Artificial intelligence sheet metal part producing system

[0045] In the following, the production of sheet metal parts in an air conditioner two-unit factory is taken as an example, and the present invention will be further described with reference to the drawings.

[0046] The core of automated production is orderly production, that is, sequencing is the most important process in automated production.

[0047] Such as figure 1 As shown, the present artificial intelligence sheet metal production system includes a material supply unit 1, an automatic code taking unit for formed sheet metal parts 2, an intelligent logistics loading and transportation unit 3, and a centralized electronic control unit 7.

[0048] Such as figure 2 As shown, the material supply unit 1 is set at the input end of sheet metal processing equipment 8 such as a punching machine, a composite machine or a forming machine, and includes an automatic feeding device 11, which can be formed according to the requirements of the punching size The steel plate or steel belt is conveyed to the sheet metal processing equipment 8 for stamping. The automatic feeding device 11 is electrically connected with the electric control device of the sheet metal processing equipment 8, and the electronic control device of the sheet metal processing equipment 8 controls the feeding speed of the automatic feeding device 11 .

[0049] Such as figure 2 , image 3 As shown, the automatic code taking unit 2 for formed sheet metal parts includes a counting and placing device 22;

[0050] The number of counting and placing devices 22 is multiple pieces, which are arranged near the discharge end of the sheet metal processing equipment 8, including grabbing and placing component Ⅱ221, stacking bracket 222 and electronic control components;

[0051] The grab and place component Ⅱ221 includes a mechanical arm and a grab and place manipulator. The manipulator includes at least an X-coordinate drive mechanism or a Y-coordinate drive mechanism and a Z-coordinate drive mechanism. The grab and place manipulator is installed at the end of the robotic arm, including the grab mechanism and mode. Sensors and displacement sensors;

[0052] The stacking bracket 222 is set at least to match the number of grabbing and stacking components Ⅱ 221, set near the grabbing and laying components Ⅱ 221, and is a layered frame structure with an open top, such as Figure 4 As shown, it includes a plurality of accommodating spaces 2221 and an electric control mechanism evenly arranged in the horizontal and vertical directions. The length, width, and height of the accommodating space 2221 are in clearance fit with the length, width, and height of the stamped and formed sheet metal parts. The accommodating space 2221 is provided with limit plates at the bottom and all around. The length and width of the top of the accommodating space 2221 are provided with limit plates on one side, and the length and width of the top of the accommodating space 2221 are provided with limit plates on one side. The distance between the edge and the outer wall of the limiting plate of the adjacent accommodation space 2221 is in clearance fit with the length and width of the stamping and forming sheet metal parts, that is, the stamping and forming sheet metal parts can be put into the accommodation space 2221 from above the accommodation space 2221 Inside, the limit plate can prevent the stamped and formed sheet metal parts from leaving the accommodating space 2221 during the transfer process. The electric control mechanism includes a battery box, a wireless transmitting module, a position sensor on each accommodating space 2221, and a bottom or support on the stacking bracket 222 The electronic identification chip on the leg, the battery box is electrically connected with the wireless transmitting module, the position sensor and the electronic identification chip;

[0053] The electronic control components include industrial control computer, pattern recognition circuit, grab and place circuit and counting circuit. The industrial control computer is respectively electrically connected with grab and place component Ⅱ221, pattern recognition sensor, displacement sensor and electronic control mechanism of stacking bracket 222. Industrial The control computer can control the mechanical arm and the grabbing and placing manipulator to grab the stamped and formed sheet metal parts from the discharge end of the sheet metal processing equipment 8, and sequentially stack them in the accommodating space 2221 of the stacking bracket 222 and count them.

[0054] The intelligent logistics supporting and transporting unit 3 includes a logistics automatic guided transport vehicle 31, which includes a vehicle body, wheels, a driving brake and steering device assembly, a lifting control device, and a vehicle body power device And the on-board computer control device; the outer circumference of the car body is equipped with a distance sensor, and the car body is also equipped with a code reader; the lifting control device is installed above the car body, and the lifting control device can support the stacking platform bracket 212 or stacking when the lifting control device extends Bracket 222; the drive brake and steering device assembly, the vehicle body power device and the on-board computer control device are all set inside the vehicle body. The on-board computer control system includes industrial control computers, power circuits, wireless transceiver modules, wireless transmitter and receiver circuits, Position feedback and vehicle drive positioning loop, lift control loop and automatic charging or refueling loop. The industrial control computer is electrically connected to the vehicle body power unit, wireless transceiver module, distance sensor, driving brake and steering device assembly.

