Method for automatic installation of soft sheaths on punched metal plates

Abstract

The application discloses a kind of soft sheath automatic installation methods of punched metal plate.The method includes: after punching, metal plate is placed on machine tool bottom plate, soft sheath is input to feed hopper and is neatly arranged into discharge pipe;Control device controls servo motor, drives the horizontal shaft rail and vertical shaft rail erected on bottom plate to move, drives the punch set in the intersection of track to move to the initial positioning point of first aperture, and fine adjustment alignment is carried out by color recognition device;Control device drives the step motor integrated in punch, so that punch is pressed down along vertical axis discharge pipe, and the soft sheath arranged in the lowermost of discharge pipe is pressed into metal plate aperture;Whether installation is successful is judged by scanning through color recognition device;If successful, track moves a hole interval distance, and installation process is cyclically executed.The application can intelligently, flexibly and efficiently realize soft sheath automatic installation, improve production efficiency, reduce cost, and ensure product quality.

Description

Technical Field

[0001] This invention relates to mechanical device processing and control technology, specifically to an automatic installation method for a soft sheath on a perforated metal plate. Background Technology

[0002] In air conditioning manufacturing, especially when producing products like copper tube radiators, it's common practice to pre-drill holes in metal plates and install flexible sheaths. A flexible sheath is a device used to protect pipes or conduits; it's typically a round or cylindrical part made of soft or wear-resistant materials such as rubber, plastic, or rubber-plastic composites, and is inserted into the pipe. The flexible sheath protects the conduit from external damage, ensuring stable product performance. However, traditional manual installation methods, relying on manual operation, suffer from low efficiency and inconsistent quality.

[0003] First, manual installation requires workers to install the soft sleeves one by one into the holes of the metal plate, which is labor-intensive and time-consuming, resulting in low production efficiency. Second, manual operation is susceptible to human error, making it difficult to guarantee installation quality and leading to problems such as misalignment and insecure installation. Furthermore, prolonged repetitive labor can cause worker fatigue and a decline in work quality, increasing labor costs and management difficulties for the company.

[0004] To address these issues, some automated assembly equipment has emerged in the existing technology. However, existing automated assembly equipment often requires costly customized designs and has limited applicability, making it difficult to adapt to the production needs of copper tube radiators of different specifications and sizes. Therefore, there is a need for a more intelligent, flexible, and efficient automated installation technology for copper tube flexible sheaths. Summary of the Invention

[0005] Purpose of the invention: The purpose of this invention is to provide an automatic installation method for the soft sheath of perforated metal plates, which solves the problems of low efficiency and difficulty in adapting to the production needs of copper tube radiators of different specifications and sizes due to the reliance on manual operation in the prior art.

[0006] Technical solution: An automatic installation method for a soft sheath on a perforated metal plate, comprising the following steps:

[0007] Step 1: Place the punched metal plate on the machine tool base plate, put the soft sheath into the feed hopper and arrange it neatly into the discharge pipe;

[0008] Step 2: The control device controls the servo motor to drive the horizontal and vertical tracks mounted on the base plate to move horizontally in the longitudinal and transverse directions, thereby moving the punch located at the intersection of the horizontal and vertical tracks to the initial positioning point at the first opening. The punch clamps the discharge pipe. The color recognition device integrated on the punch identifies the color mark set on the base plate and performs fine-tuning alignment.

[0009] Step 3: The control device drives the stepper motor integrated in the punch, so that the punch presses down the discharge tube along the vertical axis, pressing the soft sheath at the bottom of the discharge tube into the opening of the metal plate.

[0010] Step 4: After the stepper motor runs a specified number of pulses, the control device reverses and resets it, pulling up the discharge pipe to complete the installation. The color recognition device scans the installed position to check for color markings. If no color markings are detected, the installation is considered successful.

[0011] Step 5: The control device controls the servo motor to drive the horizontal or vertical axis rail to move, causing the punch to move a distance equal to the distance of one hole in the longitudinal or transverse direction. The position is finely adjusted by the color recognition device, and the installation process is repeated cyclically.

[0012] Furthermore, the discharge port of the discharge pipe is equipped with an expandable head baffle, and an openable and closable side baffle is provided at a designated position from the discharge port. In the closed state, the side baffle extends radially through the discharge pipe.

