A plate feeding device and a plate feeding method

Abstract

The present application provides a kind of plate feeding device and feeding method, the plate feeding device includes trolley frame, hoisting assembly and walking driving mechanism, hoisting assembly includes at least two sets of horizontal transverse hoisting assembly and at least one set of lifting transverse hoisting assembly arranged along X direction and fixed on trolley frame;Combining visual recognition technology, according to the curved plate line shape, the number and position of lifting point are automatically determined, and the curved plate hoisting travel distance is monitored in real time, and the height of lifting point is automatically adjusted.The present application uses a group of lifting transverse hoisting assembly, solves the problem that traditional lifting rope cannot reach the place where the lifting point is at the edge of the curved plate with large line shape, ensures that each lifting point can be adsorbed to the surface of the curved plate.If the curved plate is too long, two groups of trolleys can be used, the horizontal transverse hoisting assemblies of the two groups of trolleys are connected towards each other, the hoisting of the overlong curved plate is realized, the stability, reliability, intelligence of the hoisting operation process are realized, the generality is strong, and the work efficiency is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of sheet metal processing technology, and in particular to a sheet metal feeding device and feeding method. Background Technology

[0002] The 3D CNC bending machine is a new generation of curved plate processing equipment newly developed in my country. This equipment adopts multi-point forming technology, enabling rapid forming of various complex curved surfaces. Simultaneously, it largely replaces water-fire bending processes, achieving low-stress manufacturing of curved plates and significantly improving processing quality and speed. However, in the entire curved plate processing flow, the loading and unloading stages currently rely mainly on manual feeding using lifting tools such as hooks or permanent magnets. Furthermore, the lifting point positions are determined manually during lifting operations, resulting in inaccurate and unsuccessful lifting in a single attempt. Multiple adjustments and trial lifts are required, making the operation cumbersome, time-consuming, and inefficient.

[0003] Especially when the curve of the plate changes significantly, the electromagnet cannot adhere to the plate during attraction. Furthermore, when the attraction is unstable, the gripper needs to make multiple adjustments, affecting work efficiency. Therefore, a plate feeding device is needed to efficiently and stably transport the plate and complete the loading and unloading process. Summary of the Invention

[0004] To address the technical problem that existing lifting devices cannot fit the curved plate when the curvature is large during loading and unloading, this invention provides a simple and stable feeding device and feeding method.

[0005] This invention provides a sheet material feeding device, the sheet material feeding device comprising:

[0006] A trolley frame, which is capable of moving along the X direction on a track;

[0007] The hoisting assembly includes at least two sets of horizontal traversing hoisting assemblies and at least one set of lifting traversing hoisting assemblies, which are fixed on the trolley frame and arranged along the X direction. The horizontal traversing hoisting assemblies and the lifting traversing hoisting assemblies are each connected to an electromagnetic chuck that can move along the Y direction. The lifting traversing hoisting assemblies can also move up and down along the Z direction. By adjusting the position of each electromagnetic chuck, the chuck can stably adsorb the plate located below and deliver the plate to the processing position through the trolley frame.

[0008] Preferably, the trolley frame includes a main frame and a secondary frame connected along the X direction, wherein the top horizontal longitudinal beam of the main frame in the XZ plane is higher than the top horizontal longitudinal beam of the secondary frame in the XZ plane; the horizontal traverse hoisting assembly is disposed on the main frame, and the lifting traverse hoisting assembly is disposed on the secondary frame.

[0009] Preferably, the main frame in the XZ plane is rectangular, with a diagonal beam between one diagonal and triangular elbow plates between the other diagonal to enhance the stability of the trolley frame; triangular elbow plates are provided at the connection between the main frame and the secondary frame in the XZ plane to eliminate stress concentration in the high-low transition area of ​​the trolley frame.

[0010] Preferably, the horizontal traversing hoisting assembly includes a traversing mechanism, an electric hoist, and an electromagnetic chuck; the electric hoist is detachably connected to the lower part of the traversing mechanism, the traversing mechanism can drive the electric hoist to move along the Y direction on the main frame, and the electromagnetic chuck is hung on the hook of the electric hoist;

[0011] The lateral movement mechanism includes a crossbeam extending along the Y direction and a first drive mechanism. The first drive mechanism includes a rack arranged along the crossbeam, a drive motor connected to the first drive mechanism, and a gear disposed on the output shaft of the drive motor. The gear and the rack mesh.

