A system and method for automated inspection and replacement of bending machine dies

Abstract

The application provides a system and method for automatically checking and replacing a bending machine die, and relates to the technical field of bending machine die replacement, and comprises the following steps: a clamping device is arranged on a bending machine, the clamping device clamps a die, and two clamping hole positions are arranged along the center line of the die; a die replacement robot is provided with a die replacement gripper and a detection device, the die replacement gripper is provided with a clamping device, and the clamping device corresponds to the positions of the clamping hole positions; a main control machine is connected to the bending machine and the die replacement robot, and is used for controlling the die replacement robot to detect the clamping hole positions through the detection device, recording the hole position positions of the clamping hole positions when the clamping hole positions are detected, obtaining the actual positions of the die according to the hole position positions and the real-time positions of the die replacement robot, and controlling the die replacement robot to move to the actual positions to control the clamping device to clamp the die when there is a die replacement demand, and then putting the die to be replaced into the clamping device to replace the die in the clamping device. The beneficial effect is automatic checking and die replacement, and the die replacement precision and efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bending machine die replacement, and in particular to a system and method for automatically inspecting and replacing bending machine dies. BACKGROUND

[0002] Sheet metal bending is currently developing towards automation, intelligence and flexibility, and in this process, traditional manual die replacement has become a major bottleneck restricting the development of sheet metal automatic bending technology. Especially in the case of multi-variety and small-batch production, how to meet the frequent die replacement demand has become the key to improving equipment efficiency.

[0003] The current domestic equipment mainly relies on manual die replacement, which has problems such as long time consumption, low efficiency, unguaranteed precision, safety hazards, etc., and cannot make the advantages of robot automatic bending in efficiency truly come into play. SUMMARY

[0004] In view of the problems in the prior art, the present application provides a system for automatically inspecting and replacing bending machine dies, comprising:

[0005] A bending machine is provided with a clamping device, the clamping device clamps a die, and two clamping hole positions are provided along the center line of the die;

[0006] A die replacement robot is provided with a die replacement gripper and a detection device, the die replacement gripper is provided with a clamping device corresponding to the position of the clamping hole position;

[0007] A host computer is connected to the bending machine and the die replacement robot, respectively, for controlling the die replacement robot to detect the clamping hole position by the detection device, recording the hole position of the clamping hole position when the clamping hole position is detected, and processing the actual position of the die according to the hole position and the real-time position of the die replacement robot, and controlling the die replacement robot to move to the actual position when there is a die replacement demand, then controlling the clamping device to clamp the die at the hole position, and then putting the die to be replaced into the clamping device to replace the die in the clamping device.

[0008] Preferably, the host computer comprises:

[0009] A first storage module is used to store the starting position and the ending position of the clamping device, and the movement path between the starting position and the ending position.

[0010] A position detection module is connected to the first storage module, and is configured to control the mold changing robot to move from the starting position to the ending position according to the moving path when the mold changing robot is used for the first time or receives a verification instruction from the outside, and to obtain the actual position of the mold according to the real-time position of the mold changing robot and the position of the hole detected by the detection device when the hole position is detected during the movement, and then record the hole position and the actual position and save them to the first storage module.

[0011] A mold changing control module is connected to the position detection module, and is configured to control the mold changing robot to move to the actual position when there is a need to change the mold, and control the clamping device to clamp the mold at the hole position, and then put the mold to be changed into the clamping device to change the mold in the clamping device.

[0012] Preferably, a two-dimensional code is attached above the clamping hole of the mold, and the two-dimensional code stores mold information corresponding to the mold, and the mold changing gripper further comprises an identification device.

[0013] A second storage module is configured to store a plurality of standard workpiece numbers and a plurality of sets of standard mold information, and each standard workpiece number corresponds to a set of standard mold information.

[0014] An information acquisition module is connected to the position detection module, and is configured to control the identification device to identify the two-dimensional code to obtain the mold information when the mold changing robot records the actual position during the movement.

[0015] A changing judgment module is connected to the information acquisition module, the second storage module, and the mold changing control module, and is configured to match the workpiece number input from the outside with each standard workpiece number to obtain corresponding standard mold information, and generate a changing signal when the standard mold information obtained by the matching is inconsistent with the mold information.

[0016] The mold changing control module controls the mold changing robot to move to the actual position and clamp the mold at the hole position by the clamping device according to the changing signal, and then puts the mold to be changed into the clamping device to change the mold in the clamping device.

