CN111906169B - Heterogeneous axle class piece straightener based on visual detection - Google Patents
Heterogeneous axle class piece straightener based on visual detection Download PDFInfo
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- CN111906169B CN111906169B CN202010868579.9A CN202010868579A CN111906169B CN 111906169 B CN111906169 B CN 111906169B CN 202010868579 A CN202010868579 A CN 202010868579A CN 111906169 B CN111906169 B CN 111906169B
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- 238000001514 detection method Methods 0.000 title claims abstract description 60
- 230000000007 visual effect Effects 0.000 title abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 177
- 230000009471 action Effects 0.000 claims abstract description 9
- 230000002457 bidirectional effect Effects 0.000 claims description 25
- 239000000758 substrate Substances 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- 238000011179 visual inspection Methods 0.000 claims description 7
- 238000007689 inspection Methods 0.000 claims 1
- 238000005553 drilling Methods 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000004579 marble Substances 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 230000000881 depressing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
- B21D3/00—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts
- B21D3/10—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts between rams and anvils or abutments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
-
- 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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/003—Positioning devices
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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
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Wire Processing (AREA)
Abstract
The invention discloses a heterogeneous shaft part straightening device based on visual detection, which comprises a clamping end mechanism, a detection mechanism, a push rod pressing mechanism, a clamping end feeding mechanism, a supporting platform feeding mechanism, a push rod and supporting platform connecting mechanism and a frame, wherein the clamping end mechanism is connected with the detection mechanism; the clamping end feeding mechanism is arranged at one end of the frame, and the clamping end mechanism is arranged on the clamping end feeding mechanism; the supporting platform feeding mechanism is arranged on a bottom plate of the frame, the supporting platform mechanism is arranged on the supporting platform feeding mechanism, the push rod pushing mechanism is arranged on the lower surface of a top plate of the frame, the push rod and the supporting platform connecting mechanism are simultaneously connected with the push rod pushing mechanism and the supporting platform mechanism, the detecting mechanism is arranged on the push rod and the supporting platform connecting mechanism, and under the action of the supporting platform feeding mechanism, the supporting platform mechanism, the push rod and the supporting platform connecting mechanism, the detecting mechanism and a part of the push rod pushing mechanism reciprocate along the length direction of the frame. The device has more compact structure and higher efficiency.
Description
Technical Field
The invention relates to the technical field of defect detection, in particular to a heterogeneous shaft part straightening device based on visual detection.
Background
Along with the continuous development of deep hole processing, the application requirements of heterogeneous shaft parts such as deep holes and the like are more and more, and straightening is taken as a necessary link of deep hole drilling processing, so that the deep hole drilling method is a key step for guaranteeing the quality and the drilling efficiency of the deep hole drilling. Most of the existing straightening machines adopt a roll straightening mode and are mainly used for straightening shaft members with regular shapes. Because special structures exist on the surface of the heterogeneous shaft piece, such as a chip removing groove exists on the surface of a deep hole drill, and a shaft shoulder exists on the circumferential direction of the stepped shaft, a roller type straightening mode cannot be adopted, and the existing straightening mode of the heterogeneous shaft piece still stays at the stage of manual straightening and semiautomatic straightening.
The document with the application number 201810771840.6 discloses an automatic straightener, and the position of a turntable used for clamping a workpiece cannot be adjusted in the vertical direction, so that the position of the workpiece with larger deformation is easy to interfere with a pressing wheel; two lead screws are adopted to drive a cushion block for supporting a workpiece to slide on a sliding table, so that the supporting positions of a pinch roller and the workpiece are adjusted, the parts are more, the structure is complex, and synchronous rotation of a motor for driving the two lead screws to move is ensured; the laser scanner of the straightener cannot adjust the position in the vertical direction, so that the phenomenon that the part with larger deformation of the workpiece cannot be scanned is possibly caused, and the deformation position detection and the straightening precision are further affected.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a heterogeneous shaft piece straightening device based on visual detection.
The technical scheme adopted for solving the technical problems is as follows:
The utility model provides a heterogeneous axle class piece straightener based on visual inspection, includes clamping end mechanism, detection mechanism, push rod pushing mechanism, clamping end feed mechanism, supporting platform feed mechanism, push rod and supporting platform coupling mechanism and frame; it is characterized in that the method comprises the steps of,
The clamping end feeding mechanism is arranged at one end of the frame, and the clamping end mechanism is arranged on the clamping end feeding mechanism; the supporting platform feeding mechanism is arranged on a bottom plate of the frame, the supporting platform mechanism is arranged on the supporting platform feeding mechanism, the push rod pushing mechanism is arranged on the lower surface of a top plate of the frame, the push rod and the supporting platform connecting mechanism are simultaneously connected with the push rod pushing mechanism and the supporting platform mechanism, the detecting mechanism is arranged on the push rod and the supporting platform connecting mechanism, and under the action of the supporting platform feeding mechanism, the supporting platform mechanism, the push rod and the supporting platform connecting mechanism, the detecting mechanism and a part of the push rod pushing mechanism reciprocate along the length direction of the frame;
The clamping end feeding mechanism comprises a connecting seat, a third sliding block, a third motor, a second screw rod nut, a screw rod connecting plate, a clamping end mounting seat and a third guide rail; the third motor is fixed at the upper part of the connecting seat, the lead screw connecting plate is fixedly connected with the middle part of the vertical plate of the connecting seat, the two sides of the lower part of the connecting seat are respectively provided with a third guide rail, and the third guide rail is positioned below the lead screw connecting plate; the second lead screw is positioned between the two third guide rails, the upper end of the second lead screw is rotationally connected with the lead screw connecting plate, and the upper end of the second lead screw passes through the lead screw connecting plate to be fixedly connected with the output shaft of the third motor; the lower end of the second screw rod is rotationally connected with the bottom plate of the frame, and the second screw rod nut is slidably arranged on the second screw rod; one side of the clamping end mounting seat is fixedly connected with the second screw nut and the two third sliding blocks, and the clamping end mechanism is mounted on the clamping end mounting seat.
