Intelligent removal system and method for metal plate surface granulation

Abstract

The present invention discloses a system and method for intelligently removing granules on the surface of a metal plate, which includes a metal plate conveying mechanism, a granulation recognition mechanism, a granulation milling mechanism and a control module, wherein the metal plate conveying mechanism includes a front and a back conveying component and a flipping component arranged between the front and back conveying components, and the granulation milling mechanism includes a front and a back milling mechanism correspondingly arranged on the conveying paths of the front and back conveying components, and the front and back milling mechanisms are both provided with a plurality of milling cutters, and the adjacent milling cutters are arranged staggered and the milling paths are partially overlapped; the granulation recognition mechanism is arranged above the metal plate conveying mechanism, and the control module is used to control the corresponding milling cutter on the granulation milling mechanism to mill according to the granulation position recognized by the granulation recognition mechanism. Thus, the corresponding milling cutter is accurately controlled to independently mill the granulation to-be-milled area moving to the milling range, and while achieving full coverage of the milling of the metal plate, the generation of no-load can be effectively avoided, and energy consumption can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of metal processing, and in particular to a system and method for intelligently removing granules on the surface of a metal plate. Background Art

[0002] Copper, nickel, cobalt and other metals are important products of the non-ferrous metal industry. Due to their good metal properties, they are widely used in various industries. With the rapid development of the manufacturing industry, the demand is also increasing year by year. Therefore, methods, processes and equipment to improve the production capacity of the above metals have become particularly important. Through research, it was found that electrolysis is usually used in industrial production to produce copper, nickel, cobalt and other metals. The finished products often have surface granulation defects, which cannot meet the standards for goods leaving the factory. For example, in the national standard for cathode copper: the total area of ​​dense granulation of round heads with a height of more than 5mm on the surface of cathode copper shall not exceed 10% of the single-sided area; the national standard for electrolytic nickel: the total area of ​​dense granulation areas with a height of more than 3mm on the surface of electrolytic nickel shall not exceed 15% of the area of ​​nickel plates. Therefore, enterprises need to remove surface granulation of metal plates that do not meet the standards before leaving the factory. The traditional method is for staff to use tools such as pneumatic hammers to remove granulation. This operation method has unfavorable factors such as high labor intensity and unstable removal effect, which in turn affects the efficiency of metal sheet storage and sales price, resulting in high system production costs, and is also inconsistent with the requirements for improving the level of intelligence of enterprises.

[0003] The invention patent with patent number CN202011154732.8 discloses an electrolytic cathode granulation removal device and a cathode granulation removal method. The electrolytic cathode granulation removal device includes: a short circuit detection unit, which is used to determine the precise position of the short-circuited cathode in the electrolytic cell; a plate transfer unit; a granulation removal unit, which is used to remove the granulation on the surface of the short-circuited cathode; and a granulation image recognition unit, which is used to obtain the position and size of the granulation on the cathode surface. Therefore, through the cooperation of the short circuit detection unit, the plate transfer unit, the granulation removal unit and the granulation image recognition unit, the short-circuited cathode can be accurately detected and located first, and then the granulation on the cathode surface can be removed, which is beneficial to improving the current efficiency and product grade rate of the electrolytic operation, and the operator does not need to manually remove the granulation, which can improve the granulation removal efficiency. Although the above patent provides a device and method for identifying and removing electrolytic cathode granules, it has not formed a complete automated operation system, and the milling area of ​​its cutter head cannot fully cover the entire area of ​​the electrolytic cathode, which may easily cause some granules to not be removed and the granulation removal effect is poor, thereby affecting the product qualification rate. In addition, in the process of the cutter head removing granules, all cutter heads operate synchronously throughout the process, which may easily cause some cutter heads to idle and cause large energy loss. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the present invention provides an intelligent system and method for removing particles on the surface of a metal plate, which can ensure that the milling area covers the entire surface of the metal plate, improve the particle removal rate, avoid idling of the milling cutter, and effectively reduce energy consumption.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: to provide an intelligent removal system for metal plate surface granulation, which includes a metal plate conveying mechanism, a granulation recognition mechanism, a granulation milling mechanism and a control module, wherein the metal plate conveying mechanism includes a front conveying component, a back conveying component, and a flipping component arranged between the front conveying component and the back conveying component for flipping the metal panel, the granulation milling mechanism includes a front milling mechanism arranged on the conveying path of the front conveying component, and a back milling mechanism arranged on the conveying path of the back conveying component, the front milling mechanism and the back milling mechanism are both provided with a plurality of milling cutters, adjacent milling cutters are arranged in an alternating manner and the milling paths are partially overlapped; the granulation recognition mechanism is arranged above the metal plate conveying mechanism through a bracket rod, and is used to identify granulation of the metal plate on the metal plate conveying mechanism, and the control module is respectively communicated with the milling cutter driving component of each milling cutter, and is used to control the milling of the corresponding milling cutter on the granulation milling mechanism according to the granulation position identified by the granulation recognition mechanism.