[0017] Preferably, the clamping device comprises a finger and a cylinder, and the cylinder is connected to the finger to control the opening and closing of the finger, and the shape of the finger matches the shape of the clamping hole.

[0018] A finger control unit is configured to control the fingers to close and extend into the clamping hole according to a preset extension path when the mold changing robot moves to the actual position of the mold, and control the fingers to open until the fingers and the clamping hole are fitted when the fingers are located at an end position of the extension path, and then control the fingers to take out the mold.

[0019] Preferably, the mold comprises an upper mold and a lower mold, a plurality of safety buttons are symmetrically distributed on both sides of the center line of the upper mold, and a pressing device corresponding to the position of the safety button is further arranged on the mold changing gripper.

[0020] A pressing control unit is configured to control the clamping device to relax and control the pressing device to extend towards the safety button when the mold changing demand indicates that the upper mold is to be replaced, so as to press the safety button through the pressing device when the clamping device clamps the mold at the hole position, and then the mold changing robot takes out the mold from the clamping device.

[0021] Preferably, the detection device comprises a first laser sensor and a second laser sensor, the first laser sensor is irradiated at a preset hole height, and the hole height corresponds to the vertical height of the clamping hole relative to the ground.

[0022] A moving unit is configured to control the mold changing robot to move to the start position, then move to the end position according to the moving path, and control the first laser sensor and the second laser sensor to emit laser irradiation to the mold during the movement.

[0023] A position detection unit is configured to record the real-time position of the mold changing robot as a first position when the detection device is located at a hole start position of the clamping hole according to the irradiation of the first laser sensor and the second laser sensor,

[0024] record the real-time position of the mold changing robot as a second position when the detection device is located at a hole end position of the clamping hole,

[0025] record the real-time position of the mold changing robot as a third position when the detection device is located at a mold start position of the mold,

[0026] and record the real-time position of the mold changing robot as a fourth position when the detection device is located at a mold end position of the mold.

[0027] A first calculation unit connected to the position detection unit is configured to obtain the hole position by processing the first position, the second position and the hole height.

[0028] a second calculation unit, connected with the position detection unit and the first calculation unit, configured to process the actual position according to the hole position, the third position and the fourth position;

[0029] a position recording unit, connected with the first calculation unit and the second calculation unit, configured to record the hole position and the actual position and save to the first storage module.

[0030] Preferably, the pressing device comprises a pen-type cylinder and a stopper, the stopper is connected with the front end of the pen-type cylinder, the pen-type cylinder drives the stopper to extend towards the safety button to press the safety button.

[0031] Preferably, the identification device comprises a camera and an illumination unit, the illumination unit is configured to provide an illumination light source, and the camera is configured to identify the two-dimensional code to obtain the mold information.

[0032] The application further provides an automatic inspection and replacement method of a bending machine mold, applied to the system and comprising the following steps:

[0033] S1, the system controls the mold replacement robot to detect the clamping hole position through the detection device, records the hole position of the clamping hole position when the clamping hole position is detected, and processes the actual position of the mold according to the hole position and the real-time position of the mold replacement robot;

[0034] S2, the system controls the mold replacement robot to move to the actual position when there is a mold replacement demand, then controls the clamping device to clamp the mold at the hole position, and then puts the mold to be replaced into the clamping device to replace the mold in the clamping device.

[0035] Preferably, the system stores the start position and the end position of the clamping device and the moving path between the start position and the end position; then the method comprises the following steps:

[0036] S11, the system controls the mold replacement robot to move from the start position to the end position according to the moving path when the system is used for the first time or receives an external inspection instruction;

[0037] S12, the system processes the actual position of the mold according to the real-time position of the mold replacement robot and the hole position detected by the detection device when the hole position is detected during the moving process, and then records and saves the hole position and the actual position.

[0038] The above technical scheme has the following advantages or beneficial effects:

[0039] 1) Through the detection device on the die changing robot, the actual position of the hole position and the die calculated by the start position and the end position of the die is detected and recorded, and the automatic inspection of the die of the bending machine is realized;

[0040] 2) The workpiece number is input during processing, and when the die information of the required die and the die information of the installed die are inconsistent, automatic replacement is performed, the robot automatically changes the die, and the die changing precision and efficiency can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 For the preferred embodiment of the present application, a structure diagram of a system for automatically inspecting and replacing a die of a bending machine is provided.