The push rod pushing mechanism comprises a first support connecting plate, a linear push rod, a pressure sensor, a second guide rail, a second sliding block and a stamping head; the plurality of second guide rails are fixed at intervals on the upper part of the frame, and each second guide rail is connected with a second sliding block in a sliding way; one end of the first support connecting plate is fixedly connected with all the second sliding blocks; the linear push rod is fixed on the lower surface of the first support connecting plate, the pressure sensor is fixed at the tail end of the telescopic rod of the linear push rod, and the stamping head is fixedly connected with the pressure sensor;
the supporting platform feeding mechanism comprises a fifth motor, a third screw rod shaft end supporting seat, a fifth guide rail, a fifth sliding block, a second supporting connecting plate, a fourth screw rod nut and a third screw rod; two ends of the third screw rod are respectively arranged on a bottom plate of the frame through third screw rod shaft end supporting seats, and the third screw rod can rotate relative to the third screw rod shaft end supporting seats; one end of the third screw rod passes through the corresponding third screw rod shaft end supporting seat and is connected with an output shaft of a fifth motor, and the fifth motor is arranged at one end of a bottom plate of the frame; the fourth screw nut is slidably arranged on the third screw; the two sides of the third screw rod are respectively provided with a fifth guide rail, the fifth guide rails are fixedly connected with the bottom plate of the frame, and each fifth guide rail is connected with a fifth sliding block in a sliding way; the second support connecting plate is arranged on the fourth screw nut and the two fifth sliding blocks, and the support platform mechanism is arranged on the second support connecting plate;
the supporting platform mechanism comprises a fourth motor, a second screw shaft end supporting seat, a fourth guide rail, a fourth sliding block, a supporting column, a supporting end head part, a bidirectional screw, a third screw nut and two supporting substrates; two ends of the bidirectional screw rod are respectively arranged on the second support connecting plate through a second screw rod shaft end supporting seat, and the bidirectional screw rod can rotate relative to the second screw rod shaft end supporting seat; one end of the bidirectional screw rod passes through the corresponding second screw rod shaft end supporting seat and is connected with an output shaft of a fourth motor, and the fourth motor is arranged at one end of the second supporting connecting plate; the two threaded parts of the bidirectional screw rod are respectively and slidably connected with a third screw rod nut; the two sides of the bidirectional screw rod are respectively provided with a fourth guide rail which is fixedly connected with the second support connecting plate; each fourth guide rail is connected with two fourth sliding blocks in a sliding manner, one supporting substrate is arranged on a third screw nut and the two fourth sliding blocks which are close to one end of the bidirectional screw, and the other supporting substrate is arranged on the third screw nut and the two fourth sliding blocks which are close to the other end of the bidirectional screw; each support substrate is fixedly provided with a support column, the two support columns are symmetrical relative to the stamping head, and each support column is fixedly provided with a support end part;
the connecting mechanism of the push rod and the supporting platform comprises a detection connecting plate and a triangular connecting plate; triangular connecting plates are arranged at four end corners of the detection connecting plate, the triangular connecting plate at the upper part of the detection connecting plate is fixedly connected with the lower surface of the other end of the first support connecting plate, and the triangular connecting plate at the lower part of the detection connecting plate is fixedly connected with the second support connecting plate; the detection mechanism is arranged on the detection connecting plate.
The device is matched with supporting end heads with different structures, in particular to a pointed supporting end head, a flat head type supporting end head or an arc groove type supporting end head.
The clamping end mechanism comprises a first motor, a first motor flange, a bearing support and a three-jaw chuck; the first motor flange and the bearing support are both fixed on the clamping end mounting seat, and the rotating shaft of the three-jaw chuck is rotatably mounted on the bearing support; the first motor is fixed on the first motor flange, and an output shaft of the first motor penetrates through the side surface of the first motor flange and is fixedly connected with the rotating shaft of the three-jaw chuck; the middle axial surface of the three-jaw chuck along the length direction of the frame is coincident with the middle axial surface of the support column along the length direction of the frame.
The detection mechanism comprises a second motor, a first screw shaft end supporting seat, a first screw nut, a first guide rail, a first sliding block, an annular light source, a light source connecting plate, a camera connecting plate, an industrial camera and a light source cover;
two ends of the first screw rod are respectively arranged on the detection connecting plate through first screw rod shaft end supporting seats, and the first screw rod can rotate relative to the first screw rod shaft end supporting seats; the upper end of the first screw rod passes through the corresponding first screw rod shaft end supporting seat and is fixedly connected with the output shaft of the second motor, and the second motor is fixedly connected with the detection connecting plate; the first screw nut is slidably mounted on the first screw; the two sides of the first screw rod are respectively provided with a first guide rail, and the first guide rails are arranged on the detection connecting plate; a first sliding block is slidably arranged on each first guide rail; one side of the camera connecting plate is fixedly connected with the first screw nut and the two first sliding blocks, the industrial camera is arranged on the other side of the camera connecting plate, and the axis of a lens of the industrial camera is coplanar with the axis of the stamping head; one end of the light source connecting plate is fixedly connected with the camera connecting plate, and the other end of the light source connecting plate is opposite to the camera connecting plate; the light source cover is embedded at the other end of the light source connecting plate, and the annular light source is arranged at the opening of the light source cover and is opposite to the lens of the industrial camera.
The push rod and supporting platform connecting mechanism further comprises a drag chain and a drag chain connecting piece; one end of the drag chain is connected with the camera connecting plate through the drag chain connecting piece, and the other end is connected with the detection connecting plate.
The rack comprises a top plate, a bottom plate and side plates; the top plate and the bottom plate are respectively connected with the upper end and the lower end of the side plate, so that the whole frame is C-shaped; the bottom plate is provided with a groove along the length direction.