[0006] Preferably, the front conveying assembly includes a front conveying workbench, a front conveying component arranged on the front conveying workbench, and a front clamping base arranged on the front conveying component. The front clamping base includes a clamping platform and a plurality of clamping claws arranged on both sides of the clamping platform for clamping the metal plate on the front clamping base.

[0007] Preferably, the flip assembly includes a flip base and a flip frame, the flip base is arranged between the end of the front conveying assembly and the head end of the back conveying assembly, the flip frame is hinged on the flip base, and a plurality of clamps are distributed on the flip frame.

[0008] Preferably, the front milling mechanism includes a milling base arranged on one side of the metal plate conveying path, and a plurality of milling cutters arranged on the milling base, the milling base extends a suspension arm perpendicular to the direction of the metal plate conveying path above the metal plate conveying path, and a plurality of longitudinal telescopic parts are staggered on both sides of the suspension arm, and the milling cutter is installed at the telescopic end of the longitudinal telescopic part.

[0009] Preferably, the control module is respectively connected to the longitudinal telescopic component and the milling cutter driving component of the milling cutter for driving the corresponding milling cutter to perform milling according to the granulation coordinate position.

[0010] Preferably, the granulation identification mechanism includes a camera module, a three-dimensional image recognition module and a three-dimensional coordinate construction module. The camera module is used to take photos of the metal plate working space, the three-dimensional image recognition module is used to judge and identify the granulations on the metal plate based on the photos taken by the camera module, and the three-dimensional coordinate construction module is used to construct the metal plate working space coordinate system based on the photos taken by the camera module and calculate the metal plate granulation coordinates.

[0011] The present invention also provides a method for intelligently removing particles on the surface of a metal plate based on the above-mentioned intelligent system for removing particles on the surface of a metal plate, which comprises the following steps:

[0012] The metal plate is placed on the front conveying component of the metal plate conveying mechanism, and the grain recognition mechanism recognizes the grains on the front of the metal plate and determines the coordinates of the grain milling area;

[0013] Construct a three-dimensional coordinate system for the metal plate milling area, calculate the distance between the granulation area to be milled and the milling cutter in real time, and when the granulation area to be milled enters the milling range of the corresponding milling cutter, the control module controls the corresponding milling cutter to mill the granulation area to be milled;

[0014] When the front milling of the metal plate is completed, the metal plate is turned over to the back conveying component by the turning component, and the grains on the back of the metal plate are milled according to the front milling process.

[0015] Preferably, before calculating the distance between the granulation area to be milled and the milling cutter in real time, the method includes:

[0016] A three-dimensional coordinate system of the metal plate milling area is constructed with the lower right corner fixed point of the current position of the metal plate when it is placed on the front clamping base as the coordinate origin;

[0017] Determine the coordinates of the metal plate granulation area to be milled and the coordinates of the milling cutter on the front milling mechanism based on the three-dimensional coordinate system of the metal plate milling area;

[0018] According to the abscissa of the region to be milled of the granulation and the abscissa range corresponding to the milling range of the milling cutter on the front milling mechanism, the region to be milled of the granulation and the milling cutter are grouped accordingly.

[0019] Preferably, the distance between the granulation area to be milled and the milling cutter is calculated in real time, and when the granulation area to be milled enters the milling range of the corresponding milling cutter, the control module controls the corresponding milling cutter to mill the granulation area to be milled, including:

[0020] The current coordinate position of the region to be milled is updated in real time according to the current coordinate position of the metal plate, and the distance between the region to be milled and the corresponding milling cutter is calculated in real time based on the current coordinate position of the region to be milled;

[0021] When the granulation area to be milled enters the milling range of the corresponding milling cutter, the control module starts the milling cutter driving component of the milling cutter to mill the granulation area to be milled that enters the milling range.

[0022] Preferably, after the granulation recognition mechanism determines the coordinates of the granulation area to be milled, it calculates whether the area of ​​the granulation area to be milled exceeds the qualified threshold area ratio. If it exceeds, it is judged as an unqualified metal plate, otherwise it is judged as a qualified metal plate and continues to be granulated and milled to remove impurities.

[0023] The beneficial effects of the present invention are:

[0024] The intelligent system for removing grains from the surface of metal plates described in the present invention provides an automated operating system for the process of removing grains from metal plates. The grains on the metal plates are accurately identified by a grain identification mechanism, and the corresponding milling cutter on the grain milling mechanism is controlled to mill, thereby avoiding the problem of increased energy consumption due to idle milling by the milling cutter in the metal plate area without grains. At the same time, the milling cutters on the grain milling mechanism are staggered and adjacent milling paths are partially overlapped, so as to ensure that the milling cutter area can cover the entire surface of the metal plate, solve the problem that grains in the gap area between adjacent milling cutters cannot be fully milled, achieve full coverage of the metal plate milling while avoiding the generation of idleness, and effectively reduce energy consumption.