[0012] Preferably, the lifting and traversing hoisting assembly includes a traversing mechanism, an electric hoist, and an electromagnetic chuck; the electric hoist is detachably connected to the lower part of the traversing mechanism, the traversing mechanism can drive the electric hoist to move along the Y direction on the secondary frame, and the electromagnetic chuck is hung on the hook of the electric hoist;

[0013] The lateral movement mechanism includes a crossbeam extending along the Y direction and a third drive mechanism. The third drive mechanism includes a rack arranged along the crossbeam, a drive motor connected to the third drive mechanism, and a gear disposed on the output shaft of the drive motor. The gear and the rack mesh.

[0014] Preferably, the lifting and traversing hoisting assembly further includes a lifting mechanism, which can drive the traversing mechanism to move along the Z direction on the secondary frame. The lifting mechanism includes a lead screw and a guide column passing through the secondary frame along the Z direction, a drive motor for driving the lead screw to move axially, and a nut sleeved on the lead screw.

[0015] The guide post is arranged on both sides of the lead screw along the X direction, with its upper end fixedly connected to the lateral movement mechanism and its lower end being a free end. The internal thread of the nut is matched with the external thread of the lead screw. The nut is fixedly connected to the lateral movement mechanism. When the lead screw rotates, the nut can drive the lifting and lateral movement hoisting assembly to move up and down in the Z direction.

[0016] Preferably, a vision component is provided between the two sets of horizontal lateral lifting components. The vision component is used to scan the outline of the curved sheet material, reconstruct the sheet material model, and calculate the optimal lifting point position through the program.

[0017] A laser rangefinder is installed below the longitudinal beam along the X direction of the trolley frame to measure the distance between the trolleys when they move, thus avoiding interference between the two trolleys during the movement.

[0018] Preferably, the sheet material feeding device further includes a trolley drive mechanism, which includes a track extending along the X direction, a traveling part fixed to the bottom of the trolley frame and moving along the track, and a traveling drive motor that drives the traveling part to travel.

[0019] Preferably, the traveling part includes a rack arranged along the track and a gear disposed on the output shaft of the traveling drive motor, the gear and the rack meshing; the front end face of the traveling part facing the X direction is provided with a collision protection block to prevent the trolley from colliding during travel.

[0020] The present invention also provides a feeding method for the aforementioned sheet material feeding device, comprising the following steps:

[0021] S1. The vision component scans the outline of the board, the system analyzes the image parameters and automatically calculates the required number of hoisting components and the optimal hoisting point position;

[0022] S2. The system controls the trolley frame to move in the X direction until the trolley frame moves to the position of the lifting point of the plate in the X direction; the system controls the horizontal movement lifting assembly and the horizontal movement lifting assembly's lateral movement mechanism to move in the Y direction until the electric hoist on the lateral movement mechanism moves to the position of the lifting point of the plate in the Y direction; the system controls the lifting mechanism to move in the Z direction until the horizontal movement lifting assembly moves to the edge of the plate at a height that can be lifted; the system controls the electric hoist to move in the Z direction until each electromagnetic chuck moves to the position of the lifting point of the plate in the Z direction and controls the electromagnetic chuck to adsorb the plate.

[0023] S3. The system controls the trolley frame to move in the X direction, moving the sheet metal to the predetermined position to complete the feeding.

[0024] Preferably, when the sheet material is long, two sets of sheet material feeding devices are used to feed the sheet material. First, the two sets of sheet material feeding devices are located on the same side of the bending machine and feed the first end of the sheet material into the feed end of the bending machine. As the sheet material is fed in, the first end of the sheet material is bent and sent out from the discharge end of the bending machine. Then, the first sheet material feeding device near the feed end releases its adsorption and moves to the discharge end to adsorb the first end of the sheet material that has been bent, so that the two sets of sheet material feeding devices are arranged on both sides of the bending machine and move with the sheet material. Finally, the second sheet material feeding device located at the second end of the sheet material releases its adsorption, and the second end of the sheet material enters the bending machine to complete the processing.

[0025] During the process, the horizontal lateral lifting components of the two sets of sheet material feeding devices are brought close together so that the end of the sheet material with the greatest curvature change is attracted by the electromagnetic chuck of the lifting lateral lifting component.