[0013] In step 3, when the stepper motor drives the discharge pipe to press down along the vertical axis, the head of the soft sheath enters the opening of the metal plate first, and then the head baffle touches the metal plate. As the side baffle is pressed down, the head baffle deforms and collapses, completely exposing the soft sheath.

[0014] In step 4, when the stepper motor drives the discharge pipe to lift along the vertical axis, the head baffle automatically resets, and the side baffle opens and closes once, causing the next soft sheath to fall due to gravity and be blocked by the head baffle.

[0015] Furthermore, the side baffle is controlled to open and close by electromagnet or other means. When the discharge pipe is pressed down along the vertical axis, it provides an upward support force to press the soft sheath into the hole of the metal plate. When the discharge pipe is lifted up along the vertical axis, the electromagnet is energized and attracts the side baffle to open, so that the next soft sheath falls due to gravity. After being blocked by the head baffle, the electromagnet is de-energized and reset.

[0016] Furthermore, the head baffle includes two baffles, each baffle having two movable joints. When the discharge pipe is pressed down along the vertical axis, the movable joints of the two baffles automatically extend and open, and when the discharge pipe is lifted up along the vertical axis, the movable joints automatically reset.

[0017] Furthermore, the soft sheath is cylindrical with frustum-shaped ends. Grooves are provided at the upper and lower edges of the cylindrical part. When the soft sheath is inserted into the hole of the metal plate, the grooves engage with the metal plate.

[0018] Furthermore, the horizontal axis track includes a track body and support rods located at both ends of the track body; the vertical axis track includes a track body and support rods located at both ends of the track body; the four edges of the base plate are provided with grooves, and linear guides are installed in the grooves. The corresponding sliders of the linear guides are connected to the support rods, so as to realize that the support rods can slide freely along a straight line.

[0019] Furthermore, racks are provided on both sides of the feed tube, and each rack meshes with a gear driven by a stepper motor to realize the vertical movement of the feed tube.

[0020] Furthermore, the color recognition device is fixedly installed at the lower end of the punch. It determines the punch axis position by scanning the color mark exposed at the opening of the metal plate and feeds back to the control device for trajectory fine-tuning so that the punch is directly above the opening.

[0021] Furthermore, in step 4, if the color recognition device scans the position after installation and finds a color mark, the installation is determined to be unsuccessful, and the control device controls the stepper motor to drive the discharge pipe to press down along the vertical axis again; if the installation fails to be installed twice in a row, it is determined that there is no material in the discharge pipe, triggering the interrupt program. After the punch returns to the edge of the worktable to complete the material replenishment, it returns to the interrupted position to continue the operation.

[0022] Furthermore, after the interrupt program is triggered, the control device controls the servo motor to drive the horizontal and vertical axis tracks to move, driving the punch back to the edge of the machine tool. The electric robotic arm pours the pre-prepared soft sheath into the feed hopper, and the feed hopper shakes the soft sheath into the discharge pipe below by vibration.

[0023] Beneficial Effects: This invention provides an automatic installation method for soft sheaths on perforated metal plates. A control device controls a servo motor to drive slidable horizontal and vertical tracks on a base plate along a set trajectory. This drives a punch positioned at the intersection of the two tracks to move on the base plate. The punch clamps a discharge tube, through which the soft sheath enters the discharge tube via a funnel. After the servo motor drives the horizontal and vertical tracks to move, causing the punch to reach the designated perforation position on the metal plate, the control device controls a stepper motor integrated on the punch to drive the discharge tube along the vertical axis, installing the soft sheath into the hole in the metal plate. A color recognition device scans and adjusts the alignment of the installation position to determine if the installation is successful. The control device can be programmed to meet the production needs of copper tube heat sinks of different specifications and sizes. Through the close cooperation and intelligent control of various components, this invention flexibly and efficiently achieves automatic installation of soft sheaths, improving production efficiency, reducing costs, and ensuring product quality. Attached Figure Description

[0024] Figure 1 This is a perspective view of the overall structure of the automatic installation system for soft sheaths;

[0025] Figure 2 This is a perspective view of the punch and surrounding components.