[0025] The present invention arranges fixed clamping plates on the same front clamping base to be horizontally fixed at the same height, forming a metal plate limiting platform higher than the clamping platform, and there is a height difference between the metal plate limiting platform and the clamping platform. When the metal plate is placed on the metal limiting platform, a spacing space is provided between the metal plate and the clamping platform, and the spacing space is used to provide a flipping accommodating space for the flipping assembly.

[0026] The control module of the present invention controls the camera module to take real-time photos of the metal plate, updates the current coordinate position of the granulation area to be milled in real time according to the current coordinate position of the metal plate, and calculates the distance between the granulation area to be milled and the corresponding milling cutter in real time based on the current coordinate position of the granulation area to be milled; thereby, the granulation area to be milled that enters the milling range is milled to achieve precise milling of the granulation, and other areas that do not need to be milled pass through the milling cutter without the milling cutter working, so as to save energy consumption and reduce milling costs.

[0027] After collecting three-dimensional point cloud data of the metal plate surface, the present invention identifies the edge curve of the clamp on the metal plate through two-dimensional edge detection, and determines the coordinates of the clamp based on the three-dimensional coordinate system of the metal plate milling area. When a part of the grain to be milled area is covered by the clamp, the distance between the clamp and the milling cutter corresponding to the grain to be milled area is calculated in real time. When the grain to be milled area partially covered by the clamp is about to enter the milling range of the corresponding milling cutter, the control module controls the clamp to open, and starts the corresponding milling cutter to mill the grain to be milled area entering the milling range, thereby achieving comprehensive milling of grains in all areas of the metal plate and improving the qualified rate of metal plate milling.

[0028] The intelligent method for removing grains on the surface of metal plates described in the present invention realizes the precise positioning of the grain-to-be-milled area on the metal plate through the three-dimensional image recognition module in the grain-to-be recognition mechanism, and establishes the grain-to-be spatial coordinates in cooperation with the three-dimensional coordinate construction module. By real-time tracking of the grain-to-be coordinates, the grain-to-be milling mechanism is precisely controlled to independently mill the grain-to-be-milled area within the milling range. While achieving full coverage of the milling of the metal plate, it can also effectively avoid the generation of no-load and effectively reduce energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the intelligent system for removing granules on the surface of a metal plate according to an embodiment of the present invention.

[0030] Figure 2 for Figure 1 Enlarged schematic diagram of part A in the middle.

[0031] Figure 3 This is a front view of the intelligent system for removing particles from the surface of a metal plate according to an embodiment of the present invention.

[0032] Figure 4 It is a top view of the intelligent system for removing granules on the surface of a metal plate according to an embodiment of the present invention.

[0033] Figure 5 It is a schematic diagram of the structure of the intelligent system for removing granules on the surface of metal plates according to an embodiment of the present invention.

[0034] Figure 6 This is a module control block diagram of the intelligent system for removing granules on the surface of metal plates according to an embodiment of the present invention.

[0035] The markings of the components in the accompanying drawings are as follows:

[0036] 1. Metal plate conveying mechanism; 2. Granulation identification mechanism; 3. Granulation milling mechanism; 4. Control module; 11. Front conveying assembly; 12. Rear conveying assembly; 13. Flip assembly; 31. Front milling mechanism; 32. Rear milling mechanism; 301. Milling cutter; 111. Front conveying workbench; 112. Front conveying component; 113. Front clamping base; 104. Clamping platform; 105. Clamping claw; 105a. Movable gusset plate; 105b. Fixed clamping plate ; 131. Flip base; 132. Flip frame; 302. Milling base; 303. Suspension arm; 304. Longitudinal telescopic component; 305. Dust cover; 306. Dust brush; 307. Dust box; 21. Camera module; 22. Three-dimensional image recognition module; 23. Three-dimensional coordinate construction module; 41. Delay module; 42. Milling cutter drive component; 43. Flip drive component; 44. Pressure sensor; 45. Gripper control component; 46. Transmission drive component. DETAILED DESCRIPTION

[0037] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0038] Example 1

[0039] Embodiment 1 of the present invention provides an intelligent system for removing granules on the surface of a metal plate, such as Figures 1 to 4 As shown, it includes a metal plate conveying mechanism 1, a granulation recognition mechanism 2, a granulation milling mechanism 3 and a control module 4, wherein the metal plate conveying mechanism includes a front conveying component 11, a back conveying component 12, and a flipping component 13 arranged between the front conveying component 11 and the back conveying component 12 for flipping the metal panel, the granulation milling mechanism 3 includes a front milling mechanism 31 arranged on the conveying path of the front conveying component 11, and a back milling mechanism 32 arranged on the conveying path of the back conveying component 12, the front milling mechanism 31 and the back milling mechanism 32 are both provided with a plurality of milling cutters 301, and adjacent milling cutters 301 are arranged in an alternating manner and the milling paths are partially overlapped; the granulation recognition mechanism 2 is arranged above the metal plate conveying mechanism through a bracket rod, and is used for granulation recognition of the metal plate on the metal plate conveying mechanism, and the control module 4 is respectively communicated with the milling cutter driving component 42 of each milling cutter 301, and is used for controlling the corresponding milling cutter 301 on the granulation milling mechanism 3 to mill according to the granulation position recognized by the granulation recognition mechanism 2.