[0055] The centralized electronic control unit 7 includes a central control computer and a control loop of automatic logistics guided transport vehicles. The central control computer has built-in programs for the coordinate position of various equipment and warehouses in the factory area. The central control computer is respectively connected with the electronic control device of the sheet metal processing equipment 8. , The industrial control computer of the electronic control component of the counting and stacking device 22, the electronic control mechanism of the stacking bracket 222 and the on-board computer control system of the intelligent logistics transport unit 3 are electrically connected.

[0056] The working principle of this artificial intelligence sheet metal production system: the central control computer of the centralized electronic control unit 7 issues instructions to make the sheet metal processing equipment 8 start working, and the automatic feeding device 11 transports the steel plate or steel belt formed according to the stamping size requirements to Stamping is carried out in the sheet metal processing equipment 8, and the stamped and formed sheet metal parts are delivered to the discharge end of the sheet metal processing equipment 8 through the sequential stamping and transmission of the stamping die in the sheet metal processing equipment 8;

[0057] The automatic code taking unit 2 for the formed sheet metal parts starts to work, and the multiple counting and placing devices 22 work in sequence. The industrial control computer of the counting and placing device 22 controls the grabbing and placing component II 221 according to the setting program and the feedback coordinates of the displacement sensor. The sheet metal processing equipment 8 grabs the stamped and formed sheet metal parts from the discharge end and moves it to directly above the stacking bracket 222, and then the industrial control computer of the counting stacking device 22 is placed on the receiving space 2221 of the stacking bracket 222 The position sensor feedback coordinate position and the feedback of the mode sensor control the movement of the robotic arm that grabs the stacking component Ⅱ221 and extends into the stacking bracket 222, placing the stamped and formed sheet metal parts in the accommodating space 2221 of the stacking bracket 222 Within and count;

[0058] When the counting loop feedbacks the full information, the counting and placing device 22 stops the placing, the central control computer of the centralized electronic control unit 7 issues instructions to make the intelligent logistics loading and transportation unit 3 work, and the on-board computer control system controls the position according to the coordinate position sent by the central control computer. The logistics automatic guided transport vehicle 31 moves to the bottom of the stacking bracket 222 and lifts the stacking bracket 222, and then the on-board computer control system controls the logistics automatic guided transport vehicle 31 according to the coordinate position issued by the central control computer to support the stacking bracket The rack 222 is moved to the set position of the warehouse or directly transferred to the set position of the next process. After the stacking bracket 222 is put down, the logistics automatic guided transport vehicle 31 is in a standby state.

[0059] Since the stamping speed of sheet metal processing equipment 8 is usually faster and the output speed is faster, but the grabbing and placing component Ⅱ221 extends into the sheet metal processing equipment 8 to grab the stamped sheet metal parts from the discharge end and accurately move and place them. The speed in the stacking bracket 222 is relatively slow, and the microcomputer control mechanism for stacking control is relatively complicated. Therefore, in order to speed up the grabbing and stacking speed, as a further improvement of the present invention, the automatic code-taking unit 2 for forming sheet metal parts It also includes a grabbing and placing device I21, which is arranged near the discharge end of the sheet metal processing equipment 8, including grabbing and placing components I211, a stacking platform bracket 212 and electronic control components; grabbing and placing components I211 include mechanical The arm and the grabbing and placing manipulator. The manipulator includes at least an X-coordinate driving mechanism or a Y-coordinate driving mechanism and a Z-coordinate driving mechanism. The grabbing and placing manipulator is installed at the end of the manipulator and includes a grabbing mechanism and a displacement sensor; the stacking platform bracket 212 Set near the grab and place component I211; the electrical control components include an industrial control computer, a grab and place loop, the industrial control computer is electrically connected to the grab and place component I211 and a displacement sensor, and the industrial control computer can control the robotic arm and the grab and place robot Reach into the sheet metal processing equipment 8 to grab the stamped sheet metal parts from the discharge end, and stack them on the stacking platform bracket 212; the counting and stacking device 22 is set near the stacking platform bracket 212; The central control computer of the centralized electronic control unit 7 is electrically connected with the industrial control computer of the electronic control component of the grabbing and placing device Ⅰ21; in the working state, the central control computer of the centralized electronic control unit 7 issues instructions to make the grabbing and placing device Ⅰ21 only responsible for The stamped and formed sheet metal parts are grabbed from the discharge end of the sheet metal processing equipment 8 to the stacking platform bracket 212, while the grabbing and placing component Ⅱ221 is only responsible for placing the stamped and formed sheet metal parts on the stacking platform bracket 212 Grabbing and stacking are placed in the accommodating space 2221 of the stacking bracket 222 and counted so as to accelerate the capture and stacking speed.

