A method and system for automatically removing metal rings in a spinning process

Abstract

The present invention discloses a method and system for automatically removing metal rings in a spinning process, the method comprising: providing a notch in the spinner spindle flange and the mold connection flange, the size of the notch being adapted to the scissors, and controlling the spinner spindle to rotate; judging whether the notch is turned to a preset position; when the notch is turned to the preset position, controlling the spinner spindle to stop rotating; controlling the scissors head to enter the notch, and controlling the scissors to cut the metal ring; after cutting the metal ring, controlling the scissors head to automatically clamp the cut metal ring, and pulling the metal ring with a preset trajectory by a mechanical arm equipped with the scissors to remove the metal ring from the spinner spindle. The present invention provides a notch, and after the two notches are rotated to the corresponding positions, the scissors are automatically driven to enter the notch to cut the metal ring and clamp and remove the metal ring, thereby realizing unmanned waste treatment in the spinning production field through automated and intelligent means, reducing the physical input of personnel, reducing the operational safety risk, and improving production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of metal spinning production, and in particular to a method and system for automatically removing a metal ring in a spinning process. Background Art

[0002] At present, the waste metal rings generated in the spinning field are mainly cut manually using metal scissors. Different scissors are used for cutting according to the processing material. After cutting, the metal rings are removed by hand by breaking them. However, the disadvantages of using manual cutting and manual breaking to remove metal rings after spinning by the spinning machine are: (1) Ring cutting requires great force, which consumes a lot of physical strength; (2) The cutting action is performed inside the spinning machine, which is dangerous; (3) It is very difficult to cut some thick metal materials (manpower is limited); (4) There is a risk of injury when manually breaking the ring; (5) Manual operation is inefficient; (6) It becomes a serious bottleneck in the implementation of intelligent manufacturing, and it is impossible to achieve unmanned operation of the entire process. Summary of the invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that ring cutting requires great force and consumes huge physical strength of personnel, thereby providing a method and system for automatically removing metal rings in a spinning process.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] In the first aspect, an embodiment of the present invention provides a method for automatically removing a metal ring in a spinning process, comprising a spinning machine main shaft flange, a mold connecting flange, and a metal ring sleeved at the connection between the spinning machine main shaft flange and the mold connecting flange. Notches are provided in the spinning machine main shaft flange and the mold connecting flange, and the size of the notch is adapted to a pair of scissors. The method comprises: controlling the rotation of the spinning machine main shaft; determining whether the notch on the spinning machine main shaft flange is turned to a preset position; when the notch on the spinning machine main shaft flange is turned to the preset position, controlling the spinning machine main shaft to stop rotating; controlling the scissors head of the scissors to enter the notch on the spinning machine main shaft flange, and controlling the scissors to cut the metal ring.

[0006] In one embodiment, the process of controlling the scissors heads of the scissors to enter the notch on the main shaft flange of the spinning machine includes: according to the current mold type, controlling the scissors to move to the notch on the main shaft flange of the spinning machine according to a first preset motion trajectory, and controlling the scissors heads of the scissors to enter the notch on the main shaft flange of the spinning machine.

[0007] In one embodiment, after controlling the scissors to cut the metal ring, the method further includes: pulling the metal ring; and placing the metal ring at a waste collection area according to a second preset motion trajectory.

[0008] In one embodiment, after controlling the rotation of the main shaft of the spinning machine, before judging whether the notch on the main shaft flange of the spinning machine has turned to the preset position, it also includes: judging whether the rotation speed of the main shaft of the spinning machine has reached the preset rotation speed; when the rotation speed of the main shaft of the spinning machine has reached the preset rotation speed, judging whether the notch on the main shaft flange of the spinning machine has turned to the preset position.