[0040] The intelligent removal system for metal plate surface nodules provides an automated operating system for the metal plate nodule removal process. The nodule recognition mechanism 2 accurately identifies the nodules on the metal plate, and controls the corresponding milling cutter 301 on the nodule milling mechanism 3 to avoid the problem of idle milling of the milling cutter 301 in the metal plate area without nodules, thereby increasing energy consumption. At the same time, the milling cutters 301 on the nodule milling mechanism 3 are staggered and adjacent milling paths are partially overlapped, so as to ensure that the milling cutter 301 area can cover the entire metal plate surface, solve the problem that nodules in the gap area between adjacent milling cutters 301 cannot be fully milled, achieve full coverage of the metal plate milling while avoiding the generation of no load, and effectively reduce energy consumption.

[0041] like Figure 1 and Figure 4 As shown, the front conveying assembly 11 includes a front conveying workbench 111, a front conveying component 112 and a front clamping base 113. The front conveying component 112 is disposed on the front conveying workbench 111 and extends from the front end to the rear end of the front conveying workbench 111. The front clamping base 113 is disposed on the front conveying component 112. Figure 1 and Figure 2 As shown, the front clamping base 113 includes a clamping platform 104 arranged on the front conveying component 112, and a plurality of clamping claws 105 arranged on both sides of the clamping platform 104 and used to clamp the metal plate on the front clamping base 113. The clamping claws 105 include a fixed clamping plate 105b and a movable buckle plate 105a. The fixed clamping plate 105b is fixedly arranged on the side of the front clamping base 113. The movable buckle plate 105a is hinged to the fixed clamping plate 105b and is used to buckle down when the metal plate is placed on the fixed clamping plate 105b, and cooperate with the fixed clamping plate 105b to clamp the metal plate on the front clamping base 113. Preferably, a pressure sensor 44 is provided on the front clamping base 113 to identify whether there is a metal plate placed on the front clamping base 113; as shown in FIG. Figure 6 As shown, the pressure sensor 44 is connected to the clamp control component 45 of the clamp 105 through the control component. When the pressure sensor 44 senses that a metal plate is placed on the front clamping base 113, the control component controls the movable buckle plate 105a of the clamp 105 to press downward, and cooperates with the fixed clamp plate 105b to clamp the metal plate on the front clamping base 113.

[0042] The fixed clamping plates 105b on the same front clamping base 113 are all horizontally fixed at the same height, forming a metal plate limiting platform that is higher than the clamping platform 104. There is a height difference between the metal plate limiting platform and the clamping platform 104. When the metal plate is placed on the metal limiting platform, a spacing space is provided between the metal plate and the clamping platform 104. The spacing space is used to provide a flipping accommodating space for the flipping assembly 13.

[0043] The structure of the rear conveying assembly 12 is consistent with that of the front conveying assembly 11 , and the head end of the rear conveying workbench in the rear conveying assembly 12 is connected to the end of the front conveying workbench 111 of the front conveying assembly 11 .

[0044] The flip assembly 13 is arranged between the head end of the reverse conveying worktable and the end of the front conveying worktable 111. The metal plate moved to the end of the front conveying worktable 111 is flipped to the head end of the reverse conveying worktable by the flip assembly 13. The flipping of the metal plate is completed by the conversion of the worktable, and the double-sided milling of the metal plate is automatically realized. The flip assembly 13 includes a flip base 131 and a flip frame 132. The flip base 131 is arranged between the end of the front conveying assembly 11 and the head end of the reverse conveying assembly 12. The flip frame 132 is hinged on the flip base 131, and a plurality of clamps 105 are distributed on the flip frame 132. When the front clamping base 113 moves to the end of the front conveying worktable 111, the flip frame 132 is flipped to the side of the front conveying worktable 111 under the control of the flip driving component 43, and the metal plate is clamped by the clamp 105, and then the metal plate is driven to flip to the reverse clamping base located at the head end of the reverse conveying worktable. When the flip frame 132 flips over to the rear clamping base, the flip frame 132 flips over and is placed in the interval between the metal plate and the clamping platform 104 to ensure that the flip frame 132 can stably place the metal plate on the metal plate limiting platform.