[0060] In order to ensure the product quality of the sheet metal parts and prevent the sheet metal parts from being out of tolerance due to the wear of the stamping die, as a further improvement scheme of the present invention, the artificial intelligence sheet metal production system also includes an online inspection unit 4 and an online inspection unit 4 It is set near the stacking platform bracket 212 and includes the grabbing and stacking component I 211, a detection platform, a detection device 41 and an information processing electronic control device 42. The detection device 41 includes a coordinate control mechanism and a detection head. The detection head is equipped with a pattern recognition sensor, Position sensor, distance sensor, detection medium transmitter and detection medium feedback receiver. Pattern recognition sensor can be optical image sensor, ultrasonic sensor, X-ray sensor, etc., detection medium can be ultrasonic or light source, infrared and other media; information processing electronics The control device 42 includes an industrial control computer, a power circuit, a detection device position control circuit, a pattern recognition circuit, an analysis and planning detection parameter circuit, a detection control circuit, a data analysis and processing circuit, a print output circuit, etc. The industrial control computer is respectively connected to the detection head The pattern recognition sensor, the position sensor, the distance sensor, the detection medium transmitter and the detection medium feedback receiver are electrically connected; the centralized electronic control unit 7 also includes an online detection loop, the central control computer and the industrial control computer of the online detection unit 4 Connection; when the sheet metal processing equipment 8 runs for the set time, that is, when the minimum quality controllable period is reached, the central control computer of the centralized electronic control unit 7 issues instructions to make the online detection unit 4 start working, and the information processing electronic control device 42 Control the grabbing and placing component I211 according to the setting program to grab a stamped sheet metal part from the palletizing platform bracket 212 and place it on the inspection platform, and then the information processing electronic control device 42 passes the inspection device position according to the setting program The control loop controls the coordinate movement of the detection device 41. The pattern recognition sensor on the detection device 41 feeds back the shape, size, position and other information of the stamped sheet metal parts to the industrial control computer, analyzes and plans the detection parameter loop work, the industrial control computer first Carry out three-dimensional solid modeling through the information fed back by the pattern recognition sensor, generate and store the spline entity function, compare it with the data information of the standard sheet metal in the database, and select the datum plane or reference point according to the data information of the standard sheet metal , And then re-establish the coordinate system according to the selected datum plane or datum point to minimize the accumulated error of the mechanism, call the start and end position information of the detection path and calculate the start and end positions relative to the selected datum plane or datum point In the relative coordinate value in the re-established coordinate system, call the information parameters such as the approach distance and the number of approaches from the inspection head to the measured surface or hole of the stamped sheet metal part; then the industrial control computer passes the inspection according to the re-established coordinate system The device position control loop controls the detection device 41 coordinates to move to the reference plane or reference point coordinate position selected by the program, the detection control loop starts to work, the detection medium transmitter and the detection medium feedback receiver on the detection head work at the same time, and the industrial control computer according to Stored related detection information program control detection device 41 The action moves the detection head to the set position facing the first surface or hole of the sheet metal part that has been punched, and the detection medium emitted by the detection medium transmitter is directed to hit the first surface of the sheet metal part that has been punched and formed. After the detection surface of a tested surface or hole is reflected back and received by the detection medium feedback receiver, the industrial control computer generates and stores the first layer data according to the information fed back by the detection medium feedback receiver, and then the industrial control computer controls the coordinate control detection device The 41 action makes the detection head approach the first surface or hole of the sheet metal part to be tested to the set distance, and the industrial control computer again receives the information from the detection medium feedback receiver on the detection head to generate the second layer The data is stored, and so on, until the number of approximations is completed, the detection head returns to the set position; at the same time, the data analysis and processing loop works, and the industrial control computer generates samples from all layers of data through data continuity analysis, characteristic analysis and numerical approximation The strip data is stored, and the spline approximation function is fitted according to the spline data, and then the final inspection data is calculated and stored according to the spline approximation function to complete the measurement of the first measured surface or hole of the measured punched sheet metal part Detection; Then the industrial control computer controls the detection device 41 to move the detection head to the second measured surface or hole of the sheet metal part that has been punched and formed on the detection path set by the program and is approached to the set distance, and repeat the above steps; By analogy, when the end point coordinate position set by the program is reached, the inspection of the sheet metal parts that have been tested and stamped is completed, the inspection head returns to the zero position, the printout circuit will print out the inspection data results, and the maintenance personnel can follow the inspection data The result determines whether to modify the mold.