[0026] As described above, this invention provides a sheet material feeding device and method. The sheet material feeding device includes a trolley frame, a lifting assembly, and a traveling drive mechanism. The lifting assembly includes at least two sets of horizontal lateral lifting assemblies fixed to the trolley frame and arranged along the X direction, and at least one set of lifting lateral lifting assemblies. Electromagnetic chucks of at least three sets of lifting assemblies adsorb the sheet material at different positions, meeting stability requirements and preventing swaying during lifting. Combined with visual recognition technology, the number and position of lifting points are automatically determined based on the curved sheet shape, while the lifting distance of the curved sheet is monitored in real time, and the height of the lifting points is automatically adjusted. This invention utilizes a set of liftable lateral lifting assemblies to solve the problem that traditional lifting ropes cannot reach the lifting points at the edges of curved sheets with large curves, ensuring that each lifting point can be adsorbed onto the surface of the curved sheet. If the curved sheet is too long, two sets of trolleys can be used, with the horizontal lateral lifting assemblies of the two sets of trolleys connected in opposite directions to achieve the lifting of excessively long curved sheets. This patent achieves stability, reliability, and intelligence in the lifting operation process, has strong versatility, and effectively improves work efficiency. Attached Figure Description

[0027] Figure 1 The diagram shown is a three-dimensional structural schematic of the sheet material feeding device of the present invention.

[0028] Figures 2 to 3 The diagram shown is a three-dimensional structural schematic of the sheet material feeding device of the present invention with the protective cover removed.

[0029] Figure 4 The diagram shown is a side view of the sheet material feeding device of the present invention.

[0030] Figure 5 The diagram shows the position of the laser rangefinder sensor of this invention.

[0031] Figure 6 The diagram shows the operation of adsorption on the board material according to the present invention.

[0032] Component designation explanation

[0033] 100 - Trolley frame; 200 - Lifting assembly; 210 - First lateral lifting assembly; 220 - Second lateral lifting assembly; 230 - Lifting and lateral lifting assembly; 110 - Main frame; 120 - Secondary frame; 111, 121 - Top horizontal longitudinal beam; 112 - Inclined beam; 122, 113, 114 - Triangular elbow plate; 211, 221, 231 - Lateral movement mechanism; 212, 222, 232 - Electric hoist; 213, 223, 233 - Electromagnetic chuck; 214, 224, 234 - Crossbeam; 215, 225 - First Drive mechanism; 216, 226, 236 - rack; 217, 227, 237, 243 - drive motor; 218, 228, 238 - gear; 235 - third drive structure; 240 - lifting mechanism; 241 - lead screw; 242 - guide column; 244 - nut; 201, 202 - protective cover; 300 - trolley drive structure; 301 - track; 302 - walking unit; 303 - walking drive motor; 304 - rack; 305 - gear; 306 - anti-collision block; 250 - vision component; 260 - laser rangefinder sensor. Detailed Implementation

[0034] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0035] In the detailed description of embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In actual fabrication, the three-dimensional spatial dimensions of length, width, and depth should be included.

[0036] For ease of description, spatial relation terms such as “below,” “under,” “lower than,” “below,” “above,” and “upper” may be used herein to describe the relationship between one element or feature shown in the accompanying drawings and other elements or features. It will be understood that these spatial relation terms are intended to include directions other than those depicted in the drawings for the device in use or operation. Furthermore, when a layer is referred to as being “between” two layers, it can be the only layer between the two layers, or there may be one or more layers in between. The phrase “between” as used herein includes both endpoint values.

[0037] In the context of this application, the structure described above the first feature may include embodiments in which the first and second features are formed in direct contact, or embodiments in which additional features are formed between the first and second features, such that the first and second features may not be in direct contact.

[0038] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0039] like Figures 1 to 6 As shown, the present invention provides a sheet material feeding device, the sheet material feeding device comprising:

[0040] A trolley frame 100 is capable of moving along the X direction on a track 301;

[0041] The hoisting assembly 200 includes at least two sets of horizontal traversing hoisting assemblies and at least one set of lifting traversing hoisting assemblies fixed to the trolley frame and arranged along the X direction. Each of the horizontal traversing hoisting assemblies and the lifting traversing hoisting assemblies has an electromagnetic chuck connected below it, capable of moving along the Y direction. The lifting traversing hoisting assembly can also move up and down along the Z direction. By adjusting the position of each electromagnetic chuck, it stably adsorbs the sheet material located below, and the sheet material is then transported to the processing position via the trolley frame. The sheet material includes curved sheet material.