[0045] The front milling mechanism 31 includes a milling base 302 disposed on one side of the metal plate conveying path, and a plurality of milling cutters 301 disposed on the milling base 302. Figure 1 and Figure 4 As shown, the milling base 302 is arranged on one side of the front conveying worktable 111, and a suspension arm 303 perpendicular to the conveying direction of the front conveying component 112 is extended above the front conveying worktable 111, and a plurality of longitudinal telescopic components 304 are staggered on both sides of the suspension arm 303, and the milling cutter 301 is installed at the telescopic end of the longitudinal telescopic component 304. The milling cutters 301 arranged adjacent to each other along the conveying direction of the front conveying component 112 partially overlap in the milling areas in the conveying direction of the front conveying component 112.

[0046] like Figure 1 and Figure 3As shown, five milling cutters 301 are arranged on the left and right sides of the suspension arm 303, of which three milling cutters 301 are arranged at the same distance on the left side of the suspension arm 303, and the other two milling cutters 301 are arranged on the right side of the suspension arm 303, and the two milling cutters 301 are arranged relative to the gaps between the three milling cutters 301 on the left side, and in the conveying direction of the front conveying component 112, the milling areas of the two milling cutters 301 on the right side overlap with the milling areas of two of the milling cutters 301 adjacently arranged along the conveying direction of the front conveying component 112 among the three milling cutters 301 on the left side, thereby ensuring that the milling cutter 301 area can cover the entire metal plate surface, solving the problem that the granulation in the gap area between adjacent milling cutters 301 cannot be fully milled. The control module 4 is respectively connected to the milling cutter drive components 42 of the five milling cutters 301 in communication, and it can independently control one or more of the milling cutters 301 to drive independently.

[0047] Preferably, Figure 1 and Figure 3 As shown, a dust cover 305 is provided on the outside of the front milling mechanism 31, and a dust brush 306 is provided below the cover body of the dust cover 305 located on the metal plate conveying path, and a dust box 307 is provided at the lower end of the workbench directly below the dust cover 305. The metal dust milled by the milling cutter 301 is swept from the surface of the metal plate to the dust box 307 at the lower end of the workbench by the dust brush 306. Further preferably, a blower can also be provided in the dust cover 305, and the metal dust on the surface of the metal plate is blown in the direction opposite to the advancing direction of the metal plate by the blower, so that the metal dust falls into the dust box 307 at the lower end of the workbench.

[0048] The granulation recognition mechanism 2 includes a camera module 21, a three-dimensional image recognition module 22 and a three-dimensional coordinate construction module 23. The signal input ends of the three-dimensional image recognition module 22 and the three-dimensional coordinate construction module 23 are respectively connected to the signal output end of the camera module 21 for communication, and the three-dimensional coordinate construction module 23 is connected to the three-dimensional image recognition module 22 for interactive communication; the camera module 21 is used to take photos of the metal plate working space, the three-dimensional image recognition module 22 is used to judge and recognize the granulation on the metal plate based on the photos taken by the camera module 21, and the three-dimensional coordinate construction module 23 is used to construct a three-dimensional coordinate system of the metal plate milling area based on the photos taken by the camera module 21 and calculate the coordinates of the metal plate granulation; preferably, the camera module 21 is a structured light 3D camera module 21. Figure 6As shown, the grain recognition mechanism 2 is communicatively connected with the control module 4. When the pressure sensor 44 senses that a metal plate is placed on the front clamping base 113, the control component controls the structured light 3D camera module 21 to start taking pictures. The structured light 3D camera module 21 outputs the taken pictures to the three-dimensional image recognition module 22. The three-dimensional image recognition module 22 collects the three-dimensional point cloud data of the metal plate surface through the pictures taken by the structured light 3D camera module 21, and performs data simplification and denoising in turn to identify the number of metal plate points. Subsequently, the metal plate surface is fitted based on the B-spline curve surface fitting method, and the metal grains are identified according to the preset metal plate grain height threshold. The metal grain point cloud exceeding the height threshold is processed by 3D image connected domain, and the metal grain point cloud exceeding the height threshold is connected into a connected area. Finally, the spatial coordinates of the bottom center point of the minimum circumscribed cube of the connected area are obtained by calculation, so as to realize the precise positioning of the metal plate grain area to be milled.

[0049] The control module 4 includes a delay module 41, which is communicated with the front conveying component 112 through the delay module 41. When the pressure sensor 44 senses that a metal plate is placed on the front clamping base 113, the delay module 41 in the control module 4 starts timing, and at the same time, the control module 4 controls the structured light 3D camera module 21 to start taking pictures; the structured light 3D camera module 21 outputs the captured picture to the three-dimensional coordinate construction module 23, and the three-dimensional coordinate construction module 23 constructs a three-dimensional coordinate system for the metal plate milling area with the lower right corner fixed point of the current position of the metal plate as the coordinate origin.