[0009] In one embodiment, after controlling the main shaft of the spinning machine to stop rotating, before controlling the scissors heads of the scissors to enter the notch on the main shaft flange of the spinning machine, it also includes: judging again whether the notch on the main shaft flange of the spinning machine has turned to a preset position; when the notch on the main shaft flange of the spinning machine has not turned to the preset position, returning to the step of "controlling the main shaft of the spinning machine to rotate" until the notch on the main shaft flange of the spinning machine has turned to the preset position; when the notch on the main shaft flange of the spinning machine has turned to the preset position, controlling the scissors heads of the scissors to enter the notch on the main shaft flange of the spinning machine.

[0010] In one embodiment, before returning to the step of "controlling the rotation of the main shaft of the spinning machine", it also includes: judging whether the current number of cycles reaches a preset number; when the preset number is reached, sending an alarm signal; when the preset number is not reached, returning to the step of "controlling the rotation of the main shaft of the spinning machine".

[0011] In one embodiment, before controlling the main shaft of the spinning machine to rotate, it also includes: adjusting the distance between the scissors and the main shaft of the spinning machine and the mold to a preset distance.

[0012] In the second aspect, an embodiment of the present invention provides an automatic removal system for metal rings in a spinning process, characterized in that, for implementing the method of the first aspect, the system includes: a controller, a robotic arm, a scissors and a first position sensor, wherein the controller is respectively connected to the robotic arm and the first position sensor, and the scissors are fixed to the robotic arm; the controller controls the rotation of the spinning machine main shaft; during the rotation process, the first position sensor obtains the position of the notch on the spinning machine main shaft flange, and when the notch on the spinning machine main shaft flange is rotated to a preset position, the first position sensor sends a stop signal to the spinning machine main shaft, and the stop signal is used to control the spinning machine main shaft to stop rotating; the controller controls the movement of the robotic arm to control the scissors head of the scissors to enter the notch on the spinning machine main shaft flange, and controls the scissors to cut the metal ring.

[0013] In one embodiment, after controlling the scissors to cut the metal ring, the controller controls the robotic arm to pull the metal ring; and places the metal ring at a waste collection area according to a second preset motion trajectory.

[0014] In one embodiment, the automatic removal system of metal rings during spinning process also includes: a second position sensor and a third position sensor connected to the controller; after controlling the main shaft of the spinning machine to stop rotating, before controlling the scissors heads of the scissors to enter the notch on the main shaft flange of the spinning machine, the second position sensor and the third position sensor again obtain whether the notch on the main shaft of the spinning machine has turned to a preset position, and send the judgment result to the controller.

[0015] The technical solution of the present invention has the following advantages:

[0016] The present invention provides a method and system for automatically removing metal rings in a spinning process, and the method includes: providing a notch in the spinner spindle flange and the mold connection flange, the size of the notch being compatible with the scissors, and controlling the spinner spindle to rotate; judging whether the notch on the spinner spindle flange is turned to a preset position; when the notch on the spinner spindle flange is turned to the preset position, controlling the spinner spindle to stop rotating; controlling the scissors' scissor heads to enter the notch on the spinner spindle flange, and controlling the scissors to cut the metal ring. The present invention provides a notch, and after the two notches are rotated to the corresponding positions, the scissors are automatically driven to enter the notch to cut the metal ring, thereby realizing unmanned waste treatment in the spinning production field through automated and intelligent means, reducing the physical input of personnel, reducing the operational safety risks, and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of a spinning device provided in an embodiment of the present invention;

[0019] Figure 2(a) to Figure 2(c) A schematic diagram of a notch provided in an embodiment of the present invention;

[0020] Figure 3 A flow chart of an automatic removal method provided by an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of an automatic removal system provided by an embodiment of the present invention;

[0022] Figure 5 A schematic diagram of an automatic removal system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0027] Example 1

[0028] The embodiment of the present invention provides a method for automatically removing a metal ring in a spinning process, such as Figure 1 As shown, the spindle flange of the spinning machine and the mold connecting flange, the metal ring is sleeved at the connection between the spindle flange of the spinning machine and the mold connecting flange, as shown in FIG. Figure 2(a) to Figure 2(c) As shown in the figure, the spindle flange of the spinning machine and the mold connection flange are notched, and the size of the notch is compatible with the scissors. It should be noted that the scissors head goes deep into the notch to cut the metal ring, so the size of the notch should be enough to accommodate the scissors head and leave a margin. For the mold slotting part, if the product size is much larger than the mold connection flange and the radius difference is larger than the scissors head size, the mold and flange do not need to be modified (slotted), and the scissors head has enough space to realize the shearing function.