[0042] Figure 2 For the preferred embodiment of the present application, a structure diagram of a host computer is provided.

[0043] Figure 3 For the preferred embodiment of the present application, a structure diagram of a die is provided.

[0044] Figure 4 For the preferred embodiment of the present application, a structure diagram of a die changing gripper and a detection device is provided.

[0045] Figure 5 For the preferred embodiment of the present application, a flowchart of a method for automatically inspecting and replacing a die of a bending machine is provided.

[0046] Figure 6 For the preferred embodiment of the present application, a sub-flowchart of step S1 is provided. DETAILED DESCRIPTION

[0047] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. The present application is not limited to this embodiment, and other embodiments can also fall within the scope of the present application as long as they comply with the main idea of the present application.

[0048] In the preferred embodiment of the present application, based on the above-mentioned problems existing in the prior art, a system for automatically inspecting and replacing a die of a bending machine is provided, as shown in Figure 1 and Figure 2 , comprising:

[0049] a bending machine 1, the bending machine is provided with a clamping device 2, the clamping device 2 clamps a die 3, and two clamping hole positions 31 are provided along the center line of the die 3;

[0050] a die changing robot 4, the die changing robot 4 is provided with a die changing gripper 5 and a detection device 6, the die changing gripper 5 is provided with a clamping device 51, and the position of the clamping hole position 31 is corresponding;

[0051] The host computer 7 is connected to the bending machine 1 and the die changing robot 4 respectively, and is used to control the die changing robot 4 to detect the clamping hole position 31 through the detection device 6, record the hole position of the clamping hole position 31 when the clamping hole position 31 is detected, obtain the actual position of the die according to the hole position and the real-time position of the die changing robot, control the die changing robot 4 to move to the actual position when there is a die changing demand, then control the clamping device 51 to clamp and take off the die 3 at the hole position, and then put the die to be replaced into the clamping device 2 to replace the die 3 in the clamping device 2.

[0052] Specifically, in the embodiment, the host computer 7 is used to control the die changing robot 4 to automatically detect the die 3 on the bending machine 1, record the hole position of the clamping hole position 31 on the die 3 and the actual position of the die 3, and control the clamping device 51 of the die changing robot 4 to clamp the die 3 and take off the die from the clamping device 2 when the die needs to be replaced. The die to be replaced is generally stored in a die library, and the die changing robot 4 is controlled to clamp the die to be replaced in the die library in the same way and put it into the clamping device 2, so as to complete the automatic replacement of the die 3 and improve the die changing accuracy and efficiency.

[0053] In the preferred embodiment of the present application, as shown in Figure 2 The host computer 7 comprises:

[0054] The first storage module 100 is used to store the start position and the end position of the clamping device 2 and the movement path between the start position and the end position;

[0055] The position detection module 200 is connected to the first storage module 100, and is used to control the die changing robot 4 to move from the start position to the end position according to the movement path when the die changing robot 4 is used for the first time or receives an external input detection instruction, and when the clamping hole position 31 is detected during the movement, the actual position of the die 3 is obtained according to the real-time position of the die changing robot 4 and the hole position detected by the detection device 6, and then the hole position and the actual position are recorded and saved to the first storage module;

[0056] The die changing control module 300 is connected to the position detection module 200, and is used to control the die changing robot 4 to move to the actual position when there is a die changing demand, and control the clamping device 51 to clamp the die 3 at the hole position, and then put the die to be replaced into the clamping device 2 to replace the die 3 in the clamping device 2.

[0057] In the preferred embodiment of the present application, as shown in Figure 2 and Figure 3 The two-dimensional code 32 is further attached above the clamping hole position 31 of the die 3, and the die changing gripper 5 is further provided with an identification device 52; and the host computer 7 further comprises:

[0058] The second storage module 400 is configured to store a plurality of standard workpiece numbers and a plurality of sets of standard mold information, each standard workpiece number corresponding to a set of standard mold information;

[0059] The information acquisition module 500 is connected to the position detection module 400 and is configured to control the identification device 52 to identify the two-dimensional code 32 to obtain the mold information when the mold changing robot 4 records the actual position during movement.

[0060] The replacement judgment module 600 is connected to the information acquisition module 500, the second storage module 400, and the mold changing control module 300 and is configured to match the externally input workpiece number with each standard workpiece number to obtain corresponding standard mold information and generate a replacement signal when the matched standard mold information is inconsistent with the mold information.