[0050] Based on the three-dimensional coordinate system of the metal plate milling area, the coordinates of the metal plate granulation area to be milled and the coordinates of the milling cutter 301 on the front milling mechanism 31 are determined, and according to the horizontal coordinate of the granulation area to be milled and the horizontal coordinate range corresponding to the milling range of the milling cutter 301 on the front milling mechanism 31, the granulation area to be milled and the milling cutter 301 are grouped accordingly. Figure 5 As shown, the granulation area to be milled No. 1 corresponds to the milling cutter No. 1 301, the granulation area to be milled No. 2 corresponds to the milling cutter No. 2 301, the granulation area to be milled No. 3 corresponds to the milling cutter No. 3 301, the granulation area to be milled No. 4 corresponds to the milling cutter No. 4 301, the granulation area to be milled No. 5 corresponds to the milling cutter No. 5 301, the granulation area to be milled No. 6 corresponds to the milling cutter No. 1 301 and the milling cutter No. 2 301, and the granulation area to be milled No. 7 corresponds to the milling cutter No. 4 301 and the milling cutter No. 5 301. The control module 4 is respectively connected to the longitudinal telescopic component 304 and the milling cutter driving component 42 of the milling cutter 301, and is used to drive the corresponding milling cutter 301 to mill according to the granulation area to be milled.

[0051] When the delay module 41 in the control module 4 ends the timing, the control module 4 controls the transmission drive component of the front transmission component 112 to start, and transmits the metal plate from the head end of the front transmission workbench 111 to the end of the front transmission workbench 111; during the movement of the metal plate, the coordinate position of the granulation area to be milled on the metal plate also changes in real time, but the coordinate position of the milling cutter 301 on the front milling mechanism 31 remains unchanged, and the milling range does not change. Therefore, the control module 4 controls the camera module 21 to take real-time photos of the metal plate, updates the current coordinate position of the granulation area to be milled in real time according to the current coordinate position of the metal plate, and calculates the distance between the granulation area to be milled and the corresponding milling cutter 301 in real time based on the current coordinate position of the granulation area to be milled. When the area to be milled of the granulation is about to enter the milling range of the corresponding milling cutter 301, the control module 4 controls the telescopic end of the longitudinal telescopic component 304 corresponding to the milling cutter 301 to drop to a preset milling height, and starts the milling cutter driving component 42 of the milling cutter 301 to mill the area to be milled of the granulation that enters the milling range, so as to achieve precise milling of the granulation, and other areas that do not need to be milled pass through the milling cutter 301, and the milling cutter 301 does not work, so as to save energy consumption and reduce milling costs.

[0052] Further preferably, after collecting the three-dimensional point cloud data of the metal plate surface, the curve of the clamp 105 on the metal plate is fitted based on the B-spline curve surface fitting method, and the coordinates of the clamp 105 are determined based on the three-dimensional coordinate system of the metal plate milling area. When there is a partial area of ​​the granulation area to be milled covered by the clamp 105, the distance between the clamp 105 and the milling cutter 301 corresponding to the granulation area to be milled is calculated in real time. When the granulation area to be milled that is partially covered by the clamp 105 is about to enter the milling range of the corresponding milling cutter 301, the control module 4 controls the clamp 105 to open, and starts the corresponding milling cutter 301 to mill the granulation area to be milled that enters the milling range, thereby achieving comprehensive milling of the granulation in all areas of the metal plate and improving the qualified rate of metal plate milling.

[0053] Example 2

[0054] Embodiment 2 of the present invention provides a method for intelligently removing particles on the surface of a metal plate using the intelligent system for intelligently removing particles on the surface of a metal plate of Embodiment 1, which comprises the following steps:

[0055] S1, placing the metal plate on the front conveying component 11 of the metal plate conveying mechanism 1, and using the granulation recognition mechanism 2 to recognize the granulation on the front of the metal plate and determine the coordinates of the granulation area to be milled;

[0056] S2, constructing a three-dimensional coordinate system of the metal plate milling area, calculating the distance between the granulation area to be milled and the milling cutter 301 in real time, and when the granulation area to be milled enters the milling range of the corresponding milling cutter 301, the control module 4 controls the corresponding milling cutter 301 to mill the granulation area to be milled;

[0057] S3. After the front milling of the metal plate is completed, the metal plate is flipped over to the back conveying assembly 12 by the flipping assembly 13, and the granulation on the back of the metal plate is milled according to the front milling process.

[0058] Specifically, when the pressure sensor 44 senses that a metal plate is placed on the front clamping base 113, the control component controls the structured light 3D camera module 21 to start taking pictures, and the structured light 3D camera module 21 outputs the taken pictures to the three-dimensional image recognition module 22. The three-dimensional image recognition module 22 collects the three-dimensional point cloud data of the metal plate surface through the pictures taken by the structured light 3D camera module 21, and performs data simplification and denoising in turn, identifies the number of metal plate points, and then fits the metal plate surface based on the B-spline curve surface fitting method, identifies metal grains according to a preset metal plate grain height threshold, and performs 3D image connected domain processing on the metal grain point cloud that exceeds the height threshold, connects the metal grain point cloud that exceeds the height threshold into a connected area, and finally calculates the spatial coordinates of the bottom center point of the minimum circumscribed cube of the connected area to achieve precise positioning of the metal plate grain area to be milled.