[0029] like Figure 3 As shown, the automatic removal methods include:

[0030] Step S11: Control the main shaft of the spinning machine to rotate.

[0031] In the embodiment of the present invention, the notch on the flange of the spinning machine is driven to rotate by controlling the main shaft of the spinning machine to rotate (the mold connecting flange remains stationary).

[0032] Optionally, before controlling the main shaft of the spinning machine to rotate, the embodiment of the present invention further includes: adjusting the distance between the scissors and the main shaft of the spinning machine and the mold to a preset distance.

[0033] Specifically, according to the different positions of different spun products, the embodiments of the present invention require adjustment of the relative positions between the scissors, the spinning machine, and the mold when the model is adapted, so as to ensure that high-precision operations can be repeated in the subsequent production process to obtain corresponding spun waste.

[0034] Step S12: Determine whether the notch on the main shaft flange of the spinning machine has moved to a preset position.

[0035] Specifically, the embodiment of the present invention controls the rotation of the spindle of the spinning machine to drive the notch on the spindle flange to rotate to a preset position, which is a position corresponding to the notch on the mold connecting flange, thereby ensuring that the two notches are in the same plane to accommodate the scissors head.

[0036] Optionally, after controlling the rotation of the main shaft of the spinning machine and before determining whether the notch on the main shaft flange of the spinning machine has turned to a preset position, it also includes: (1) determining whether the rotation speed of the main shaft of the spinning machine has reached a preset rotation speed; (2) when the rotation speed of the main shaft of the spinning machine has reached a preset rotation speed, determining whether the notch on the main shaft flange of the spinning machine has turned to a preset position.

[0037] Specifically, during the rotation of the spinning machine spindle, the embodiment of the present invention determines whether the spindle speed of the spinning machine reaches a preset speed. Only when the spindle speed of the spinning machine starts and reaches the preset speed, the spindle fixed-point stopping of the spinning machine can be effectively performed.

[0038] Step S13: When the notch on the main shaft flange of the spinning machine is turned to a preset position, the main shaft of the spinning machine is controlled to stop rotating.

[0039] Specifically, when the position of the notch on the main shaft flange of the spinning machine is obtained and it is determined that the notch on the main shaft flange of the spinning machine is turned to the preset position (that is, the notch on the main shaft flange of the spinning machine and the notch on the mold connecting flange are in the same plane), the main shaft of the spinning machine is controlled to stop rotating.

[0040] Optionally, after controlling the main shaft of the spinning machine to stop rotating, before controlling the scissors head of the scissors to enter the notch on the main shaft flange of the spinning machine, it also includes: (1) judging again whether the notch on the main shaft flange of the spinning machine has turned to the preset position; (2) when the notch on the main shaft flange of the spinning machine has not turned to the preset position, returning to the step of "controlling the main shaft of the spinning machine to rotate" until the notch on the main shaft flange of the spinning machine has turned to the preset position; when the notch on the main shaft flange of the spinning machine has turned to the preset position, controlling the scissors head of the scissors to enter the notch on the main shaft flange of the spinning machine.

[0041] Specifically, when the main shaft of the spinning machine stops, the position of the notch on the spinning machine flange needs to be confirmed again. When it is determined again that the notch on the spinning machine flange has turned to the preset position, proceed to the next step; however, when due to some external factors, the stopping position of the notch on the main shaft flange of the spinning machine is different from the preset position, return to step S11 and re-control the rotation of the main shaft of the spinning machine.