The connecting seat comprises a connecting seat vertical plate, a connecting seat base plate and a connecting seat supporting plate; the connecting seat base plate is arranged at one end of the bottom plate, the connecting seat vertical plate is vertically arranged on the connecting seat base plate, and the connecting seat vertical plate is parallel to the side plate of the frame; the connecting seat supporting plate is fixedly connected with the connecting seat vertical plate and the connecting seat base plate at the same time.
Compared with the prior art, the invention has the beneficial effects that:
1. the push rod and the supporting platform connecting mechanism are respectively connected with the stamping connecting plate, the supporting connecting plate and the detecting mechanism, and can realize the reciprocating motion of the supporting platform mechanism, the detecting mechanism and the stamping head in the horizontal direction under the action of the fifth motor, so that the structure is more compact and the efficiency is higher.
2. According to the invention, the lifting of the clamping end mechanism is realized through the clamping end feeding mechanism, the position of the workpiece in the height direction of the frame is adjusted, the interference between the workpiece and the supporting end head in the detection process is prevented, and the rotary motion of the workpiece is ensured.
3. According to the application, the lifting of the light source connecting plate is realized through the first screw rod, so that the position of the industrial camera in the height direction of the frame is adjusted, and the position of a workpiece with larger deformation is ensured to be always positioned in the view field range of the lens of the industrial camera, so that the application can be suitable for workpieces with smaller deformation and workpieces with larger deformation.
4. Compared with the existing mode of adjusting the distance between the two supporting end heads by adopting the two lead screws, the invention has simpler operation, can lead the distance between the two supporting end heads to be smaller by adopting the two lead screws, and is applicable to workpieces with smaller deformation.
5. The frame is made of marble, has good stability, high strength and high hardness, can keep high precision under heavy load, and ensures the straightening precision.
6. The invention is provided with a plurality of supporting end parts, and can straighten different types of heterogeneous shaft parts.
7. The pressure sensor is arranged at the position of the stamping head, can detect the straightening force, is beneficial to collecting the straightening force required by different deformed workpieces by the system, and provides a data base for the automatic straightening work of the workpieces.
8. Compared with the detection mode of a laser scanner, the method for detecting the deformation part of the workpiece by using the industrial camera has the advantages of high detection precision, wide visual field range, stronger instantaneity and improved straightening efficiency.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a front view of the overall structure of the present invention;
FIG. 3 is a schematic view of the structure of the frame of the present invention;
FIG. 4 is a schematic view of the structure of the connecting base of the present invention;
FIG. 5 is a schematic view of the structure of the clamping end feed mechanism of the present invention;
FIG. 6 is a schematic view of the clamping end mechanism of the present invention;
FIG. 7 is a schematic view of the push rod depressing mechanism of the present invention;
FIG. 8 is a schematic view of the feed mechanism of the support platform of the present invention;
FIG. 9 is a schematic view of the support platform mechanism and the first support end head of the present invention;
FIG. 10 is a schematic view of the structure of the push rod and support platform connection mechanism of the present invention;
FIG. 11 is a schematic structural view of the detection mechanism of the present invention;
FIG. 12 is a schematic view of the structure of a second support header portion of the present invention;
FIG. 13 is a schematic view of the structure of a third support tip portion of the present invention;
FIG. 14 is a schematic view of the gun drill of the present invention;
FIG. 15 is an axial elevational view of the gun drill of the present invention;
fig. 16 is a schematic structural view of the stepped shaft of the present invention;
In the figure: 1. a clamping end mechanism; 2. a detection mechanism; 3. a push rod pressing mechanism; 4. a clamping end feeding mechanism; 5. a support platform mechanism; 6. a support platform feeding mechanism; 7. the push rod is connected with the supporting platform; 8. a frame;
11. A first motor; 12. a first motor flange; 13. a bearing support; 14. a three-jaw chuck; 15-fifth coupling;
21. A second motor; 22. a second motor flange; 23. a first coupling; 24. the first lead screw shaft end supporting seat; 25. a first lead screw; 26. a first lead screw nut; 27. a first guide rail; 28. a first slider; 29. an annular light source; 210. a light source connection plate; 211. a camera connection board; 212. an industrial camera; 213. a light source cover;
31. a first support connecting plate; 32. a straight push rod; 33. a pressure sensor; 34. a second guide rail; 35. a second slider; 36. punching heads;
41. A connecting seat; 42. a third motor flange; 43. a first grating scale; 44. a third slider; 45. a third motor, 46, a second coupling; 47. a second lead screw; 48. a second lead screw nut; 49. a lead screw connecting plate; 410. a clamping end mounting seat; 411. a third guide rail;
51. a fourth motor; 52. a fourth motor flange; 53. a third coupling; 54. the second lead screw shaft end supporting seat; 55. a fourth guide rail; 56. a fourth slider; 57. a support substrate; 58. a support column; 59. a support end portion; 510. a bidirectional screw rod; 511. a third lead screw nut;
61. A fifth motor; 62. a fifth motor flange; 63. a fourth coupling; 64. the third lead screw shaft end supporting seat; 65. a fifth guide rail; 66. a fifth slider; 67. a second support connecting plate; 68. a fourth lead screw nut; 69. a third lead screw;
71. Detecting a connecting plate; 72. a triangular connecting plate; 73. a drag chain; 74. a drag chain connection;
81. a top plate; 82. a bottom plate; 83. a side plate;
141. A claw; 4101. a connecting seat vertical plate; 4102. a connection base substrate; 4103. a connection base support plate; 671. an end ear; 821-groove.
Detailed Description
Specific examples of the present application are given below. The specific examples are only for further detailed description of the present application and do not limit the scope of the application.