[0042] As an example, the horizontal traverse lifting assembly consists of two sets, including a first traverse lifting assembly 210 and a second traverse lifting assembly 220. The first traverse lifting assembly 210 and the second traverse lifting assembly 220 are arranged adjacent to each other on the trolley frame 100 along the X direction. The lifting traverse lifting assembly consists of one set of lifting traverse lifting assembly 230, which is movably connected to the trolley frame 100 and can move along the Z direction on the trolley frame 100. The horizontal traverse lifting assembly can achieve single-axis movement in the Y direction, and the lifting traverse lifting assembly can achieve dual-axis movement adjustment in both the Y and Z directions. This application uses at least three sets of lifting assemblies, with three electromagnetic chucks adsorbing different positions of the plate, which can meet the stability requirements and avoid swaying of the plate during lifting. At the same time, two sets of single-axis movement lifting assemblies are set up, along with one set of dual-axis movement lifting assemblies, to meet the flexibility requirements while minimizing manufacturing costs. Of course, in actual use, the number of hoisting components can be flexibly adjusted. For longer plates, two sets of feeding devices of this application can also be used for feeding.

[0043] Furthermore, the trolley frame 100 includes a main frame 110 and a secondary frame 120 connected along the X direction. The top horizontal longitudinal beam 111 of the main frame 110 in the XZ plane is higher than the top horizontal longitudinal beam 121 of the secondary frame 120 in the XZ plane. A horizontal traverse lifting assembly (including a first traverse lifting assembly 210 and a second traverse lifting assembly 220) is disposed on the main frame 110 of the trolley; a lifting traverse lifting assembly 230 is disposed on the secondary frame 120 of the trolley. The top surface of the secondary frame 120 is set to be lower than the top surface of the main frame 110, thereby ensuring that the lower limit of the lifting traverse lifting assembly 230 is low enough to allow for sufficient vertical movement.

[0044] Specifically, the main frame 110 of the trolley is rectangular in the XZ plane. A diagonal beam 112 is provided between one diagonal of the rectangle, and triangular elbow plates 113 and 114 are provided between the other diagonal to enhance the stability of the trolley frame. A triangular elbow plate 122 is provided at the connection between the main frame 110 and the secondary frame 120 in the XZ plane to eliminate stress concentration in the high-low transition area of ​​the trolley frame.

[0045] Furthermore, the horizontal traversing hoisting assembly includes a traversing mechanism 211 (221), an electric hoist 212 (222), and an electromagnetic chuck 213 (223); the electric hoists 212 and 222 are detachably connected to the lower parts of the traversing mechanisms 211 and 221, respectively, and the traversing mechanisms 211 and 221 can respectively drive the electric hoists 212 and 222 to move along the Y direction on the main frame 110, and the electromagnetic chucks 213 and 223 are respectively hung on the hooks of the electric hoists 212 and 222.

[0046] The lateral movement mechanism 211 (221) includes a crossbeam 214 (224) extending along the Y direction and a first drive mechanism 215 (225). The first drive mechanism 215 (225) includes a rack 216 (226) arranged along the crossbeam, a drive motor 217 (227) connected to the first drive mechanism 215 (225), and a gear 218 (228) disposed on the output shaft of the drive motor. The gear 218 (228) meshes with the rack 216 (226). It should be noted that, in addition to using a rack and pinion structure to achieve movement, the lateral movement mechanism can also use other motion mechanisms such as a lead screw structure to achieve movement.

[0047] Furthermore, the lifting and traversing hoisting assembly 230 includes a traversing mechanism 231, an electric hoist 232, and an electromagnetic chuck 233. The electric hoist 232 is detachably connected below the traversing mechanism 231, and the traversing mechanism 231 can drive the electric hoist 232 to move along the Y direction on the secondary frame 120. The electromagnetic chuck 233 is hung on the hook of the electric hoist 232.

[0048] The lateral movement mechanism 231 includes a crossbeam 234 extending along the Y direction and a third drive mechanism 235. The third drive mechanism 235 includes a rack 236 arranged along the crossbeam, a drive motor 237 connected to the third drive mechanism 235, and a gear 238 disposed on the output shaft of the drive motor. The gear 238 meshes with the rack 236.