[0042] Optionally, external factors may cause the stop position of the notch on the spindle flange of the spinning machine to deviate from the preset position, but these external factors may include factors such as equipment failure. Therefore, in order to avoid this situation, the embodiment of the present invention further includes the following steps before returning to the step of "controlling the rotation of the spindle of the spinning machine": (1) determining whether the current number of cycles has reached the preset number; (2) issuing an alarm signal when the preset number is reached; and returning to the step of "controlling the rotation of the spindle of the spinning machine" when the preset number is not reached.

[0043] Exemplarily, after the notch on the spindle flange of the spinning machine turns to the preset position, the spindle of the spinning machine is controlled to stop rotating, and the position of the notch on the spindle flange of the spinning machine is determined again. When it is determined again that the position of the notch on the spindle flange of the spinning machine has not turned to the preset position, it is necessary to judge the current number of "controlling the spindle rotation of the spinning machine". If the current number of "controlling the spindle rotation of the spinning machine" has reached the preset number (for example, 3 times), it is determined that the equipment is faulty and an alarm signal is issued for manual intervention maintenance work.

[0044] Step S14: Control the scissors heads of the scissors to enter the notch on the main shaft flange of the spinning machine, and control the scissors to cut the metal ring.

[0045] Specifically, when the notch on the main shaft flange of the spinning machine reaches a preset position and stops rotating, the scissors head is controlled to enter the notch on the main shaft flange of the spinning machine, and then the scissors head is moved so that the metal ring enters the scissors head, and the scissors are controlled to cut the metal ring.

[0046] Optionally, according to the current mold type, the embodiment of the present invention controls the scissors to move to the notch on the main shaft flange of the spinning machine according to the first preset motion trajectory, and controls the scissors heads of the scissors to enter the notch on the main shaft flange of the spinning machine.

[0047] Specifically, before automatically removing the metal ring, the embodiment of the present invention designs a first preset motion trajectory of the scissors in advance according to the size of the notch, the type of mold, the relative positions of the scissors and the spindle flange of the spinning machine and the mold connecting flange. Therefore, when the notch on the spindle flange of the spinning machine reaches the preset position and stops, the scissors head enters the notch and the metal ring enters the scissors head in sequence by controlling the scissors according to the first preset motion trajectory.

[0048] In a specific embodiment, after controlling the scissors to cut the metal ring, the method further includes: (1) pulling the metal ring; and (2) placing the metal ring at a waste collection area according to a second preset motion trajectory.

[0049] Specifically, the embodiment of the present invention controls the scissors to pull the metal ring with a third preset motion trajectory, and the third preset motion trajectory needs to consider the following factors: ensure that the pulling process does not contact the mold surface to avoid scratching the mold; ensure that the pulling force is moderate, and the pulling force is not increased due to angle problems, and maintain a low robot arm load (the embodiment of the present invention uses a robot arm to control the scissors); no elasticity is generated during the pulling process to ensure that other on-site mechanical components are not damaged.

[0050] Specifically, the embodiment of the present invention uses a robotic arm to control scissors. The scissors clamp the metal ring tightly. After the robotic arm pulls the metal ring, it goes to the waste collection area according to the second preset motion trajectory of the robotic arm. The scissors adopt a unique posture to loosen the metal ring to ensure that the metal ring can fall smoothly.

[0051] It should be noted that in order to achieve cutting and pulling in one action, the embodiment of the present invention has created a unique scissor head, which is clamped directly through the V-groove at the moment of cutting, ensuring that the robot arm can remove the iron ring.

[0052] Example 2

[0053] The embodiment of the present invention provides a spinning process metal ring automatic removal system, which is used to implement the method of embodiment 1, such as Figure 4 As shown, the system includes: a controller 1, a robotic arm 2, a scissors 3 and a first position sensor 4.