The invention provides a heterogeneous shaft part straightening device based on visual detection (namely a straightening device for short, see fig. 1-16), which comprises a clamping end mechanism 1, a detection mechanism 2, a push rod pushing mechanism 3, a clamping end feeding mechanism 4, a supporting platform mechanism 5, a supporting platform feeding mechanism 6, a push rod and supporting platform connecting mechanism 7 and a frame 8;
The clamping end feeding mechanism 4 is arranged at one end of the frame 8, the clamping end mechanism 1 is arranged on the clamping end feeding mechanism 4, the clamping end feeding mechanism 4 is used for adjusting the position of a workpiece in the height direction of the frame 8, and the clamping end mechanism 1 realizes the rotary motion of the workpiece; the supporting platform feeding mechanism 6 is arranged on a bottom plate of the frame 8, the supporting platform mechanism 5 is arranged on the supporting platform feeding mechanism 6, the push rod pushing mechanism 3 is arranged on the lower surface of a top plate of the frame 8, the push rod and the supporting platform connecting mechanism 7 are simultaneously connected with the push rod pushing mechanism 3 and the supporting platform mechanism 5, the detecting mechanism 2 is arranged on the push rod and the supporting platform connecting mechanism 7, and under the action of the supporting platform feeding mechanism 6, the supporting platform mechanism 5, the push rod, the supporting platform connecting mechanism 7, the detecting mechanism 2 and a part of the push rod pushing mechanism 3 reciprocate along the length direction of the frame 8.
The frame 8 comprises a top plate 81, a bottom plate 82 and side plates 83; the top plate 81 and the bottom plate 82 are respectively connected with the upper end and the lower end of the side plate 83, so that the whole frame 8 is C-shaped, and the top plate 81, the bottom plate 82 and the side plate 83 can be integrally formed; the bottom plate 82 is provided with a groove 821 in the length direction for mounting the support platform feeding mechanism 6.
The clamping end feeding mechanism 4 comprises a connecting seat 41, a third motor flange 42, a first grating ruler 43, a third sliding block 44, a third motor 45, a second coupling 46, a second lead screw 47, a second lead screw nut 48, a lead screw connecting plate 49, a clamping end mounting seat 410 and a third guide rail 411;
The connection block 41 includes a connection block riser 4101, a connection block base 4102, and a connection block support plate 4103; the connecting seat base plate 4102 is arranged at one end of the bottom plate 82 of the machine frame 8 through bolts, the connecting seat vertical plate 4101 is vertically arranged on the connecting seat base plate 4102, the connecting seat base plate 4102 and the connecting seat base plate are in an L shape, the connecting seat base plate 4102 and the connecting seat base plate are fixedly connected through the connecting seat support plate 4103, the stability is improved, the connecting seat vertical plate 4101 is parallel to the side plate 83 of the machine frame 8, and the mounting surface of the connecting seat vertical plate 4101 faces to one side of the groove 821 of the bottom plate 82; the connecting seat riser 4101, the connecting seat base plate 4102, and the connecting seat support plate 4103 may be integrally formed;
The third motor 45 is fixed on the upper part of the connecting seat vertical plate 4101 through a third motor flange 42, and an output shaft of the third motor 45 is vertical to the bottom plate 82 of the frame 8; the lead screw connecting plate 49 is fixedly connected with the middle part of the connecting seat vertical plate 4101 through bolts, and the lead screw connecting plate 49 is vertical to the connecting seat vertical plate 4101; third guide rails 411 are respectively arranged on two sides of the lower part of the connecting seat vertical plate 4101, and the third guide rails 411 are perpendicular to the bottom plate 82 of the frame 8 and are positioned below the screw rod connecting plate 49; the second lead screw 47 is positioned in the middle of the two third guide rails 411, the upper end of the second lead screw 47 is rotationally connected with the lead screw connecting plate 49, and the upper end of the second lead screw 47 passes through the lead screw connecting plate 49 and is fixedly connected with the output shaft of the third motor 45 through the second coupler 46; the lower end of the second screw rod 47 is rotatably connected with the bottom plate 82 of the frame 8, and the second screw rod nut 48 is slidably arranged on the second screw rod 47; one side of the clamping end mounting seat 410 is fixedly connected with the second screw nut 48 and the two third sliding blocks 44, and the clamping end mechanism 1 is mounted on the top of the clamping end mounting seat 410; under the action of the third motor 45, the second screw nut 48 slides back and forth on the second screw 47, so as to realize the lifting of the clamping end mechanism 1 in the height direction of the frame 8; the fixed end of the first grating ruler 43 is mounted on the lower surface of the screw rod connecting plate 49, and the moving end of the first grating ruler 43 is connected with one of the third sliding blocks 44 and used for detecting the lifting distance of the clamping end mechanism 1 in the height direction of the frame 8.
The clamping end mounting seat 410 is L-shaped integrally, the vertical surface of the clamping end mounting seat 410 is fixedly arranged on the second screw nut 48 and the two third sliding blocks 44, and the clamping end mechanism 1 is arranged on the horizontal surface of the clamping end mounting seat 410;
The clamping end mechanism 1 comprises a first motor 11, a first motor flange 12, a bearing support 13 and a three-jaw chuck 14; the first motor flange 12 and the bearing support 13 are both fixed on the clamping end mounting seat 410, and a space for mounting a coupler exists between the first motor flange and the bearing support; the rotating shaft of the three-jaw chuck 14 is rotatably arranged on the bearing support 13 through a bearing, and the rotating shaft of the three-jaw chuck 14 extends out of the bearing support 13; the first motor 11 is fixed on the first motor flange 12 through bolts, and an output shaft of the first motor 11 is parallel to the groove 821 of the bottom plate 82 and faces the other end of the frame 8; the output shaft of the first motor 11 passes through the side surface of the first motor flange 12 and is fixedly connected with the rotating shaft of the three-jaw chuck 14 through a fifth coupler 15, and the rotation of the three-jaw chuck 14 is realized through the first motor 11; three clamping jaws 141 are uniformly arranged on the three-jaw chuck 14, the clamping jaws 141 can move along the radial direction of the three-jaw chuck 14, and the clamping of a workpiece is realized by adjusting the positions of the three clamping jaws 141;
the push rod pushing mechanism 3 comprises a first support connecting plate 31, a linear push rod 32, a pressure sensor 33, a second guide rail 34, a second sliding block 35 and a stamping head 36;
A plurality of second guide rails 34 (two in this embodiment) are fixed on the lower surface of the top plate 81 of the frame 8 at intervals, and each second guide rail 34 is slidably connected with a second slider 35; one end of the first support connecting plate 31 is fixedly connected with all the second sliding blocks 35 through bolts, and the other end is fixedly connected with the upper part of the push rod and support platform connecting mechanism 7; the linear push rod 32 is fixed on the lower surface of the first support connecting plate 31, and the pressure sensor 33 is fixed on the tail end of the telescopic rod of the linear push rod 32 and used for detecting straightening pressure; the stamping head 36 is fixedly connected with the pressure sensor 33 through threads and is used for straightening a workpiece; the punch 36 is capable of reciprocating in the height direction of the frame 8 by the linear push rod 32.