[0059] At the same time, when the pressure sensor 44 senses that a metal plate is placed on the front clamping base 113, the delay module 41 in the control module 4 starts timing, and the control module 4 controls the structured light 3D camera module 21 to start taking pictures; the structured light 3D camera module 21 outputs the captured picture to the three-dimensional coordinate construction module 23, and the three-dimensional coordinate construction module 23 constructs a three-dimensional coordinate system for the metal plate milling area with the lower right corner fixed point of the current position of the metal plate as the coordinate origin.

[0060] Based on the three-dimensional coordinate system of the metal plate milling area, the coordinates of the metal plate granulation area to be milled and the coordinates of the milling cutter 301 on the front milling mechanism 31 are determined, and according to the horizontal coordinate of the granulation area to be milled and the horizontal coordinate range corresponding to the milling range of the milling cutter 301 on the front milling mechanism 31, the granulation area to be milled and the milling cutter 301 are grouped accordingly. Figure 5 As shown, the granulation area to be milled No. 1 corresponds to the milling cutter No. 1 301, the granulation area to be milled No. 2 corresponds to the milling cutter No. 2 301, the granulation area to be milled No. 3 corresponds to the milling cutter No. 3 301, the granulation area to be milled No. 4 corresponds to the milling cutter No. 4 301, the granulation area to be milled No. 5 corresponds to the milling cutter No. 5 301, the granulation area to be milled No. 6 corresponds to the milling cutter No. 1 301 and the milling cutter No. 2 301, and the granulation area to be milled No. 7 corresponds to the milling cutter No. 4 301 and the milling cutter No. 5 301. The control module 4 is respectively connected to the longitudinal telescopic component 304 and the milling cutter driving component 42 of the milling cutter 301, and is used to drive the corresponding milling cutter 301 to mill according to the granulation area to be milled.

[0061] When the delay module 41 in the control module 4 ends the timing, the control module 4 controls the front conveying component 112 to start, and conveys the metal plate from the head end of the front conveying workbench 111 to the end of the front conveying workbench 111; during the movement of the metal plate, the coordinate position of the granulation area to be milled on the metal plate also changes in real time, but the coordinate position of the milling cutter 301 on the front milling mechanism 31 remains unchanged, and the milling range does not change. Therefore, the control module 4 controls the camera module 21 to take real-time photos of the metal plate, updates the current coordinate position of the granulation area to be milled in real time according to the current coordinate position of the metal plate, and calculates the distance between the granulation area to be milled and the corresponding milling cutter 301 in real time based on the current coordinate position of the granulation area to be milled. When the area to be milled of the granulation is about to enter the milling range of the corresponding milling cutter 301, the control module 4 controls the telescopic end of the longitudinal telescopic component 304 corresponding to the milling cutter 301 to drop to a preset milling height, and starts the milling cutter driving component 42 of the milling cutter 301 to mill the area to be milled of the granulation that enters the milling range, so as to achieve precise milling of the granulation, and other areas that do not need to be milled pass through the milling cutter 301, and the milling cutter 301 does not work, so as to save energy consumption and reduce milling costs.

[0062] After the granulation recognition mechanism 2 determines the coordinates of the granulation area to be milled, it calculates whether the area of ​​the granulation area to be milled exceeds the qualified threshold area ratio. If it exceeds, it is determined as an unqualified metal plate, otherwise it is determined as a qualified metal plate, and granulation milling and impurity removal are continued. Preferably, the qualified threshold area ratio is 10%.