[0054] Specifically, the controller 1 is connected to the robotic arm 2 and the first position sensor 4 respectively, and the scissors 3 are fixed to the robotic arm 2 .

[0055] Specifically, the controller 1 of the embodiment of the present invention can be a PLC; the hydraulic scissors carried by the robot arm 2 can be changed to a truss and guide rail carrying hydraulic scissors, which can achieve the same effect, such as fixing the product type and consistent product diameter (the length can be inconsistent); the hydraulic scissors part can use electric scissors (soft materials such as aluminum, which do not require much shear pressure) instead of hydraulic scissors, which can reduce the volume and weight of the robot's end effector, increase the flexibility of the system, and reduce costs.

[0056] Specifically, the controller 1 controls the rotation of the main shaft of the spinning machine; during the rotation process, the first position sensor 4 obtains the position of the notch on the main shaft flange of the spinning machine. When the notch on the main shaft flange of the spinning machine rotates to a preset position, the first position sensor 4 sends a stop signal to the main shaft of the spinning machine, and the stop signal is used to control the main shaft of the spinning machine to stop rotating; the controller 1 controls the movement of the robot arm 2 to control the scissors head of the scissors 3 to enter the notch on the main shaft flange of the spinning machine, and controls the scissors 3 to cut the metal ring.

[0057] Specifically, during the rotation of the spindle of the spinning machine, the controller 1 needs to (1) determine whether the rotation speed of the spindle of the spinning machine reaches a preset rotation speed; (2) when the rotation speed of the spindle of the spinning machine reaches the preset rotation speed, determine whether the notch on the spindle flange of the spinning machine rotates to a preset position. When the rotation speed of the spindle of the spinning machine reaches the preset rotation speed, the controller 1 powers on the first position sensor 4, and the first position sensor 4 then obtains the position of the spindle of the spinning machine in real time.

[0058] Specifically, after the first position sensor 4 determines that the notch on the spindle flange of the spinning machine has moved to the preset position, the first position sensor 4 controls the spindle of the spinning machine to stop rotating. This process bypasses the controller 1, thereby avoiding signal transmission delay caused by the untimely refresh mechanism of the controller 1.

[0059] Specifically, when the notch on the main shaft flange of the spinning machine reaches the preset position and stops, the controller 1 controls the movement of the robotic arm 2 to control the scissors head to enter the notch on the main shaft flange of the spinning machine, and then controls the movement of the robotic arm 2 to move the scissors head so that the metal ring enters the scissors head, and the robotic arm 2 controls the scissors 3 to cut the metal ring.

[0060] Optionally, in an embodiment of the present invention, according to the current mold type, the controller 1 controls the robot arm 2 to drive the scissors 3 to move to the notch on the main shaft flange of the spinning machine according to the first preset motion trajectory, and controls the robot arm 2 to drive the scissors head of the scissors 3 to enter the notch on the main shaft flange of the spinning machine.

[0061] Specifically, before automatically removing the metal ring, the embodiment of the present invention designs the first preset motion trajectory of the scissors 3 in advance according to the size of the notch, the type of mold, the relative position of the scissors 3 and the spindle flange of the spinning machine and the mold connecting flange, and stores the first preset motion trajectory in the controller 1.

[0062] In a specific embodiment, after controlling the scissors 3 to cut the metal ring, the controller 1 controls the robot arm 2 to pull the metal ring; and places the metal ring at a waste collection area according to a second preset motion trajectory.

[0063] Specifically, the embodiment of the present invention controls the robot arm 2 to drive the scissors 3 to pull the metal ring with a third preset motion trajectory, and the third preset motion trajectory needs to consider the following factors: ensure that the pulling process does not contact the mold surface to avoid scratching the mold; ensure that the pulling force is moderate, and the pulling force is not increased due to angle problems, and maintain a low load on the robot arm 2 (the embodiment of the present invention uses the robot arm 2 to control the scissors 3); no elasticity is generated during the pulling process to ensure that other on-site mechanical components are not damaged.