The supporting platform feeding mechanism 6 comprises a fifth motor 61, a fifth motor flange 62, a fourth coupling 63, a third screw shaft end supporting seat 64, a fifth guide rail 65, a fifth sliding block 66, a second supporting connecting plate 67, a fourth screw nut 68, a third screw 69 and a second grating scale (not shown in the figure);
Both ends of the third screw rod 69 are respectively arranged in the groove 821 of the bottom plate 82 through the third screw rod shaft end supporting seat 64, and the third screw rod 69 can rotate relative to the third screw rod shaft end supporting seat 64; one end of the third screw rod 69 passes through the corresponding third screw rod shaft end supporting seat 64 and is connected with the output shaft of the fifth motor 61 through the fourth coupler 63, and the fifth motor 61 is installed in the groove 821 of the bottom plate 82 through the fifth motor flange 62; a fourth lead screw nut 68 is slidably mounted on the third lead screw 69; the two sides of the third screw rod 69 are respectively provided with a fifth guide rail 65, the fifth guide rails 65 are arranged on the bottom plate 82 of the frame 8 through bolts, and each fifth guide rail 65 is connected with a fifth sliding block 66 in a sliding way; the second support connecting plate 67 is arranged on the fourth screw nut 68 and the two fifth sliding blocks 66, one side of the second support connecting plate 67 extends to form an end lug 671 for connecting the push rod and the support platform connecting mechanism 7, and the support platform mechanism 5 is arranged on the second support connecting plate 67; under the action of the fifth motor 61, the supporting platform mechanism 5 can reciprocate along the length direction of the frame 8; the fixed end of the second grating ruler is mounted on the bottom plate 82 of the frame 8, and the moving end of the second grating ruler is fixedly connected with one of the fifth sliding blocks 66 and used for detecting the moving distance of the supporting platform mechanism 5 in the horizontal direction.
The supporting platform mechanism 5 comprises a fourth motor 51, a fourth motor flange 52, a third coupler 53, a second screw shaft end supporting seat 54, a fourth guide rail 55, a fourth sliding block 56, a supporting column 58, a supporting end head 59, a bidirectional screw 510, a third screw nut 511 and two supporting base plates 57;
Two ends of the bidirectional screw 510 are respectively arranged at the part of the second support connecting plate 67 avoiding the end lug 671 through the second screw shaft end supporting seat 54, and the bidirectional screw 510 can rotate relative to the second screw shaft end supporting seat 54; one end of the bidirectional screw 510 passes through the corresponding second screw shaft end supporting seat 54 and is connected with an output shaft of the fourth motor 51 through the third coupler 53, and the fourth motor 51 is arranged at one end of the second supporting connecting plate 67 through the fourth motor flange 52; a third screw nut 511 is slidably coupled to both threaded portions of the bi-directional screw 510, respectively; the two sides of the bidirectional screw 510 are respectively provided with a fourth guide rail 55, and the fourth guide rails 55 are fixed on the two sides of the second support connecting plate 67 through bolts; each fourth guide rail 55 is slidably connected with two fourth sliding blocks 56, one supporting base plate 57 is installed on the third screw nut 511 and the two fourth sliding blocks 56 which are close to one end of the bidirectional screw 510, and the other supporting base plate 57 is installed on the third screw nut 511 and the two fourth sliding blocks 56 which are close to the other end of the bidirectional screw 510; each support base plate 57 is fixedly provided with a support column 58, the two support columns 58 are symmetrical relative to the stamping head 36, and the central axial surface of the support column 58 along the length direction of the frame 8 coincides with the central axial surface of the three-jaw chuck 14 along the length direction of the frame 8, so that the support columns 58 are prevented from shifting and cannot accurately support a workpiece; each support column 58 is fixed with a support end portion 59, and the distance between the two support end portions 59 is adjusted by a bidirectional screw 510.
The connecting mechanism 7 of the push rod and the supporting platform comprises a detection connecting plate 71, a triangular connecting plate 72 and a third grating ruler (not shown in the figure); triangular connecting plates 72 are arranged at four end corners of the detection connecting plate 71, the triangular connecting plate 72 at the upper part of the detection connecting plate 71 is fixedly connected with the lower surface of one end of the first support connecting plate 31, on which the linear push rod 32 is not arranged, and the triangular connecting plate 72 at the lower part of the detection connecting plate 71 is fixedly connected with an end lug 671 of the second support connecting plate 67; the detection mechanism 2 is mounted on the detection connection plate 71; the fixed end of the third grating ruler is arranged on the detection connecting plate 71, and the movable end of the third grating ruler is arranged on one first sliding block 28 of the detection mechanism 2 and is used for detecting the lifting distance of the detection mechanism 2;
Under the action of the fifth motor 61, the fourth screw nut 68 slides on the third screw 69 to drive the second support connecting plate 67 to slide along the third screw 69, and then drive the whole push rod and the support platform connecting piece mechanism 7 to slide along the third screw 69, so that the second slider 35 slides passively on the second guide rail 34, and the support platform mechanism 5, the detection mechanism 2 and the stamping head 36 reciprocate together in the length direction of the frame 8 through the push rod and the support platform connecting piece mechanism 7.