[0026] Figure 3 This is a side view of the internal structure of the discharge pipe;

[0027] Figure 4 This is a schematic diagram of the punch-supported discharge pipe;

[0028] Figure 5 This is a flowchart of the automatic installation method for the soft sheath of perforated metal plates;

[0029] Figure 6 This is a schematic diagram of the operation of the material discharge port of the discharge pipe during the installation process. Detailed Implementation

[0030] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0031] This invention provides an automatic installation method for a flexible sheath on a perforated metal plate. This method is based on a flexible sheath installation system, and refers to... Figure 1 , Figure 2 and Figure 3 The soft sheath installation system includes a feeding system and a machine tool system. The feeding system includes a feeding hopper 70 and a discharge pipe 60 connected thereto. The feeding hopper 70 is an inverted triangular funnel. The discharge pipe 60 is connected to the bottom of the funnel and is held by a punch 40 in the machine tool system. After the soft sheaths 10 are put into the feeding hopper 70, they are sequentially arranged into the discharge pipe 60. The machine tool system includes a base plate 100, on which color markings 101 are laid. A horizontal axis track 20 and a vertical axis track 30 that can slide freely are provided. The horizontal axis track 20 and the vertical axis track 30 are driven by corresponding servo motors. A punch 40 is provided at the intersection of the horizontal axis track 20 and the vertical axis track 30. The punch 40 clamps the discharge pipe 60. A vertical axis stepper motor 80 and a color recognition device 42 are integrated on the punch 40. The servo motor, the vertical axis stepper motor 80, and the color recognition device 42 are connected to the controller 50 and controlled by the controller 50.

[0032] Based on the aforementioned soft sheath installation system, the controller 50 controls the servo motor to drive the horizontal axis rail 20 and the vertical axis rail 30 to move horizontally along the longitudinal and transverse directions, respectively, causing the punch 40 to reach the position above the designated opening. The color recognition device 42 is fixedly installed at the lower end of the punch 40, and determines the axis position of the punch 40 by scanning the color mark 101 exposed at the opening of the metal plate, and feeds back to the control device 50 for trajectory fine-tuning so that the punch 40 is directly above the opening. The control device 50 controls the stepper motor 80 to drive the discharge pipe 60 to move up and down along the vertical axis, pressing the lowermost soft sheath 10 in the discharge pipe 60 into the hole of the metal plate.

[0033] In this embodiment of the invention, the color mark 101 is a high-contrast color coating or plastic sheet, sprayed or laid on the surface of the base plate 100. The color recognition device 42 uses a color sensor. The metal plate to be processed is placed on the color mark 101 and can be fixed by the slots of the base plate 100 to ensure its stability.

[0034] The base plate 100 is the fundamental component of the entire machine tool and is typically made of steel plate of sufficient thickness. Its dimensions are set according to the size of the tube sheet to be processed to provide stable support and ensure the stability of the machine tool during operation. The layout of the base plate 100 should be able to accommodate the transverse axis rails 20 and the longitudinal axis rails 30, and it needs to have sufficient rigidity and strength to withstand various forces and vibrations during the machine tool's movement and operation. The transverse and longitudinal axes are arranged as follows... Figure 1 The x-axis and y-axis directions are shown in the diagram.

[0035] The horizontal axis track 20 includes a track body 21 and support rods 22 located at both ends of the track body 21; the vertical axis track 30 includes a track body 31 and support rods 32 located at both ends of the track body 31; the base plate 100 has grooves around its perimeter, in which linear guides are installed. The corresponding sliders of the linear guides are connected to the support rods 22 and 32, allowing the support rods to slide freely along a straight line. The horizontal axis track body 21 moves longitudinally on the base plate by moving along the vertical guides via the two support rods 22, and the vertical axis track body 31 moves laterally on the floor by moving along the horizontal guides via the two support rods 32. The punch 40 is located at the intersection of the two tracks, meaning the punch 40 is connected to both the horizontal axis track 20 and the vertical axis track 30. When the horizontal servo motor moves, it drives the punch 40 to move laterally (x-axis); when the vertical servo motor moves, it drives the punch 40 to move longitudinally (y-axis). The horizontal and vertical tracks can move simultaneously or independently. Figure 1 In the middle, the horizontal axis length is greater than the vertical axis length, and the pipeline required for punch 40 runs through the vertical axis track 30.