[0064] Specifically, the embodiment of the present invention uses the robot arm 2 to control the scissors 3. The scissors 3 clamp the metal ring tightly. After the robot arm 2 pulls the metal ring, it goes to the waste collection area according to the second preset motion trajectory of the robot arm 2; the scissors 3 adopt a unique posture to loosen the metal ring to ensure that the metal ring can fall smoothly.

[0065] It should be noted that in order to achieve cutting and pulling in one action, the embodiment of the present invention has created a unique scissor head, which is clamped directly through the V-groove at the moment of cutting, ensuring that the robot arm 2 can remove the iron ring.

[0066] In a specific embodiment, if Figure 5 As shown, the automatic removal system for metal rings in the spinning process further includes: a second position sensor 5 and a third position sensor 6 connected to the controller 1 .

[0067] Specifically, after controlling the main shaft of the spinning machine to stop rotating, before controlling the scissor heads of the scissors 3 to enter the notch on the main shaft flange of the spinning machine, the second position sensor 5 and the third position sensor 6 again obtain whether the notch on the main shaft of the spinning machine has turned to the preset position, and send the judgment result to the controller 1.

[0068] When the main shaft of the spinning machine stops, the second position sensor 5 and the third position sensor 6 need to reconfirm the position of the notch on the spinning machine flange. When it is determined again that the notch on the spinning machine flange has turned to the preset position, proceed to the next step (controller 1 executes step S14); however, when due to some external factors, there is an error between the stop position of the notch on the main shaft flange of the spinning machine and the preset position, it returns to step S11, and the controller 1 re-controls the rotation of the main shaft of the spinning machine.

[0069] Optionally, external factors may cause the stop position of the notch on the spindle flange of the spinning machine to deviate from the preset position, but these external factors may include factors such as equipment failure. Therefore, in order to avoid this situation, the embodiment of the present invention further includes the following steps before returning to the step of "controlling the rotation of the spindle of the spinning machine": (1) the controller 1 determines whether the current number of cycles reaches the preset number; (2) when the preset number is reached, the controller 1 sends an alarm signal; when the preset number is not reached, the controller returns to the step of "controlling the rotation of the spindle of the spinning machine".

[0070] Exemplarily, when the notch on the spindle flange of the spinning machine turns to the preset position and the spindle of the spinning machine is controlled to stop rotating, the second position sensor 5 and the third position sensor 6 re-determine the position of the notch on the spindle flange of the spinning machine. When it is determined again that the position of the notch on the spindle flange of the spinning machine has not turned to the preset position, the controller 1 needs to determine the current number of "controlling the spindle rotation of the spinning machine". If the current number of "controlling the spindle rotation of the spinning machine" has reached the preset number (for example, 3 times), the controller 1 determines that the equipment has failed, and the controller 1 sends an alarm signal to perform manual intervention maintenance operations.

[0071] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention.

Claims

1. A method for automatically removing a metal ring in a spinning process, characterized in that: The main shaft flange of the spinning machine and the mold connecting flange are provided with a metal ring at the connection between the main shaft flange of the spinning machine and the mold connecting flange. The main shaft flange of the spinning machine and the mold connecting flange are provided with a notch, and the size of the notch is adapted to the scissors. The method comprises: Control the rotation of the main shaft of the spinning machine; Determine whether the notch on the spindle flange of the spinning machine is turned to a preset position; When the notch on the main shaft flange of the spinning machine is turned to a preset position, the main shaft of the spinning machine is controlled to stop rotating; The scissors heads are controlled to enter the notch on the main shaft flange of the spinning machine, and the scissors are controlled to cut the metal ring.