[0061] The mold changing control module 300 controls the mold changing robot 4 to move to the actual position and clamps the mold 3 at the hole position through the clamping device 51, and then places the mold to be replaced into the clamping device 2 to replace the mold 3 in the clamping device 2.

[0062] Specifically, in the embodiment, parameter setting is required before the system of the application is used, so that the system establishes a respective coordinate system for each device such as the clamping device 2 of the bending machine 1, the mold library, and the conversion relationship between the coordinate systems.

[0063] The starting position and the ending position of the clamping device 2 and the grabbing offset of the mold changing gripper 5 are set; the signals and register numbers exchanged between the mold changing software installed on the mold changing robot 4 and the main control machine 7 are set; the running track of the clamping device 51 when clamping each type of mold 3 to take out and place from the clamping device 2 is set, and the transition track of the identification two-dimensional code after the clamping hole 31 is detected is set.

[0064] Each type of mold 3 corresponds to a workpiece, and the mold information of all existing molds 3 is sequentially encoded according to the coding specification to generate a two-dimensional code 32, which is pasted to the corresponding position of the mold 3, preferably directly above the clamping hole 31.

[0065] The main control machine 7 controls the mold changing robot 4 to detect the clamping hole 31 of the mold 3 on the bending machine 1 to obtain the hole position and the actual position and record them before the bending machine 1 is used for the first time to process workpieces or when a test instruction is received, and an error is reported to the staff when the mold 3 is not detected.

[0066] During movement, the detection device 6 controls the identification device 52 to take a picture of the two-dimensional code 32 above the clamping hole 31 to obtain the mold information of the mold 3 when the clamping hole 31 is detected.

[0067] When the workpiece needs to be processed, the worker inputs the workpiece number of the workpiece to be processed into the host computer 7, each workpiece corresponds to a mold, and it is judged whether the mold required by the workpiece to be processed and the installed mold are consistent, and if not, the mold changing robot 4 needs to change the mold 3 on the bending machine 1.

[0068] As shown in Figure 2 and Figure 4 The clamping device 51 includes fingers 511 and air cylinders 512; the air cylinders 512 are connected to the fingers 511 and are used to control the opening and closing of the fingers 511; the shape of the fingers 511 matches the shape of the clamping hole position 31; and the mold changing control module 300 further includes:

[0069] A finger control unit 310 is used to control the fingers 511 to close and extend into the clamping hole position 31 according to a preset extension path when the mold changing robot 4 moves to the actual position of the mold 3, and control the fingers 511 to open until the fingers 511 and the clamping hole position 31 fit when the fingers 511 are located at the end position of the extension path, and then control the fingers 511 to take out the mold 3.

[0070] Specifically, in the embodiment, the clamping device 51 adopts fingers 511 that match the shape of the clamping hole position 31, and when the fingers 511 are controlled to close and extend into the clamping hole position 31, the fingers 511 are then opened to fit the fingers 511 and the clamping hole position 31 to achieve the clamping action on the mold 3; in the clamping action, the conventional way is to control the fingers 511 to first open outward and then close inward, although the clamping action on the mold can be achieved, but since the stability of the “closed clamping” is lower than that of the “opened clamping”, the fingers 511 are opened to fit the fingers 511 and the clamping hole position 31 in the present application.

[0071] As shown in Figure 2 and Figure 3 and Figure 4 The mold 3 includes an upper mold and a lower mold, a plurality of safety buttons 33 are symmetrically distributed on both sides of the center line of the upper mold, and the mold changing gripper 5 is further provided with a pressing device 53 corresponding to the position of the safety button 33; and the mold changing control module 300 further includes:

[0072] A pressing control unit 320 is used to control the clamping device 2 to relax and control the pressing device 53 to extend towards the safety button 33 when the mold changing demand indicates that the upper mold needs to be replaced, so that the safety button 33 is pressed by the pressing device 53 when the clamping device 51 clamps the mold 3 at the hole position, and the mold 3 is taken out from the clamping device 2 by the mold changing robot 4.

[0073] Specifically, in the embodiment, when the upper die is replaced, the clamping device 2 will fall under the action of gravity after the upper die is released, and then the safety button 33 on the upper die needs to be pressed by pressing the device 53 before the clamping device 51 clamps the upper die stably, so as to "press" the upper die on the bending machine 1, prevent the upper die from falling, and take out the upper die from the clamping device.

