the steps are as follows:
the first step is as follows: selecting a production model through an interface, and determining production parameters and modes;
the second step is that: detecting the online position of the aluminum profile 5 in real time;
the third step: the off-line production is realized by technical connection of data communication and the multi-axis mechanical arm 3;
the fourth step: and the automatic error correction mode is used for correcting the actual position of the section to be processed, so that the aims of production safety and correctness are fulfilled.
By above-mentioned flow, realize that the testing process of reality aluminium alloy 5 does: the aluminum profile 5 is in place through the previous process and fixed at an aluminum profile station 8, the distance measuring module 2 moves to an original detection point under the driving of the multi-axis mechanical arm 3, real-time position data of the aluminum profile 5 are collected and recorded and then transmitted to a control system of the multi-axis mechanical arm 3, the multi-axis mechanical arm 3 corrects parameters according to the original data after receiving the data, a new user coordinate system is reestablished on the basis, automatic data deviation correction is achieved, and the method is applied to actual cutting.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (8)
1. An arbitrary angle self-error-correction processing method for an aluminum profile comprises an aluminum profile station, wherein an aluminum profile to be processed is fixed on the aluminum profile station; the method is characterized in that: the aluminum profile machining device is characterized by further comprising at least one multi-axis mechanical arm, wherein a machining part and at least one distance measuring module are arranged at the front end of the multi-axis mechanical arm, and the distance measuring module is used for measuring the distance from the distance measuring module to the surface of the aluminum profile;
the method for realizing the self-error-correction sawing of the aluminum profile at any angle comprises the following steps:
s1, setting initial parameters: processing data before zero clearing is carried out, and three-dimensional parameters and processing parameters of the aluminum profile are recorded;
s2, calculating security parameters: introducing the allowable movement range of the multi-axis mechanical arm, the allowable movement track limiting parameter of the processing part and the maximum deviation value of the aluminum profile station, and calculating the safe working parameter of the processing part by combining the three-dimensional parameter of the aluminum profile;
s3, establishing a detection model: establishing a two-dimensional model of the cross section of the aluminum profile according to the three-dimensional parameters of the aluminum profile, automatically or manually setting n monitoring points outside an aluminum profile station corresponding to the cross section of the aluminum profile, wherein n is more than or equal to 2 and is respectively a first monitoring point, a second monitoring point to an nth monitoring point, and simultaneously setting the orientation of a distance measuring module at each monitoring point;
s4, detection offset amount: the front end of the mechanical arm moves to a first detection point, the distance measurement module measures the distance of the section bar and then moves to a second detection point, and the distance measurement module measures the distance of the section bar and repeats the steps in sequence until the nth detection point is detected;
s5, parameter correction: comparing the detected aluminum profile distance measurement result with the aluminum profile cross section two-dimensional model, calculating the offset of the aluminum profile, and substituting the offset into the processing data to perform parameter correction;
and S6, starting the processing part, and starting processing according to the corrected processing data after the processing part reaches the rated rotating speed.
2. The aluminum profile any-angle self-error-correction processing method as claimed in claim 1, which is characterized in that: in the step S4, detecting the offset, the steps include:
a1, setting a first safety distance and a second safety distance, wherein the second safety distance is smaller than the first safety distance, and setting the movement speeds of the distance measurement module to be fast, medium and slow when the mechanical arm detects, and the movement speeds are gradually decreased;
a2, rapidly moving the ranging module to a first safety distance outside the first detection point;
a3, moving at a medium speed to a second safety distance beyond the first detection point by the ranging module;
a4, the ranging module moves slowly to the position of a first detection point to start detection, and returns quickly to a first safety distance outside a second detection point after detection is finished;
a5, the ranging module rapidly moves to a first safety distance outside the second detection point;
a6, moving at a medium speed to a second safety distance beyond a second detection point by the ranging module;
a7, the ranging module moves slowly to the position of a second detection point to start detection, and returns quickly to a first safety distance outside the second detection point after detection is finished;
and A8, sequentially detecting until the detection of the nth monitoring point is completed.
3. The aluminum profile any-angle self-error-correction processing method as claimed in claim 1, which is characterized in that: in the step S2 of calculating the security parameters, the method for automatically setting n monitoring points is as follows:
according to the aluminum profile cross section two-dimensional model, a detection point is arranged on each side normal line which faces upwards and towards the right side on the outer wheel frame.
4. The aluminum profile any-angle self-error-correction processing method as claimed in claim 1, which is characterized in that: the ranging module is one or any combination of a laser ranging module, a radar ranging module and a mechanical ranging module.
5. The aluminum profile any-angle self-error-correction processing method as claimed in claim 1, which is characterized in that: step S4, detecting the distance to the profile in the offset, which includes the following steps:
b1, moving the distance measurement module along the parallel direction to perform linear continuous distance measurement according to the nearest edge of the two-dimensional model of the cross section of the aluminum profile after the distance measurement module reaches the detection point;
and B2, establishing a ranging two-dimensional model according to the continuous ranging result of each measuring point.
6. The aluminum profile any-angle self-error-correction processing method as claimed in claim 1, which is characterized in that:
step S3, in the establishment of the detection model, a length detection point is further arranged, the length detection point is arranged on an extension line at one end of the aluminum profile and is not aligned with the hollow part of the aluminum profile, and the distance measurement module faces to the end face of the aluminum profile during detection;
in the step S5 and the parameter correction, the method further includes: correcting the coordinate parameters of the length detection points according to the offset, moving the front end of the mechanical arm to the corrected length detection points, and measuring the distance of the sectional material by using a distance measuring module to obtain the length parameters; and calculating the length compensation value of the aluminum profile according to the length parameter, and substituting the length compensation value into the processing data to correct the three-dimensional parameter.
7. The aluminum profile any-angle self-error-correction processing method as claimed in claim 1, which is characterized in that: the method also comprises the following steps:
s7, real-time detection: in the processing process of the processing part, the distance measuring module measures the relative distance between the distance measuring module and the aluminum profile in real time and is used for judging whether the aluminum profile generates displacement due to processing; if the aluminum profile generates displacement, the emergency stop processing part continues processing, the step S4 to the step S7 are carried out again, if the aluminum profile is detected to generate displacement again, the processing is stopped, and alarm information is sent to inform workers that the aluminum profile is not clamped stably.
8. The aluminum profile any-angle self-error-correction processing method as claimed in claim 1, which is characterized in that: the method also comprises the following steps:
and S8, intermediate detection, namely dividing the processing process into a plurality of processing procedures, repeating the steps S4 to S6 after one processing procedure is finished, recalculating the offset of the aluminum profile, and continuing the next processing procedure.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114655704A (en) * | 2022-05-24 | 2022-06-24 | 烟台吉兴汽车部件有限公司 | Conveying mechanism based on automatic assembly production line of automobile roof |
| CN114655704B (en) * | 2022-05-24 | 2022-08-23 | 烟台吉兴汽车部件有限公司 | Conveying mechanism based on automatic assembly production line of automobile roof |
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Application publication date: 20211123 |