The detection mechanism 2 comprises a second motor 21, a second motor flange 22, a first coupler 23, a first screw shaft end supporting seat 24, a first screw shaft 25, a first screw nut 26, a first guide rail 27, a first sliding block 28, an annular light source 29, a light source connecting plate 210, a camera connecting plate 211, an industrial camera 212 and a light source cover 213;
Two ends of the first lead screw 25 are respectively arranged on the side surface of the detection connecting plate 71 through a first lead screw shaft end supporting seat 24, the first lead screw 25 can rotate relative to the first lead screw shaft end supporting seat 24, and the first lead screw 25 is perpendicular to a bottom plate 82 of the frame 8; the upper end of the first lead screw 25 passes through a corresponding first lead screw shaft end supporting seat 24 and is fixedly connected with an output shaft of the second motor 21 through a first coupler 23, and the second motor 21 is connected with a detection connecting plate 71 through a second motor flange 22; the first screw nut 26 is slidably mounted on the first screw 25; the two sides of the first lead screw 25 are respectively provided with a first guide rail 27, and the first guide rails 27 are parallel to the first lead screw 25 and are connected with a detection connecting plate 71 through bolts; a first slider 28 is slidably mounted on each first guide rail 27; one side of the camera connecting plate 211 is fixedly connected with the first screw rod nut 26 and the two first sliding blocks 28 through screws, the industrial camera 212 is arranged on the other side of the camera connecting plate 211, and the lens axis of the industrial camera 212 is coplanar with the axis of the stamping head 36, so that the stamping head 36 is ensured to just act on the deformation position of the workpiece; the light source connecting plate 210 is L-shaped, one end of the light source connecting plate 210 is fixedly connected with the camera connecting plate 211, and the other end is opposite to the camera connecting plate 211; one end of the light source cover 213 is provided with an opening, the light source cover 213 is embedded at the other end of the light source connecting plate 210, and the opening end of the light source cover 213 penetrates through the light source connecting plate 210; the annular light source 29 is arranged at the opening of the light source cover 213 and is opposite to the lens of the industrial camera 212, and a workpiece is positioned between the annular light source 29 and the industrial camera 212; under the action of the second motor 21, the camera connecting plate 211 can slide reciprocally along the first guide rail 27, so as to realize the lifting of the industrial camera 212 in the height direction of the frame 8.
The push rod and support platform connecting mechanism 7 further comprises a drag chain 73 and a drag chain connecting piece 74; one end of the drag chain 73 is connected with the camera connecting plate 211 through the drag chain connecting piece 74, the other end is connected with the detection connecting plate 71, and a power wire of an electricity utilization component of the detection mechanism 2 passes through a gap in the middle of the drag chain 73 to prevent the power wire from interfering with the lifting movement of the industrial camera 212.
The frame 8 is integrally formed by marble.
The application is matched with supporting end heads 59 with different structures aiming at different types of heterogeneous shaft parts; the end face of the supporting end head 59 shown in fig. 9 is provided with a plurality of 120-degree cambered surfaces, all of which form a pointed end at the center of the end face of the supporting end head 59, and the pointed supporting end head 59 is suitable for a gun drill (shown in fig. 14 and 15); because the gun drill is provided with the chip removing groove, the tip of the supporting end part 59 is matched with the chip removing groove of the gun drill, so that the contact area between the end surface of the supporting end part 59 and the chip removing groove is increased, and the stress concentration is reduced; the end surface of the supporting end part 59 shown in fig. 12 is provided with a flat head, which is suitable for a workpiece with a smaller diameter, and because the straightening force required by the workpiece with the smaller diameter is smaller, even if the supporting end part 59 is in point contact with the workpiece, the stress concentration degree is smaller, and the workpiece is not damaged; the support end portion 59 as shown in fig. 13 has an arc surface concave inward, and is adapted to a stepped shaft, and the arc surface of the support end portion 59 is in surface contact with the circumferential direction of the stepped shaft to reduce stress concentration.
The working principle and the working flow of the invention are as follows:
Initial position adjustment of the component: the claw 141 of the three-jaw chuck 14 is adjusted by an inner hexagonal wrench, one end of the workpiece is mounted on the three-jaw chuck 14, and the workpiece is clamped by the claw 141; the supporting platform mechanism 5 is positioned at the far end of the clamping end mechanism 1 in the initial position; the position of the clamping end mechanism 1 in the height direction of the frame 8 is adjusted so that the workpiece is positioned above the supporting end head 59 and is not contacted with the supporting end head 59 and the stamping head 36; starting the second motor 21 to drive the first screw nut 26 to slide on the first screw 25, so as to adjust the position of the industrial camera 212 in the height direction of the frame 8, and enable the workpiece contour at the current position to be completely positioned in the visual field range of the lens of the industrial camera 212; the fourth motor 51 is started, the distance between the two supporting columns 58 is reasonably adjusted according to the size of each local deformation part of the workpiece, so that the local larger deformation part of the workpiece is positioned between the two supporting end heads 59, meanwhile, the phenomenon that the distance between the two supporting end heads 59 is too large to influence the straightening effect is avoided, and the initial position adjustment of the workpiece is completed.