[0074] When the upper die to be replaced is put into the clamping device 2, the upper die also needs to be "pressed" on the bending machine 1 in the same way until the upper die is completely put into the clamping device 2 and clamped by the clamping device 2.

[0075] In the preferred embodiment of the present application, as shown in Figure 2 and Figure 4 The detection device 6 includes a first laser sensor 61 and a second laser sensor 62, the first laser sensor 61 irradiates at a preset hole position height, and the hole position height corresponds to the vertical height of the clamping hole position 31 relative to the ground; and the position detection module 300 includes:

[0076] The moving unit 330 is used for controlling the die changing robot 4 to move to a starting position, then move to an ending position according to a moving path, and controlling the first laser sensor 61 and the second laser sensor 62 to emit laser irradiation to the die 3 during the moving process;

[0077] The position detection unit 340 is used for judging that the detection device 6 is located at a hole position starting point of the clamping hole position 31, recording the real-time position of the die changing robot 4 as a first position,

[0078] judging that the detection device 6 is located at a hole position ending point of the clamping hole position 31, recording the real-time position of the die changing robot 4 as a second position,

[0079] judging that the detection device 6 is located at a die starting point of the die 3, recording the real-time position of the die changing robot 4 as a third position,

[0080] and judging that the detection device 6 is located at a die ending point of the die 3, recording the real-time position of the die changing robot 4 as a fourth position;

[0081] The first calculation unit 350 is connected with the position detection unit 340, and is used for processing the hole position according to the first position, the second position and the hole position height;

[0082] The second calculation unit 360 is connected with the position detection unit 340 and the first calculation unit 350, and is used for processing the actual position according to the hole position, the third position and the fourth position;

[0083] The position recording unit 370 is connected to the first calculation unit 350 and the second calculation unit 360, and is configured to record the hole position and the actual position and save them to the first storage module 100.

[0084] Specifically, in the embodiment, the first laser sensor 61 and the second laser sensor 62 are arranged vertically, and irradiate the height of the clamping hole 31 and the height of the non-clamping hole, respectively, while avoiding the position of the two-dimensional code 32. Let the laser sensor irradiating the height of the clamping hole 31 be A, and the other be B. According to the signal condition of AB, the corresponding condition of the sensor irradiation part can be obtained. As shown in the following table, ON means that the laser sensor irradiates the object, OFF means that the laser sensor does not irradiate the object, ON+ means that the laser sensor changes from OFF to ON, and ON- means that the laser sensor changes from ON to OFF. Through the coordinates of the hole start point and the hole end point of the clamping hole, the robot can calculate the center position of the mold as the actual position of the mold. Using two laser sensors to detect the clamping hole can avoid the situation that when the mold 3 is located on the workbench, the adjacent mold 3 has no gap, resulting in that the mold edge cannot be detected and multiple molds are recognized as a whole mold.

[0085] A B Corresponding case ON ON Irradiation on the non-clamping hole segment of the mold OFF ON Irradiation on the clamping hole segment of the mold OFF OFF Irradiation at the gap of the adjacent mold ON- ON- Irradiation at the mold end point of the mold ON+ ON+ Irradiation at the mold start point of the mold ON- ON Irradiation at the hole start point of the clamping hole site ON+ ON Irradiation at the hole end point of the clamping hole site

[0086] Subsequently, according to the first position and the second position and the hole height, the coordinates of the clamping hole in the above-mentioned coordinate system can be obtained as the hole position. The clamping hole 31 is opened at a fixed position of the mold 3, so according to the third position and the fourth position and the hole position, the center position of the mold can be calculated as the actual position. The hole position and the actual position are recorded and saved, which are used for moving the mold changing robot 4 to the actual position of the mold 3 in the subsequent clamping action, and controlling the clamping device 51 to extend into the hole position of the clamping hole 31 to clamp the mold 3.

[0087] In the preferred embodiment of the present application, as shown in Figure 2 and Figure 4 The pressing device 53 includes a pen-type cylinder 531 and a stop block 532. The stop block 532 is connected to the front end of the pen-type cylinder 531. The pen-type cylinder 531 drives the stop block 532 to extend and retract to press the safety button 33.