[0061] Regarding the sheet metal parts of the two air conditioners, the sheet metal parts that support the inside of the air conditioner usually do not need to be sprayed, but the sheet metal parts or the shell of the sheet metal parts that support the outside of the air conditioner usually need to be sprayed. Therefore, as a further improvement of the present invention, the artificial intelligence sheet metal production system also includes an automatic spraying unit 5;

[0062] The automatic spraying unit 5 includes a suspended conveying component 51, a grabbing and placing device Ⅱ 52, a dust-free cleaning spray booth, an automatic cleaning component 53, an automatic spraying component 54 and an automatic drying component;

[0063] The suspension conveying component 51 includes an electronically controlled driving device, a supporting device and a catenary. The catenary is erected on the supporting device and driven to move at a uniform speed by the electronically controlled driving device. A plurality of hooking components are evenly distributed on the catenary. There is a position sensor;

[0064] The dust-free clean spraying room is a closed space with multiple compartments, and the catenary passes through each compartment of the dust-free clean spraying room;

[0065] There are at least two sets of grabbing and placing device Ⅱ52, which are respectively set at the entrance and exit of the dust-free and clean spray booth, including grabbing and placing component Ⅲ521 and electronic control components, such as Figure 5 As shown, the grab and place component III521 includes a mechanical arm and a grab and place manipulator. The manipulator includes at least an X coordinate drive mechanism or a Y coordinate drive mechanism and a Z coordinate drive mechanism. The grab and place manipulator is installed at the end of the robotic arm, including the grab Mechanism, pattern recognition sensor and hook component position reader; electronic control components include industrial control computer, grabbing and placing circuit and counting circuit, industrial control computer and grabbing and placing component Ⅲ 521, pattern recognition sensor and hook component position reading The picker is electrically connected; the industrial control computer can control the mechanical arm and the grabbing and placing manipulator at the entrance of the dust-free and clean spray booth through the feedback of the pattern recognition sensor to grab the stamped and formed sheet metal parts in the rack 212 of the placing platform, and grab Afterwards, set the hanging end of the stamped sheet metal part upwards and maintain the vertical hanging state, while the hanging part position reader reads the position sensor information of the hanging part on the running catenary and feeds it back to Industrial control computer. After calculating the speed of the industrial control computer, it first controls the grabbing and placing manipulator to lock and approach the closest hooking component, and then controlling the grabbing and placing manipulator to reach the hook position and maintain the same speed as the forward speed of the catenary It moves synchronously with the catenary in an instant, and then controls the grabbing mechanism of the grabbing and placing manipulator to loosen the stamped and formed sheet metal parts, and the stamped and formed sheet metal parts are hung on the hook parts of the catenary to complete the hooking. The control computer controls the grabbing and placing manipulator to return to the initial position to continue grabbing; as mentioned above, the industrial control computer can control the robot arm at the exit end of the dust-free cleaning spray booth through feedback from the pattern recognition sensor and the position reader of the hooking part Lock with the grabbing and placing manipulator and approaching the closest hooking part, and then control the grabbing and placing manipulator to reach the hook position and maintain the same speed as the forward speed of the catenary to move in synchronization with the catenary instantly, and then control the grabbing The grabbing mechanism of the stacking manipulator grabs the painted sheet metal parts on the hanging parts of the catenary and stacks them on the stacking platform bracket 212;