[0049] Furthermore, unlike the horizontal traverse hoisting assembly, the lifting traverse hoisting assembly 230 also includes a lifting mechanism 240, which can drive the traverse mechanism 231 to move along the Z direction on the secondary frame 120. Preferably, the lifting mechanism 240 includes a lead screw 241 and a guide post 242 passing through the secondary frame 120 along the Z direction, a drive motor 243 driving the lead screw 241 to move axially, and a nut 244 sleeved on the lead screw 241.

[0050] Specifically, the guide posts 242 are arranged on both sides of the lead screw 241 along the X direction, with their upper ends fixedly connected to the transverse movement mechanism 231 and their lower ends being free ends. The internal thread of the nut 244 engages with the external thread of the lead screw 241; the nut 244 is fixedly connected to the transverse movement mechanism 231, and when the lead screw 241 rotates, the nut 244 can drive the lifting and transverse hoisting assembly 230 to move up and down in the Z direction.

[0051] Furthermore, the upper cover of the horizontal traverse hoisting assembly is provided with a protective cover 201, and the upper cover of the lifting traverse hoisting assembly is provided with a protective cover 202.

[0052] Furthermore, the sheet material feeding device also includes a trolley drive mechanism 300, which includes a track 301 extending along the X direction, a walking part 302 fixed to the bottom of the trolley frame and moving along the track 301, and a walking drive motor 303 driving the walking part 302.

[0053] Specifically, the walking part 302 includes a rack 304 arranged along the track 301 and a gear 305 disposed on the output shaft of the walking drive motor 303, wherein the gear 305 and the rack 304 mesh; the front end face of the walking part 302 facing the X direction is provided with a collision protection block 306 to prevent the trolley from colliding with each other during the walking process and damaging the trolley structure.

[0054] Furthermore, a vision component 250 is provided between the first lateral lifting assembly 210 and the second lateral lifting assembly 220. The vision component 250 is used to scan the contour of the curved sheet material, reconstruct the sheet material model, and calculate the optimal lifting point position through a program. For example, the optimal lifting point is calculated by combining information such as the center of gravity position and the position with large curvature changes in the sheet material model.

[0055] Preferably, a laser rangefinder 260 is provided below the longitudinal beam along the X direction of the main frame 100 to measure the distance between the trolleys when the trolleys are moving, so as to avoid interference between the two trolleys in front and behind during the movement.

[0056] Based on the above-mentioned sheet material feeding device, the present invention also provides a feeding method, comprising the following steps:

[0057] S1, the vision component 250 scans the outline of the board 400, the system analyzes the image parameters and automatically calculates the required number of hoisting components and the optimal hoisting point position.

[0058] S2. The system controls the trolley frame 100 to move in the X direction until the trolley frame 100 moves to the position of the lifting point of the plate 400 in the X direction; the system controls the horizontal movement mechanism 211, 221, 231 of the horizontal movement lifting assembly and the lifting horizontal movement lifting assembly to move in the Y direction until the electric hoists 212, 222, 232 on the horizontal movement mechanism move to the position of the lifting point of the plate 400 in the Y direction; the system controls the lifting mechanism 240 to move in the Z direction until the lifting horizontal movement lifting assembly 230 moves to the height at which the edge of the plate 400 can be lifted (the edge of the plate is close to or exceeds the height of the horizontal movement lifting assembly itself); the system controls the electric hoists 212, 222, 232 to move in the Z direction until each electromagnetic chuck 213, 223, 233 moves to the position of the lifting point of the plate 400 in the Z direction, and controls the electromagnetic chucks 213, 223, 233 to adsorb the plate 400;

[0059] S3. The system controls the trolley frame 100 to move in the X direction, moving the plate 400 to the predetermined position to complete the feeding.

[0060] Furthermore, when the sheet material is long, two sets of sheet material feeding devices are used to feed the sheet material. First, the two sets of sheet material feeding devices are located on the same side of the bending machine and feed the first end (front end) of the sheet material into the feed end of the bending machine. As the sheet material is fed in, the first end of the sheet material is bent and sent out from the discharge end of the bending machine. Then, the first sheet material feeding device near the feed end releases its adsorption and moves to the discharge end to adsorb the first end of the sheet material that has been bent, so that the two sets of sheet material feeding devices are arranged on both sides of the bending machine and move with the sheet material. Finally, the second sheet material feeding device located at the second end of the sheet material releases its adsorption, and the second end (end end) of the sheet material enters the bending machine to complete the processing.