[0088] Specifically, in the embodiment, when the mold changing robot 4 reaches the actual position of the mold 1, the pen-type cylinder 531 pushes the stop block 532 to extend towards the safety button 33, presses the safety button 33 and maintains the pressed state until the mold changing robot 4 takes out the upper mold from the clamping device 2.

[0089] In the preferred embodiment of the present application, the identification device 52 includes a camera and an illumination unit. The illumination unit is configured to provide an illumination light source, and the camera is configured to identify the two-dimensional code 32 to obtain the mold information.

[0090] Specifically, in the embodiment, the identification device 52 is composed of a camera and an illumination unit. When the detection device 6 detects the clamping hole position 31, the bending machine robot 4 can calculate the corresponding shooting position according to the relative distance between the two-dimensional code 32 and the clamping hole position 31 and the relative distance between the detection device 6 and the identification device 52, so as to place the two-dimensional code 32 in the field of view of the camera. The camera shoots and identifies the two-dimensional code 32, and transmits the identification result, i.e., the mold information, to the host computer.

[0091] The application further provides a method for automatically checking and replacing a bending machine mold, which is applied to the system and comprises the following steps: Figure 5 as shown in the figure, comprising:

[0092] In step S1, the system controls the mold changing robot to detect the clamping hole position by the detection device, records the hole position of the clamping hole position when the clamping hole position is detected, and obtains the actual position of the mold according to the hole position and the real-time position of the mold changing robot.

[0093] In step S2, the system controls the mold changing robot to move to the actual position when there is a mold replacement demand, then controls the clamping device to clamp the mold at the hole position, and then puts the mold to be replaced into the clamping device to replace the mold in the clamping device.

[0094] In the preferred embodiment of the application, the system stores the start position and the end position of the clamping device and the moving path between the start position and the end position; as shown in the figure, Figure 6 the step S1 comprises:

[0095] In step S11, the system controls the mold changing robot to move from the start position to the end position according to the moving path when the system is used for the first time or receives an external input checking instruction.

[0096] In step S12, the system obtains the actual position of the mold according to the real-time position of the mold changing robot and the hole position detected by the detection device when the hole position is detected during the moving process, then records the hole position and the actual position and saves them.

[0097] The above is only the preferred embodiment of the application, and does not limit the implementation and protection scope of the application. Those skilled in the art should realize that any equivalent replacement and obvious changes made according to the content of the specification and the drawings should be included in the protection scope of the application.

Claims

1. A system for automated inspection and replacement of bending machine dies, characterized by, The utility model relates to a bending machine, a die changing robot and a control system, and belongs to the field of die changing. The bending machine is provided with a clamping device, and the clamping device clamps a die. The die changing robot is provided with a die changing gripper and a detection device. The main control machine is connected to the bending machine and the die changing robot. The main control machine controls the die changing robot to detect the clamping hole position through the detection device. When the clamping hole position is detected, the main control machine records the hole position of the clamping hole position. The main control machine processes the real position of the die according to the hole position and the real-time position of the die changing robot.

2. The system of claim 1, wherein, When there is a need to change the die, the main control machine controls the die changing robot to move to the real position. Then, the main control machine controls the clamping device to clamp the die at the hole position. Then, the main control machine puts the die to be changed into the clamping device to change the die in the clamping device. The clamping device includes two fingers and a cylinder.

3. The system of claim 2, wherein, Each finger corresponds to a clamping hole position. The cylinder is connected to each finger to control the opening and closing of the two fingers. The shape of the finger matches the shape of the clamping hole position. The main control machine includes a finger control unit. When the die changing robot moves to the real position of the die, the finger control unit controls the two fingers to close and extend into the corresponding clamping hole position according to the preset extension path. When the finger is at the end position of the extension path, the finger control unit controls the two fingers to open until each finger and the corresponding clamping hole position fit. Then, the finger control unit controls the finger to take out the die. The main control machine includes a first storage module. The first storage module stores the start position and end position of the clamping device and the movement path between the start position and the end position. The position detection module is connected to the first storage module. When the die changing robot moves from the start position to the end position according to the movement path, the position detection module detects the clamping hole position. When the clamping hole position is detected during the movement, the position detection module processes the real position of the die according to the real-time position of the die changing robot and the hole position detected by the detection device. Then, the position detection module records the hole position and the real position and saves them to the first storage module. The die changing control module is connected to the position detection module. When there is a need to change the die, the die changing control module controls the die changing robot to move to the real position. The die changing control module controls the clamping device to clamp the die at the hole position. Then, the die changing control module puts the die to be changed into the clamping device to change the die in the clamping device. The top of the clamping hole position of the die is also attached with a two-dimensional code. The two-dimensional code saves the die information corresponding to the die. The die changing gripper is also provided with an identification device. The main control machine also includes a second storage module. The second storage module saves a plurality of standard workpiece numbers and a plurality of standard die information. Each standard workpiece number corresponds to a set of standard die information. The information acquisition module is connected with the position detection module, and is configured to control the identification device to identify the two-dimensional code to obtain the mold information when the mold changing robot records the actual position during movement. The replacement judgment module is connected with the information acquisition module, the second storage module and the mold changing control module, and is configured to match the workpiece number input from outside with each standard workpiece number to obtain corresponding standard mold information, and generate a replacement signal when the standard mold information obtained by matching is inconsistent with the mold information. The mold changing control module controls the mold changing robot to move to the actual position and clamp the mold at the hole position by the clamping device according to the replacement signal, and then places the mold to be replaced into the clamping device to replace the mold in the clamping device.