[0066] The automatic cleaning component 53 is set in the dust-free clean spray booth in the first compartment of the catenary running direction, including the mechanical arm, the automatic cleaning device 531, the control valve group I532, and the electric control device I533; the mechanical arm is fixedly installed on the ground The upper part is set near the catenary and includes at least one X-coordinate driving mechanism or Y-coordinate driving mechanism or Z-coordinate driving mechanism; the automatic cleaning device 531 is connected to the end of the robot arm, and the automatic cleaning device 531 is equipped with a pattern recognition sensor and a position sensor And the distance sensor, the automatic cleaning device 531 is provided with multiple internal channels. One end of the multiple internal channels is respectively connected to the cleaning positive pressure air source, the cleaning agent supply mechanism and the cleaning water pressure source through the control valve group I532, and the other end is connected to the nozzle ; Electric control device I533 includes industrial control computer, power circuit, scrubbing device position control circuit, pattern recognition circuit, analysis and planning cleaning parameter circuit, cleaning control circuit, air circuit control circuit, clean water control circuit, industrial control computer and automatic cleaning The pattern recognition sensor, position sensor and distance sensor on the device 531 are electrically connected, the industrial control computer is electrically connected to the control valve group I532, and the industrial control computer is electrically connected to the X coordinate drive mechanism or Y coordinate drive mechanism or Z coordinate drive mechanism of the robot arm. connection;

[0067] The automatic spraying component 54 is set in the compartment in front of the automatic cleaning component 53 along the running direction of the catenary in the dust-free clean spraying room. It includes a mechanical arm, an automatic spraying device 541, a control valve group II 542, and an electric control device II 543; the mechanical arm is fixed Installed on the ground, set near the catenary, including at least one X coordinate drive mechanism or Y coordinate drive mechanism or Z coordinate drive mechanism; the automatic spraying device 541 is connected to the end of the robotic arm, and the automatic spraying device 541 is equipped with a pattern recognition sensor , Position sensor and distance sensor, the automatic spraying device 541 is equipped with multiple internal channels, and the automatic spraying device 541 is equipped with external channels with the same number of internal channels and corresponding to the internal channels. One end of the internal channel passes through the control valve group Ⅱ542 It is connected to the positive pressure air source, the other end of the inner channel is connected to the nozzle, and the outer channel is connected to the paint supply mechanism through the control valve group Ⅱ542; the electric control device Ⅱ543 includes industrial control computer, power circuit, nozzle position control circuit, pattern recognition circuit, analysis and planning Spraying parameter circuit, spraying control circuit, gas circuit control circuit, industrial control computer are respectively electrically connected with pattern recognition sensor, position sensor and distance sensor on automatic spraying device 541, industrial control computer is electrically connected with control valve group Ⅱ542, industrial control computer Respectively electrically connected with the X-coordinate driving mechanism, Y-coordinate driving mechanism or Z-coordinate driving mechanism of the mechanical arm;

[0068] The automatic drying component is set in the compartment along the catenary running direction in the dust-free and clean spraying room, in front of the automatic spray component 54. It includes a drying nozzle and a control valve group. The drying nozzle passes through the control valve group and drying pressure air source. connection;

[0069] The centralized electronic control unit 7 also includes an automatic spraying circuit, the central control computer is respectively connected with the electronic control driving device of the suspension conveying component 51, the electronic control component of the grabbing and placing device II 52, the electronic control device I 533 of the automatic cleaning component 53, and the automatic The electric control device II543 of the spraying component 54 is electrically connected to the control valve group of the automatic drying component;