Deformation detection and straightening: starting the first motor 11 to drive the three-jaw chuck 14 to rotate so as to enable the workpiece to rotate; starting the fifth motor 61 to drive the fourth screw nut 68 to slide on the third screw 69 towards the proximal end of the clamping end mechanism 1, and further drive the supporting platform mechanism 5, the push rod, the supporting platform connecting mechanism 7, the detecting mechanism 2 and the stamping head 36 to move towards the proximal end of the clamping end mechanism 1 together, so that the industrial camera 212 also moves towards the proximal end of the clamping end mechanism 1, and meanwhile, the industrial camera 212 detects a workpiece; when the deformation of the workpiece is detected to be more than 10% of the length of the workpiece and the outline of the deformed part of the workpiece is completely positioned in the visual field range of the industrial camera 212, the first motor 11 stops working, and the workpiece stops rotating; the fifth motor 61 continues to rotate, so that the supporting platform mechanism 5, the push rod and supporting platform connecting mechanism 7, the detecting mechanism 2 and the punching head 36 move a certain distance, and the fifth motor 61 stops rotating when the deformation position of the workpiece is positioned at the middle point of the two supporting end heads 59; then, the first motor 11 is started to enable the three-jaw chuck 14 to rotate, the workpiece is driven to rotate, and the deformation position of the workpiece faces the stamping head 36; starting the third motor 45 to drive the second screw nut 48 to slide on the second screw 47, so that the clamping end mechanism 1 moves towards the direction of the bottom plate 82, and the workpiece is contacted with the supporting end head 59; starting the linear push rod 32, driving the stamping head 36 to move downwards and act on the deformation part of the workpiece, and then pressing the workpiece downwards to straighten the workpiece; the pressure sensor 33 monitors the straightening pressure in real time during the straightening process;
In the detection process, when the outline of the deformed part of the workpiece cannot be completely located in the visual field of the industrial camera 212, the second motor 21 is started to drive the first screw nut 26 to slide on the first screw 25, so that the position of the industrial camera 212 in the height direction of the frame 8 is adjusted, and the outline of the deformed part of the workpiece is completely located in the visual field of the lens of the industrial camera 212.
When the detection and straightening of one deformation position of the workpiece are completed, the first motor 11 and the fifth motor 61 continue to operate, and the apparatus repeats the above-described deformation detection and straightening operations until the detection and straightening of all deformation positions of the workpiece are completed.
The invention is applicable to the prior art where it is not described.
Claims (6)
1. The utility model provides a heterogeneous axle class piece straightener based on visual inspection, includes clamping end mechanism, detection mechanism, push rod pushing mechanism, clamping end feed mechanism, supporting platform feed mechanism, push rod and supporting platform coupling mechanism and frame; it is characterized in that the method comprises the steps of,
The clamping end feeding mechanism is arranged at one end of the frame, and the clamping end mechanism is arranged on the clamping end feeding mechanism; the supporting platform feeding mechanism is arranged on a bottom plate of the frame, the supporting platform mechanism is arranged on the supporting platform feeding mechanism, the push rod pushing mechanism is arranged on the lower surface of a top plate of the frame, the push rod and the supporting platform connecting mechanism are simultaneously connected with the push rod pushing mechanism and the supporting platform mechanism, the detecting mechanism is arranged on the push rod and the supporting platform connecting mechanism, and under the action of the supporting platform feeding mechanism, the supporting platform mechanism, the push rod and the supporting platform connecting mechanism, the detecting mechanism and a part of the push rod pushing mechanism reciprocate along the length direction of the frame;
The clamping end feeding mechanism comprises a connecting seat, a third sliding block, a third motor, a second screw rod nut, a screw rod connecting plate, a clamping end mounting seat and a third guide rail; the third motor is fixed at the upper part of the connecting seat, the lead screw connecting plate is fixedly connected with the middle part of the vertical plate of the connecting seat, the two sides of the lower part of the connecting seat are respectively provided with a third guide rail, and the third guide rail is positioned below the lead screw connecting plate; the second lead screw is positioned between the two third guide rails, the upper end of the second lead screw is rotationally connected with the lead screw connecting plate, and the upper end of the second lead screw passes through the lead screw connecting plate to be fixedly connected with the output shaft of the third motor; the lower end of the second screw rod is rotationally connected with the bottom plate of the frame, and the second screw rod nut is slidably arranged on the second screw rod; one side of the clamping end mounting seat is fixedly connected with the second screw nut and the two third sliding blocks, and the clamping end mechanism is mounted on the clamping end mounting seat;
The push rod pushing mechanism comprises a first support connecting plate, a linear push rod, a pressure sensor, a second guide rail, a second sliding block and a stamping head; the plurality of second guide rails are fixed at intervals on the upper part of the frame, and each second guide rail is connected with a second sliding block in a sliding way; one end of the first support connecting plate is fixedly connected with all the second sliding blocks; the linear push rod is fixed on the lower surface of the first support connecting plate, the pressure sensor is fixed at the tail end of the telescopic rod of the linear push rod, and the stamping head is fixedly connected with the pressure sensor;
the supporting platform feeding mechanism comprises a fifth motor, a third screw rod shaft end supporting seat, a fifth guide rail, a fifth sliding block, a second supporting connecting plate, a fourth screw rod nut and a third screw rod; two ends of the third screw rod are respectively arranged on a bottom plate of the frame through third screw rod shaft end supporting seats, and the third screw rod can rotate relative to the third screw rod shaft end supporting seats; one end of the third screw rod passes through the corresponding third screw rod shaft end supporting seat and is connected with an output shaft of a fifth motor, and the fifth motor is arranged at one end of a bottom plate of the frame; the fourth screw nut is slidably arranged on the third screw; the two sides of the third screw rod are respectively provided with a fifth guide rail, the fifth guide rails are fixedly connected with the bottom plate of the frame, and each fifth guide rail is connected with a fifth sliding block in a sliding way; the second support connecting plate is arranged on the fourth screw nut and the two fifth sliding blocks, and the support platform mechanism is arranged on the second support connecting plate;
the supporting platform mechanism comprises a fourth motor, a second screw shaft end supporting seat, a fourth guide rail, a fourth sliding block, a supporting column, a supporting end head part, a bidirectional screw, a third screw nut and two supporting substrates; two ends of the bidirectional screw rod are respectively arranged on the second support connecting plate through a second screw rod shaft end supporting seat, and the bidirectional screw rod can rotate relative to the second screw rod shaft end supporting seat; one end of the bidirectional screw rod passes through the corresponding second screw rod shaft end supporting seat and is connected with an output shaft of a fourth motor, and the fourth motor is arranged at one end of the second supporting connecting plate; the two threaded parts of the bidirectional screw rod are respectively and slidably connected with a third screw rod nut; the two sides of the bidirectional screw rod are respectively provided with a fourth guide rail which is fixedly connected with the second support connecting plate; each fourth guide rail is connected with two fourth sliding blocks in a sliding manner, one supporting substrate is arranged on a third screw nut and the two fourth sliding blocks which are close to one end of the bidirectional screw, and the other supporting substrate is arranged on the third screw nut and the two fourth sliding blocks which are close to the other end of the bidirectional screw; each support substrate is fixedly provided with a support column, the two support columns are symmetrical relative to the stamping head, and each support column is fixedly provided with a support end part;
The connecting mechanism of the push rod and the supporting platform comprises a detection connecting plate and a triangular connecting plate; triangular connecting plates are arranged at four end corners of the detection connecting plate, the triangular connecting plate at the upper part of the detection connecting plate is fixedly connected with the lower surface of the other end of the first support connecting plate, and the triangular connecting plate at the lower part of the detection connecting plate is fixedly connected with the second support connecting plate; the detection mechanism is arranged on the detection connecting plate;
The rack comprises a top plate, a bottom plate and side plates; the top plate and the bottom plate are respectively connected with the upper end and the lower end of the side plate, so that the whole frame is C-shaped; the bottom plate is provided with a groove along the length direction.