4. The system of claim 2, wherein, The mold includes an upper mold and a lower mold, a plurality of safety buttons are symmetrically distributed on both sides of the center line of the upper mold, and a pressing device corresponding to the position of the safety button is further arranged on the mold changing gripper. The pressing control unit is configured to control the clamping device to relax and control the pressing device to extend towards the safety button when the mold replacement demand indicates that the upper mold is to be replaced, so that the safety button is pressed by the pressing device when the clamping device clamps the mold at the hole position.

5. The system of claim 2, wherein, The detection device includes a first laser sensor and a second laser sensor, the first laser sensor is irradiated at a preset hole position height, and the hole position height corresponds to the vertical height of the clamping hole position relative to the ground. The position detection module includes: A moving unit is configured to control the mold changing robot to move to the starting position, then move to the ending position according to the movement path, and control the first laser sensor and the second laser sensor to emit laser to irradiate the mold during movement. A position detection unit is configured to record the real-time position of the mold changing robot as a first position when the detection device is located at the hole starting position of the clamping hole according to the irradiation of the first laser sensor and the second laser sensor, record the real-time position of the mold changing robot as a second position when the detection device is located at the hole ending position of the clamping hole, record the real-time position of the mold changing robot as a third position when the detection device is located at the mold starting position of the mold, and record the real-time position of the mold changing robot as a fourth position when the detection device is located at the mold ending position of the mold; A first calculation unit connected with the position detection unit is configured to obtain the hole position by processing the first position, the second position and the hole position height. A second calculation unit connected with the position detection unit and the first calculation unit is configured to obtain the actual position by processing the hole position, the third position and the fourth position. A position recording unit is connected to the first computing unit and the second computing unit, and is configured to record the hole position and the actual position and save them to the first storage module.

6. The system of claim 4, wherein, The pressing device comprises a pen-shaped cylinder and a stopper, the stopper is connected to the front end of the pen-shaped cylinder, the pen-shaped cylinder drives the stopper to extend towards the safety button to press the safety button.

7. The system of claim 3, wherein, The identification device comprises a camera and an illumination unit, the illumination unit is configured to provide an illumination light source, and the camera is configured to identify the two-dimensional code to obtain the mold information.

8. A method of automated inspection and replacement of a bending machine die, characterized by, The system is applied to the system of any one of claims 1-7, comprising: In step S1, the system controls the mold changing robot to detect the clamping hole position by the detection device, and records the hole position of the clamping hole position when the clamping hole position is detected, and obtains the actual position of the mold according to the hole position and the real-time position of the mold changing robot; In step S2, the system controls the mold changing robot to move to the actual position when there is a mold changing demand, and then controls the clamping device to clamp the mold at the hole position, and then puts the mold to be changed into the clamping device to change the mold in the clamping device.

9. The method of claim 8, wherein, The system stores the start position and the end position of the clamping device and the moving path between the start position and the end position; then the step S1 comprises: In step S11, the system controls the mold changing robot to move from the start position to the end position according to the moving path when the system is used for the first time or receives an external inspection instruction; In step S12, the system obtains the actual position of the mold according to the real-time position of the mold changing robot and the hole position detected by the detection device when the clamping hole position is detected during the moving process, and then records the hole position and the actual position and saves them.

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