[0061] During the process, the horizontal lateral lifting components of the two sets of sheet material feeding devices are brought close together (connected to each other) so that the end of the sheet material with the greatest curvature change is attracted by the electromagnetic chuck of the lifting lateral lifting component.

[0062] During the bending process, if the curved plate is small, the trolley can exit directly after loading. If the curved plate is long, the trolley needs to be attached to the edge of the curved plate for auxiliary support during the bending process to ensure the stability of the curved plate during the bending process.

[0063] When hoisting long plates, simply lengthening a trolley and setting multiple lifting points on it is time-consuming to move the trolley to and from the bending machine. Furthermore, the adsorption position during bending must be re-established after each loading and unloading. If the trolley approaches the bending machine during feeding, feeding must be interrupted and the position adjusted for re-adsorption, making the entire process intermittent and requiring auxiliary support. However, using two trolleys, one in front and one behind, to hoist the curved plate from opposite directions, significantly reduces loading and unloading time. The trolley at the second end of the plate requires almost no adjustment of its adsorption position during bending. After bending, the first edge of the plate that curves upwards can be adsorbed using only the lifting and traversing lifting assembly of one trolley, eliminating the need to interrupt feeding. With the two trolleys positioned on either side, stability is ensured, and operational efficiency is greatly improved.

[0064] In summary, this invention provides a sheet material feeding device and method. The sheet material feeding device includes a trolley frame, a lifting assembly, and a traveling drive mechanism. The lifting assembly includes at least two sets of horizontal lateral lifting assemblies fixed to the trolley frame and arranged along the X direction, and at least one set of lifting lateral lifting assemblies. Electromagnetic chucks of at least three sets of lifting assemblies adsorb the sheet material at different positions, meeting stability requirements and preventing swaying during lifting. Combined with visual recognition technology, the number and position of lifting points are automatically determined based on the curved sheet shape, while the lifting distance of the curved sheet is monitored in real time, and the height of the lifting points is automatically adjusted. This invention utilizes a set of liftable lateral lifting assemblies to solve the problem that traditional lifting ropes cannot reach the lifting points at the edges of curved sheets with large curves, ensuring that each lifting point can be adsorbed onto the surface of the curved sheet. If the curved sheet is too long, two sets of trolleys can be used, with the horizontal lateral lifting assemblies of the two sets of trolleys connected in opposite directions to achieve the lifting of excessively long curved sheets. This patent achieves stability, reliability, and intelligence in the lifting operation process, has strong versatility, and effectively improves work efficiency.

[0065] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method of feeding material, characterized by, Includes the following steps: S1. The vision component scans the outline of the board, the system analyzes the image parameters and automatically calculates the required number of hoisting components and the optimal hoisting point position; S2. The system controls the trolley frame to move in the X direction until the trolley frame moves to the position of the lifting point of the plate in the X direction; the system controls the horizontal movement lifting assembly and the horizontal movement lifting assembly's lateral movement mechanism to move in the Y direction until the electric hoist on the lateral movement mechanism moves to the position of the lifting point of the plate in the Y direction; the system controls the lifting mechanism to move in the Z direction until the horizontal movement lifting assembly moves to the edge of the plate at a height that can be lifted; the system controls the electric hoist to move in the Z direction until each electromagnetic chuck moves to the position of the lifting point of the plate in the Z direction and controls the electromagnetic chuck to adsorb the plate. S3. The system controls the trolley frame to move in the X direction, moving the sheet metal to the predetermined position to complete the feeding. When the sheet material is long, two sets of sheet material feeding devices are used to feed it. First, the two sets of sheet material feeding devices are located on the same side of the bending machine and feed the first end of the sheet material into the feed end of the bending machine. As it is fed in, the first end of the sheet material is bent and sent out from the discharge end of the bending machine. Then, the first sheet material feeding device near the feed end releases its adsorption and moves to the discharge end to adsorb the first end of the sheet material that has been bent, so that the two sets of sheet material feeding devices are arranged on both sides of the bending machine and move with the sheet material. Finally, the second sheet material feeding device located at the second end of the sheet material releases its adsorption, and the second end of the sheet material enters the bending machine to complete the processing. During the process, the horizontal lateral lifting components of the two sets of sheet material feeding devices are brought close together so that the end of the sheet material with the greatest curvature change is adsorbed by the electromagnetic chuck of the lifting lateral lifting component.