[0070] When the automatic spraying unit 5 is in use, such as Figure 5 , Image 6 As shown, the on-board computer control system of the logistics automatic guided transport vehicle 31 controls the logistics automatic guided transport vehicle 31 according to the coordinate position issued by the central control computer, respectively supporting the stacking bracket 222 and the empty loading bracket full of stamped and formed sheet metal parts. The stacking bracket 222 moves to the set position near the grabbing and placing device Ⅱ52 at the entrance of the dust-free and clean spraying room and the grabbing and placing device Ⅱ52 at the exit of the dust-free and clean spraying room. The automatic spraying circuit starts to work, and the catenary Moving forward at a uniform speed through the clean and dust-free spray booth, the industrial control computer controls the grabbing and placing device at the entrance of the clean and dust-free spray booth Ⅱ52 through the feedback of the pattern recognition sensor to sequentially grab the stamped and formed parts from the stacking bracket 222 The sheet metal parts are hung on the hanging parts of the catenary. The sheet metal parts that have been stamped and formed follow the catenary and enter the dust-free and clean spray booth. After the surface cleaning treatment of the automatic cleaning part 53 is performed, it enters the automatic spraying part 54 Working range, after automatic spraying, it enters the working space of the automatic drying part. After drying, it finally follows the catenary from the exit of the dust-free cleaning spraying room to leave the dust-free cleaning spraying room to complete the automatic spraying, and then located in the dust-free cleaning spraying room The grabbing and placing device Ⅱ52 at the exit end grabs the painted sheet metal parts on the catenary in turn and places them on the empty stacking bracket 222 to realize automatic operation.

[0071] For the sheet metal parts of the two air conditioners, some of the sheet metal parts that play a supporting role inside the air conditioner usually need to be pasted with sponge parts such as sound-absorbing sponge or laminating sponge. Sponge parts such as sound-absorbing sponge or laminating sponge are usually pasted with surface tape. There are double-sided tape and the other side with a dust-proof film. During the pasting operation, the double-sided tape on the sticking side must be removed and then pasted, and the dust-proof film on the other side must be removed. This is usually a manual operation. Therefore, in order to further achieve manual Intelligent automated operation. As a further improvement of the present invention, the artificial intelligence sheet metal production system also includes an automatic sponge unit 6;

[0072] Such as Figure 7 As shown, the automatic sticking sponge unit 6 includes a sheet metal part grabbing device 61, a sponge component bracket 62, a sponge component grabbing device 63, a positioning and filming device 64, and an electronic control component;

[0073] The sheet metal part grasping device 61 includes a mechanical arm and a grasping and placing manipulator. The mechanical arm includes at least one X coordinate drive mechanism or a Y coordinate drive mechanism and a Z coordinate drive mechanism. The grasping and placing manipulator has a flat structure and is installed at the end of the robotic arm. , Including grabbing mechanism and pattern recognition sensor;

[0074] The sponge component grabbing device 63 includes a mechanical arm and a grabbing and placing manipulator. The manipulator includes at least one X-coordinate driving mechanism or a Y-coordinate driving mechanism and a Z-coordinate driving mechanism. The grabbing and placing manipulator has a flat structure and is installed at the end of the mechanical arm. Including grasping mechanism, pattern recognition sensor and distance sensor;

[0075] The sponge component bracket 62 is arranged near the sheet metal part grabbing device 61, and the sponge bars produced and formed according to the paste size requirements are arranged neatly in the sponge component bracket 62;

[0076] The positioning and uncovering device 64 is positioned between the sheet metal part grabbing device 61 and the sponge part grabbing device 63, and includes a support frame and a film peeling and clamping manipulator. The film peeling and clamping manipulator is fixedly installed on the top of the support frame and the film peeling clamp There is a distance sensor on the manipulator;

[0077] The electronic control components include industrial control computer, sheet metal grasping control loop, sponge grasping control loop, pasting control loop and counting loop. The industrial control computer is connected with the sheet metal grasping device 61 and the sponge grasping device 63 respectively. The mechanical arm, the grabbing and placing manipulator, the grabbing mechanism and the pattern recognition sensor are electrically connected, and the industrial control computer is electrically connected with the film peeling and clamping manipulator of the positioning film peeling device 64;

[0078] The centralized electronic control unit 7 also includes an automatic sponge bonding circuit, and the central control computer is electrically connected with the industrial control computer of the electronic control component of the automatic sponge bonding unit 6;