2. The automatic removal method of metal ring in spinning process according to claim 1, characterized in that: The process of controlling the scissor heads of the scissors to enter the notch on the spindle flange of the spinning machine includes: According to the current mold type, the scissors are controlled to move to the notch on the main shaft flange of the spinning machine according to the first preset motion trajectory, and the scissor heads of the scissors are controlled to enter the notch on the main shaft flange of the spinning machine.

3. The automatic removal method of a metal ring in a spinning process according to claim 1, characterized in that: After controlling the scissors to cut the metal ring, the method further comprises: Pulling the metal ring; The metal ring is placed at a waste collection location according to a second preset motion trajectory.

4. The automatic removal method of a metal ring in a spinning process according to claim 1, characterized in that: After controlling the main shaft of the spinning machine to rotate and before judging whether the notch on the main shaft flange of the spinning machine is turned to a preset position, the method further includes: Determine whether the rotation speed of the main shaft of the spinning machine reaches a preset rotation speed; When the rotation speed of the main shaft of the spinning machine reaches a preset rotation speed, it is determined whether the notch on the main shaft flange of the spinning machine is rotated to a preset position.

5. The automatic removal method of metal ring in spinning process according to claim 1, characterized in that: After controlling the main shaft of the spinning machine to stop rotating, and before controlling the scissor heads of the scissors to enter the notch on the main shaft flange of the spinning machine, the method further includes: Determine again whether the notch on the spindle flange of the spinning machine has moved to a preset position; When the notch on the main shaft flange of the spinning machine has not turned to the preset position, return to the step of "controlling the main shaft of the spinning machine to rotate" until the notch on the main shaft flange of the spinning machine turns to the preset position; when the notch on the main shaft flange of the spinning machine turns to the preset position, control the scissors head of the scissors to enter the notch on the main shaft flange of the spinning machine.

6. The automatic removal method of a metal ring in a spinning process according to claim 5, characterized in that: Before returning to the step of "controlling the rotation of the spindle of the spinning machine", it also includes: Determine whether the current number of cycles reaches the preset number; When the preset number of times is reached, an alarm signal is issued; when the preset number of times is not reached, the process returns to the step of "controlling the main shaft of the spinning machine to rotate".

7. The automatic removal method of a metal ring in a spinning process according to claim 1, characterized in that: Before controlling the main shaft of the spinning machine to rotate, the method further includes: The distances between the scissors and the main shaft of the spinning machine and the mold are adjusted to preset distances.

8. An automatic removal system for metal rings in a spinning process, characterized in that: For implementing the method described in any one of claims 1 to 7, the system comprises: a controller, a robotic arm, a scissors and a first position sensor, wherein: The controller is connected to the mechanical arm and the first position sensor respectively, and the scissors are fixed to the mechanical arm; The controller controls the rotation of the main shaft of the spinning machine; During the rotation process, the first position sensor obtains the position of the notch on the spindle flange of the spinning machine. When the notch on the spindle flange of the spinning machine is rotated to a preset position, the first position sensor sends a stop signal to the spindle of the spinning machine, and the stop signal is used to control the spindle of the spinning machine to stop rotating; The controller controls the movement of the mechanical arm to control the scissor heads of the scissors to enter the notch on the main shaft flange of the spinning machine, and controls the scissors to cut the metal ring.

9. The automatic removal system of metal rings in spinning process according to claim 8, characterized in that: After controlling the scissors to cut the metal ring, the controller controls the mechanical arm to pull the metal ring; and places the metal ring at a waste collection location according to a second preset motion trajectory.

10. The automatic removal system of metal rings in spinning process according to claim 8, characterized in that: Also includes: a second position sensor and a third position sensor connected to the controller; After the spin forming machine main shaft is controlled to stop rotating and before the scissor heads of the scissors are controlled to enter the notch on the spin forming machine main shaft flange, the second position sensor and the third position sensor again obtain whether the notch on the spin forming machine main shaft is turned to the preset position, and send the judgment result to the controller.

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