2. A sheet metal feeding device for implementing the feeding method of claim 1, characterized in that, The plate feeding device includes: A trolley frame, which is capable of moving along the X direction on a track; The hoisting assembly includes at least two sets of horizontal traversing hoisting assemblies and at least one set of lifting traversing hoisting assemblies, which are fixed on the trolley frame and arranged along the X direction. The horizontal traversing hoisting assemblies and the lifting traversing hoisting assemblies are each connected to an electromagnetic chuck that can move along the Y direction. The lifting traversing hoisting assemblies can also move up and down along the Z direction. By adjusting the position of each electromagnetic chuck, the chuck can stably adsorb the plate located below and deliver the plate to the processing position through the trolley frame.

3. The sheet material feeding device according to claim 2, characterized in that: The trolley frame includes a main frame and a secondary frame connected along the X direction. The top horizontal longitudinal beam of the main frame in the XZ plane is higher than the top horizontal longitudinal beam of the secondary frame in the XZ plane. The horizontal traverse hoisting assembly is installed on the main frame, and the lifting traverse hoisting assembly is installed on the secondary frame.

4. The sheet material feeding device according to claim 3, characterized in that: The main frame in the XZ plane is rectangular. A diagonal beam is provided between one diagonal of the rectangle, and triangular elbow plates are provided between the other diagonal to enhance the stability of the trolley frame. Triangular elbow plates are provided at the connection between the main frame and the secondary frame in the XZ plane to eliminate stress concentration in the high-low transition area of ​​the trolley frame.

5. The sheet metal feeding device according to claim 3, characterized in that: The horizontal traversing hoisting assembly includes a traversing mechanism, an electric hoist, and an electromagnetic chuck; the electric hoist is detachably connected to the lower part of the traversing mechanism, the traversing mechanism can drive the electric hoist to move along the Y direction on the main frame, and the electromagnetic chuck is hung on the hook of the electric hoist. The lateral movement mechanism includes a crossbeam extending along the Y direction and a first drive mechanism. The first drive mechanism includes a rack arranged along the crossbeam, a drive motor connected to the first drive mechanism, and a gear disposed on the output shaft of the drive motor. The gear and the rack mesh.

6. The sheet metal feeding device according to claim 5, characterized in that: The lifting and traversing hoisting assembly includes a traversing mechanism, an electric hoist, and an electromagnetic chuck; the electric hoist is detachably connected to the lower part of the traversing mechanism, the traversing mechanism can drive the electric hoist to move along the Y direction on the secondary frame, and the electromagnetic chuck is hung on the hook of the electric hoist; The lateral movement mechanism includes a crossbeam extending along the Y direction and a third drive mechanism. The third drive mechanism includes a rack arranged along the crossbeam, a drive motor connected to the third drive mechanism, and a gear disposed on the output shaft of the drive motor. The gear and the rack mesh. The lifting and traversing hoisting assembly also includes a lifting mechanism, which can drive the traversing mechanism to move along the Z direction on the secondary frame. The lifting mechanism includes a lead screw and a guide column that pass through the secondary frame along the Z direction, a drive motor that drives the lead screw to move axially, and a nut sleeved on the lead screw. The guide post is arranged on both sides of the lead screw along the X direction, with its upper end fixedly connected to the lateral movement mechanism and its lower end being a free end. The internal thread of the nut is matched with the external thread of the lead screw. The nut is fixedly connected to the lateral movement mechanism. When the lead screw rotates, the nut can drive the lifting and lateral movement hoisting assembly to move up and down in the Z direction.

7. The sheet material feeding device according to claim 6, characterized in that: A vision component is set between the two sets of horizontal lateral lifting components. The vision component is used to scan the outline of the curved sheet material, reconstruct the sheet material model, and calculate the optimal lifting point position through the program. A laser rangefinder is installed below the longitudinal beam along the X direction of the trolley frame to measure the distance between the trolleys when they move, thus avoiding interference between the two trolleys during the movement.

8. The sheet material feeding device according to claim 2, characterized in that: The plate feeding device also includes a trolley drive mechanism, which includes a track extending along the X direction, a traveling part fixed to the bottom of the trolley frame and moving along the track, and a traveling drive motor that drives the traveling part to travel.

9. The sheet metal feeding device according to claim 8, characterized in that: The traveling unit includes a rack arranged along the track and a gear mounted on the output shaft of the traveling drive motor, the gear and the rack meshing together; the front end face of the traveling unit facing the X direction is provided with a collision-prevention block to prevent the trolley from colliding during travel.

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