[0063] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An intelligent system for removing granules from metal plate surface, characterized in that: It includes a metal plate conveying mechanism, a granulation identification mechanism, a granulation milling mechanism and a control module, wherein the metal plate conveying mechanism includes a front conveying component, a back conveying component, and a flipping component arranged between the front conveying component and the back conveying component for flipping the metal panel; The granulation milling mechanism comprises a front milling mechanism arranged on the conveying path of the front conveying component, and a back milling mechanism arranged on the conveying path of the back conveying component; The front milling mechanism and the back milling mechanism are both provided with a plurality of milling cutters, and adjacent milling cutters are arranged in a staggered manner and the milling paths are partially overlapped; The granulation identification mechanism is arranged above the metal plate conveying mechanism through a support rod, and is used to identify granulation of the metal plate on the metal plate conveying mechanism; The control module is respectively connected to the milling cutter driving component of each milling cutter for controlling the corresponding milling cutter on the granulation milling mechanism to mill according to the granulation position identified by the granulation identification mechanism; The front conveying assembly includes a front conveying workbench, a front conveying component arranged on the front conveying workbench, and a front clamping base arranged on the front conveying component, wherein the front clamping base includes a clamping platform and a plurality of clamping claws arranged on both sides of the clamping platform for clamping the metal plate on the front clamping base; The granulation recognition mechanism includes a camera module, a three-dimensional image recognition module and a three-dimensional coordinate construction module. The camera module is used to take photos of the metal plate working space. The three-dimensional image recognition module is used to judge and recognize the granulation on the metal plate based on the photos taken by the camera module. The three-dimensional coordinate construction module is used to construct a metal plate working space coordinate system based on the photos taken by the camera module and calculate the coordinates of the metal plate granulation. The 3D image recognition module collects 3D point cloud data of the metal plate surface through photos taken by the structured light 3D camera module. After collecting the 3D point cloud data of the metal plate surface, the 3D image recognition module fits the curve of the clamp on the metal plate, and determines the coordinates of the clamp based on the 3D coordinate system of the metal plate milling area. When part of the granulation area to be milled is covered by the clamp, the distance between the clamp and the milling cutter corresponding to the granulation area to be milled is calculated in real time. When the granulation area to be milled that is partially covered by the clamp is about to enter the milling range of the corresponding milling cutter, the control module controls the clamp to open, and starts the corresponding milling cutter to mill the granulation area to be milled that enters the milling range.

2. The intelligent removal system for metal plate surface granulation according to claim 1 is characterized in that: The flip assembly comprises a flip base and a flip frame, wherein the flip base is arranged between the end of the front conveying assembly and the beginning of the back conveying assembly, the flip frame is hinged on the flip base, and a plurality of clamps are distributed on the flip frame.

3. The intelligent removal system for metal plate surface granulation according to claim 1 is characterized in that: The front milling mechanism includes a milling base arranged on one side of the metal plate conveying path, and a plurality of milling cutters arranged on the milling base. The milling base extends a suspension arm perpendicular to the direction of the metal plate conveying path above the metal plate conveying path. A plurality of longitudinal telescopic components are staggered on both sides of the suspension arm, and the milling cutter is installed at the telescopic end of the longitudinal telescopic component.

4. The intelligent removal system for metal plate surface granulation according to claim 3 is characterized in that: The control module is respectively connected to the longitudinal telescopic component and the milling cutter driving component of the milling cutter for driving the corresponding milling cutter to perform milling according to the granulation coordinate position.

5. A method for intelligently removing particles from the surface of a metal plate based on the intelligent system for removing particles from the surface of a metal plate according to any one of claims 1 to 4, characterized in that: The steps include: The metal plate is placed on the front conveying component of the metal plate conveying mechanism, and the grain recognition mechanism recognizes the grains on the front of the metal plate and determines the coordinates of the grain milling area; Construct a three-dimensional coordinate system for the metal plate milling area, calculate the distance between the granulation area to be milled and the milling cutter in real time, and when the granulation area to be milled enters the milling range of the corresponding milling cutter, the control module controls the corresponding milling cutter to mill the granulation area to be milled; When the front milling of the metal plate is completed, the metal plate is turned over to the back conveying component by the turning component, and the grains on the back of the metal plate are milled according to the front milling process.

6. The method for intelligently removing granulation on the surface of a metal plate according to claim 5, characterized in that: Before the distance between the milling area to be milled and the milling cutter is calculated in real time, it includes: constructing a three-dimensional coordinate system of the metal plate milling area with the lower right corner fixed point of the current position when the metal plate is placed on the front clamping base as the coordinate origin; Determine the coordinates of the metal plate granulation area to be milled and the coordinates of the milling cutter on the front milling mechanism based on the three-dimensional coordinate system of the metal plate milling area; According to the abscissa of the region to be milled of the granulation and the abscissa range corresponding to the milling range of the milling cutter on the front milling mechanism, the region to be milled of the granulation and the milling cutter are grouped accordingly.

7. The method for intelligently removing granulation on the surface of a metal plate according to claim 6, characterized in that: The real-time calculation of the distance between the granulation area to be milled and the milling cutter, when the granulation area to be milled enters the milling range of the corresponding milling cutter, the control module controls the corresponding milling cutter to mill the granulation area to be milled, including: updating the current coordinate position of the granulation area to be milled in real time according to the current coordinate position of the metal plate, and calculating the distance between the granulation area to be milled and the corresponding milling cutter in real time based on the current coordinate position of the granulation area to be milled; When the granulation area to be milled enters the milling range of the corresponding milling cutter, the control module starts the milling cutter driving component of the milling cutter to mill the granulation area to be milled that enters the milling range.

8. The method for intelligently removing granulation on the surface of a metal plate according to claim 6, characterized in that: After the grain recognition mechanism determines the coordinates of the grain area to be milled, it calculates whether the area of ​​the grain area to be milled exceeds the qualified threshold area ratio. If it exceeds, it is judged as an unqualified metal plate, otherwise it is judged as a qualified metal plate and continues to be grained and milled to remove impurities.

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