2. The visual inspection-based heterogeneous shaft part straightening device according to claim 1, wherein the device is matched with supporting end parts with different structures, in particular a pointed-type supporting end part, a flat-type supporting end part or an arc groove-type supporting end part.
3. The visual inspection-based heterogeneous shaft piece straightening device according to claim 1, wherein the clamping end mechanism comprises a first motor, a first motor flange, a bearing support and a three-jaw chuck; the first motor flange and the bearing support are both fixed on the clamping end mounting seat, and the rotating shaft of the three-jaw chuck is rotatably mounted on the bearing support; the first motor is fixed on the first motor flange, and an output shaft of the first motor penetrates through the side surface of the first motor flange and is fixedly connected with the rotating shaft of the three-jaw chuck; the middle axial surface of the three-jaw chuck along the length direction of the frame is coincident with the middle axial surface of the support column along the length direction of the frame.
4. The visual inspection-based heterogeneous shaft piece straightening device according to claim 1, wherein the inspection mechanism comprises a second motor, a first screw shaft end supporting seat, a first screw nut, a first guide rail, a first sliding block, an annular light source, a light source connecting plate, a camera connecting plate, an industrial camera and a light source cover;
two ends of the first screw rod are respectively arranged on the detection connecting plate through first screw rod shaft end supporting seats, and the first screw rod can rotate relative to the first screw rod shaft end supporting seats; the upper end of the first screw rod passes through the corresponding first screw rod shaft end supporting seat and is fixedly connected with the output shaft of the second motor, and the second motor is fixedly connected with the detection connecting plate; the first screw nut is slidably mounted on the first screw; the two sides of the first screw rod are respectively provided with a first guide rail, and the first guide rails are arranged on the detection connecting plate; a first sliding block is slidably arranged on each first guide rail; one side of the camera connecting plate is fixedly connected with the first screw nut and the two first sliding blocks, the industrial camera is arranged on the other side of the camera connecting plate, and the axis of a lens of the industrial camera is coplanar with the axis of the stamping head; one end of the light source connecting plate is fixedly connected with the camera connecting plate, and the other end of the light source connecting plate is opposite to the camera connecting plate; the light source cover is embedded at the other end of the light source connecting plate, and the annular light source is arranged at the opening of the light source cover and is opposite to the lens of the industrial camera.
5. The visual inspection-based heterogeneous shaft piece straightening device according to claim 4, wherein the push rod and support platform connecting mechanism further comprises a drag chain and a drag chain connecting piece; one end of the drag chain is connected with the camera connecting plate through the drag chain connecting piece, and the other end is connected with the detection connecting plate.
6. The visual inspection-based heterogeneous shaft piece straightening device according to claim 1, wherein the connecting seat comprises a connecting seat vertical plate, a connecting seat base plate and a connecting seat supporting plate; the connecting seat base plate is arranged at one end of the bottom plate, the connecting seat vertical plate is vertically arranged on the connecting seat base plate, and the connecting seat vertical plate is parallel to the side plate of the frame; the connecting seat supporting plate is fixedly connected with the connecting seat vertical plate and the connecting seat base plate at the same time.
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| CN112547839A (en) * | 2020-11-18 | 2021-03-26 | 中机试验装备股份有限公司 | Double-screw loading horizontal movement measuring mechanism |
| CN112404176A (en) * | 2020-11-20 | 2021-02-26 | 合肥工业大学 | Fixture and straightener for straightener |
| CN113275412A (en) * | 2021-06-15 | 2021-08-20 | 杭州予琚智能装备有限责任公司 | Straightness measuring and correcting device for long-strip-shaped part with special-shaped section |
| CN116371972A (en) * | 2023-06-02 | 2023-07-04 | 中国重型机械研究院股份公司 | Pressure straightening machine |
| CN116586466A (en) * | 2023-06-14 | 2023-08-15 | 大连石岛工业有限公司 | Novel intelligent straightening system for tie rod of ship binding piece |
| CN117564131B (en) * | 2024-01-17 | 2024-04-02 | 海顿直线电机(常州)有限公司 | Motor screw straightening method based on visual detection control system |
| CN117772854A (en) * | 2024-02-26 | 2024-03-29 | 昆山康尔亿工业设备有限公司 | Automatic straightening machine for batch head |
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| GB336843A (en) * | 1929-11-21 | 1930-10-23 | Tom Oldfield | Improvements relating to power straightening machines for straightening shafts, bars and the like |
| KR100715422B1 (en) * | 2005-07-08 | 2007-05-09 | 주식회사 지엔에스 | Multi-step process press system |
| EP2210685B1 (en) * | 2009-01-27 | 2012-11-07 | TRUMPF Werkzeugmaschinen GmbH + Co. KG | Method for correcting deformations occuring during the punching of metal sheets |
| CN106238635B (en) * | 2015-06-10 | 2019-08-20 | 上海泛华紧固系统有限公司 | Pipe external screw thread rolling and processing method, module and equipment and pipe external screw thread production line |
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