[0036] The punch 40 clamps the discharge pipe 60 via a clamping device, typically using clamping claws or clamping fixtures. The clamping claws or fixtures need to possess sufficient strength and stability to ensure that the discharge pipe 60 does not shift or vibrate during installation. The design of the clamping claws or fixtures should be able to accommodate discharge pipes of different sizes and shapes, and ensure uniform distribution of clamping force to avoid damage to the discharge pipe. In this invention, reference is made to... Figure 4 The feed tube 60 has racks 65 on both sides, each rack 65 meshing with a gear 45 driven by a stepper motor 80 to achieve vertical movement of the feed tube 60. The racks 65 and gears 45 work together to form a clamping device. The gears 45 are integrated into the punch 40 and are driven to rotate by the stepper motor 80.

[0037] The feed hopper 70 is continuously vibrated by a motor, shaking the soft sheath 10 into the lower cavity and dropping it into the vertical discharge pipe 60. Because the main body of the soft sheath 10 is a long cylinder, the diameter of the soft sheath 10 should match the diameter of the discharge pipe 60, so that under continuous vibration, it will be stacked in a neat row in the discharge pipe 60. The discharge pipe 60 usually needs to have a certain strength, wear resistance, and corrosion resistance to ensure that it can withstand pressure and wear during operation and is not easily affected by corrosion. Therefore, stainless steel, carbon steel, or aluminum alloy are generally more suitable materials.

[0038] After the metal plate is placed on the base plate 100, the horizontal axis rail 20 and the vertical axis rail 30 drive the punch 40 to the initial point under the drive of the servo motor according to the program set by the control device 50. They arrive at each opening of the metal plate in sequence according to the programmed trajectory. The color recognition device 42 scans the color mark 101 exposed in the opening and feeds it back to the control device 50 for fine-tuning the position to ensure that the discharge tube 60 held by the punch 40 is directly above the opening. The control device 50 controls the stepper motor 80 of the vertical axis to press down and install a soft protective sleeve 10. The structural design of the discharge tube 60 allows the soft protective sleeve to fall down freely in sequence when it is pressed down and lifted.

[0039] Specifically, the discharge port of the discharge pipe 60 is provided with a head baffle 61, which includes two baffles, each with two movable joints. When the discharge pipe 60 is pressed down along the longitudinal axis, the movable joints of the two baffles automatically extend and open; when the discharge pipe 60 is pulled up along the longitudinal axis, the movable joints automatically return to their original positions. In this embodiment, the movable joints can be spring hinges. They automatically return to their original positions when no force is applied, thus securing the soft sheath and preventing it from falling out of the pipe naturally. When the discharge pipe 60 is pressed down along the longitudinal axis, the head baffle 61 expands and contracts from the joints; when the discharge pipe 60 is pulled up along the longitudinal axis, the spring automatically returns to its original position.

[0040] A closable side baffle 62 is installed at a designated position at the discharge port of the discharge pipe 60. In the closed state, the side baffle 62 extends radially through the discharge pipe 60. The side baffle 62 is controlled to open and close by an electromagnet or other control method. When the discharge pipe 60 is pressed down along the longitudinal axis, it provides an upward support force to press the soft sheath 10 into the hole of the metal plate. When the discharge pipe 60 is raised to the designated position along the longitudinal axis, the electromagnet is energized and attracts the side baffle 62, causing the next soft sheath to fall due to gravity. After being blocked by the head baffle 61, the electromagnet is de-energized and reset after a default 1 second (the specific time can be set). Specifically, the electromagnet is installed on the side of the discharge pipe 60, and the side baffle 62 is reset by a spring. The side baffle 62 is fixedly installed on the side of the discharge pipe 60 with a notch and is normally in a closed state. In this way, when the discharge pipe 60 is pressed down along the longitudinal axis, it provides an upward support force to press the soft sheath into the hole of the metal plate. When the discharge pipe 60 is lifted up along the longitudinal axis, the electromagnet is energized and attracts the side baffle to open. The next soft sheath falls due to gravity and is blocked by the head baffle 61. Then the electromagnet is de-energized and resets, and this cycle continues.

[0041] To improve the fixation and protection capabilities of the soft sheath, grooves 11 are provided at the upper and lower edges of the cylindrical part of the soft sheath 10. When a metal plate is inserted, the grooves 11 will clamp the metal plate to fix the soft sheath.

[0042] Reference Figure 5 and Figure 6 The automatic installation method for soft protective sleeves provided by this invention includes the following steps:

[0043] (1) Place the punched metal plate on the slot of the machine tool base plate 100, put several soft sheaths 10 into the feed hopper 70, the funnel-shaped feed hopper 70 vibrates continuously under the control of the motor, and shakes the soft sheaths 10 into the hole below and into the vertical discharge pipe 60.