[0079] When the automatic sticking sponge unit 6 is used, the on-board computer control system of the automatic logistics guided transport vehicle 31 controls the logistics automatic guided transport vehicle 31 according to the coordinate position issued by the central control computer. The sponge component bracket 62 moves to the set position near the sponge component grabbing device 63, and the logistics automatic guided transport vehicle 31 supports the stacking bracket 222 full of stamped and formed sheet metal parts and the empty stacking bracket 222 Move to the set position near the sheet metal grabbing device 61, and automatically paste the sponge circuit to start working. The electronic control component controls the sheet metal grabbing device 61 through the feedback of the pattern recognition sensor on the sheet metal grabbing device 61 The grabbing and placing manipulator sequentially grabs the stamped and formed sheet metal parts from the fully loaded pallet 222 and positions them at the set position near the positioning and uncovering device 64; then the electronic control component passes through the sponge component grabbing device The feedback control of the pattern recognition sensor on 63 controls the grabbing and placing manipulator of the sponge part grabbing device 63 from the sponge part bracket 62 to sequentially grab the sponge strips made according to the paste size requirements and position them on the sponge strip sticking surface One end of the film is close to the set position of the positioning and uncovering device 64; then the electronic control component controls the sponge component grabbing device 63 grasping the sponge strip through the feedback of the distance sensor on the sponge component grabbing device 63 to make the sponge strip stick to the surface One end of the film-removing and clamping manipulator of the positioning film-removing device 64 is close to the set distance, and then the electronic control component controls the film-removing and clamping manipulator to extend and insert into the sponge strip through the feedback of the distance sensor on the film-removing and clamping manipulator. Between the rubber surface of the surface and the protective film, the electronic control component controls the uncovering and clamping manipulator to clamp the protective film on the sticking surface of the sponge strip to complete the positioning of the uncovering film; then the electronic control component controls the sponge to grab the sponge strip The component grabbing device 63 moves back to the set distance and moves relative to the positioning film removing device 64 along the plane direction of the sponge strip, that is, relative movement. During the movement, the protective film on the sticking surface of the sponge strip is clamped by the film removing and clamping robot. It peels off from the adhesive surface of the sponge strip under the action of force. After the film is peeled off, the electronic control component controls the sponge component gripping device 63 grasping the sponge strip to move back to the position before movement; then the electronic control component is grasped by the sponge component The feedback of the pattern recognition sensor on the picking device 63 controls the sponge component grabbing device 63 to move to the position corresponding to the sheet metal grabbing device 61 so that the sponge that has been uncovered faces the stamped and formed sheet metal grabbing device 61 Then the electronic control component is controlled by the feedback control of the distance sensor on the sponge component grabbing device 63. The sponge component grabbing device 63 of the sponge strip that has been uncovered moves to the sheet metal grabbing device 61 to move closer to the set At a certain distance, the adhesive surface of the sponge strip that has been uncovered at this time is attached to the stamped and formed sheet metal on the sheet metal grabbing device 61, and the electronic control component controls the grabbing and placing manipulator of the sponge grabbing device 63 After loosening the sponge strip, return to the initial position and stand by; then the electronic control component controls the sheet metal part grabbing device 61 to grab the sheet metal part that has been pasted with the sponge and move it to the empty code Place the bracket 222 above and place its sequence code in the accommodating space 2221 of the empty stacking bracket 222 and count to complete a work process, and so on, until all the sponge pasting work is completed.

[0080] In order to effectively grab the sponge strip and facilitate the removal and sticking of the film, as an embodiment of the present invention, the grabbing and placing manipulator of the sponge member grabbing device 63 is a flat structure, and the flat structure is provided with multiple suction ports , The suction port is connected to the negative pressure source through the pipeline, and the grabbing and placing manipulator of the sponge component grabbing device 63 achieves stable grabbing by the negative pressure suction sponge strip.

[0081] In order to achieve a better bonding effect and ensure stable bonding, as a further improved solution of the present invention, the grabbing and placing manipulator of the sponge member grabbing device 63 is provided with a pressing roller that rolls along the film uncovering direction. The component is controlled by the feedback control of the distance sensor on the sponge component grabbing device 63, and the sponge component grabbing device 63 that grabs the sponge strip after the film is removed is moved to the sheet metal grabbing device 61 to a set distance to complete the film removal. The sticking surface of the sponge strip is attached to the stamped and formed sheet metal on the sheet metal grabbing device 61. At this time, the electronic control component controls the grabbing and placing manipulator of the sponge grabbing device 63 to release the sponge strip again Relative to the sticking sponge plane direction of the stamping and forming sheet metal parts grasped by the grabbing and placing manipulator of the sheet metal parts grasping device 61, the pressing roller moves on the surface of the sponge strip to roll the sponge strip, and achieve The sponge strip has better bonding effect and ensures its stable bonding.

[0082] As an embodiment of the present invention, the automatic feeding device 11 is to send the steel plate manufactured and shaped according to the stamping size requirements into the sheet metal processing equipment 8 for stamping, including a mechanical arm, a grabbing and placing robot, and a formed steel plate bracket And electronic control components; the mechanical arm is arranged near the feeding end of the sheet metal processing equipment 8, including at least an X-coordinate driving mechanism or a Y-coordinate driving mechanism and a Z-coordinate driving mechanism; the picking and placing manipulator is installed at the end of the mechanical arm, including grasping Take-out mechanism and displacement sensor; the formed steel plate bracket is arranged near the mechanical arm, and the formed steel plates are arranged in order according to the requirements of the stamping size and arranged neatly in the formed steel plate bracket; electronic control components include industrial control computer, grabbing and placing circuit and counting circuit , The industrial control computer is electrically connected with the mechanical arm, the grabbing and placing manipulator, and the electronic control device of the sheet metal processing equipment 8; when the artificial intelligence sheet metal production system adopts this implementation mode, the central control of the electronic control unit 7 is first centralized The computer issues instructions to make the automatic logistics guided transport vehicle 31 carry the formed steel plate bracket full of steel plates made according to the stamping size requirements to move to the set position, and then the central control computer of the centralized electronic control unit 7 issues instructions to process the sheet metal The equipment 8 starts to work, the electronic control device of the sheet metal processing equipment 8 controls to turn on the grabbing and placing loop of the automatic feeding device 11, and the industrial control computer of the automatic feeding device 11 controls the robotic arm and the grabbing and placing manipulator to grab sequentially according to the preset program The formed steel plate in the formed steel plate bracket is made according to the stamping size requirements and placed in the stamping position of the sheet metal processing equipment 8, and the counting circuit works at the same time until all the grabbing is completed.

[0083] The mechanical arm for grabbing and placing component Ⅱ221 can be used as figure 2 The multi-joint centralized control manipulator shown can also adopt a frame-type split control manipulator, or use other forms of manipulators such as Delta manipulators. Because of the multi-joint manipulator of the first scheme and the Delta of the third scheme The control of the robotic arm is centralized control, and its precise coordinate control is more complicated. It requires a large amount of calculations by the industrial control computer, the software control program is complicated, and the manufacturing cost is high, the computer control is heavy and easy to malfunction; the second solution adopts Split control, that is, separate control of several coordinate systems. The control is relatively simple and direct, and it is not prone to failure. Therefore, the second solution is preferred, that is, as the preferred solution of the present invention, such as image 3 As shown, the robotic arm for grabbing and placing component II 221 is a gantry type robotic arm.

[0084] This artificial intelligence sheet metal production system is a digital control system, which can be seamlessly connected with the factory's digital bus to realize centralized digital management, and is not limited to the above-mentioned specific control methods.

[0085] This artificial intelligence sheet metal production system uses a microcomputer-controlled grabbing and placing component Ⅱ 221 that extends into the sheet metal processing equipment 8 to grab the stamped and formed sheet metal from the discharge end and place them in the accommodating space of the stacking bracket 222 in sequence In 2221, computer-controlled automatic operation is completely adopted. The automatic operation can avoid the influence of human factors such as the operator's sense of responsibility and emotion on the production schedule. At the same time, it can avoid the restriction of the operator's operational skill proficiency, and completely avoid the existence of manual operation. Disadvantages: Because there is a fully microcomputer-controlled online inspection unit 4, it can ensure the product quality of sheet metal parts and prevent sheet metal parts from being out of tolerance due to the wear of the stamping die; because of the fully microcomputer-controlled automatic spraying unit 5, Therefore, the sheet metal parts that have been stamped and formed can be automatically sprayed; because of the fully microcomputer-controlled automatic sticking sponge unit 6, it can automatically stick the sponge to the stamped and formed sheet metal parts, which is especially suitable for digital bus factories. Automated production of industrial sheet metal parts.