[0044] (2) The control device 50 controls the servo motor to drive the horizontal axis rail 20 and the vertical axis rail 30 mounted on the base plate 100 to move horizontally along the longitudinal and transverse directions, thereby driving the punch 40 set at the intersection of the two rails to reach the set initial positioning point, i.e. the first opening. The upper surface of the base plate 100 is covered with color mark 101. The current punch axis position is located by the color recognition device 42 integrated below the punch 40, i.e., by scanning the color mark 101 exposed at the current opening to determine the position, and feeding back to the control device 50 for fine-tuning the position. After confirming that the discharge pipe 60 is aligned with the current opening, the control device 42 sends a fixed number of pulses to the stepper motor 80 integrated on the punch 40 to drive it to press down the discharge pipe 60 along the vertical axis.

[0045] (3) The first soft sheath 10 at the discharge port of the discharge pipe 60 is suspended above the hole. At this time, the side baffle 62 is closed, such as Figure 6As shown in (a); as the discharge pipe 60 is pressed down, the head of the soft sheath 10 enters the opening in the metal plate first, and then the two head baffles 61 touch the metal plate. As the discharge pipe 60 is pressed down along the vertical axis, the head baffles 61 collapse and automatically unfold due to the deformation of the two movable joints, completely exposing the soft sheath 10. The groove 11 is engaged with the metal plate, as shown in (a). Figure 6 As shown in (b); after the stepper motor 80 completes the specified number of pulses, the control device 50 controls it to reverse and reset, the discharge pipe 60 is pulled up, and the spring at the joint of the head baffle 61 resets it, thus completing one installation of the protective sleeve.

[0046] (4) When the electromagnet is energized, it attracts the magnet, and the side baffle 62 opens. Figure 6 As shown in (c), the next soft sheath falls due to gravity and is blocked by the head baffle 61. The electromagnet is de-energized and resets, and the side baffle 62 closes. The color recognition device 42 scans the position after installation to see if there is a color mark 101. If the color mark 101 is not detected, it is judged as successful installation. If the color recognition device 42 can still detect the color mark 101, it is judged as installation failure.

[0047] (5) If the installation is successful, the control device 50 commands the servo motor to drive the punch 40 to drive the horizontal axis rail 20 or the vertical axis rail 30 to move, and drive the punch 40 to move a distance of one hole interval in the longitudinal or transverse direction. The position is finely adjusted by the color recognition device 42, and the installation process is repeated.

[0048] (6) If the installation fails, the control device 50 controls the stepper motor 80 to drive the discharge pipe 60 downward along the vertical axis again to perform the installation again; if the installation fails twice in a row, it is determined that there is no material in the discharge pipe 60, triggering the interrupt program and executing the interrupt task. The program manipulates the horizontal axis rail 20 and the vertical axis rail 30 to move the punch 40 to the edge of the machine tool, and the electric robotic arm pours the pre-prepared soft sheath 10 into the feed hopper 70. The feed hopper 70 shakes the soft sheath 10 into the discharge pipe 60 below by vibration. The program drives the horizontal axis rail 20 and the vertical axis rail 30 back to the interrupt point to continue the operation.

[0049] This invention provides an automatic installation method for soft sheaths on perforated metal plates. A control device controls a servo motor to drive slidable horizontal and vertical tracks on a base plate along a pre-set trajectory. This drives a punch positioned at the intersection of the two tracks to move on the base plate. The punch clamps a discharge tube, through which the soft sheath enters via a funnel. After the servo motor drives the horizontal and vertical tracks to move and the punch reaches the designated perforation position on the metal plate, the control device controls a stepper motor integrated on the punch to drive the discharge tube along the vertical axis, installing the soft sheath into the hole in the metal plate. A color recognition device scans and adjusts the alignment of the installation position to determine if the installation is successful. The control device can be programmed to meet the production needs of copper tube heat sinks of different specifications and sizes. Through the close cooperation and intelligent control of various components, this invention flexibly and efficiently achieves automatic installation of soft sheaths, improving production efficiency, reducing costs, and ensuring product quality.

Claims

1. An automatic installation method for a soft sheath on a perforated metal plate, characterized in that, Includes the following steps: Step 1: Place the punched metal plate on the machine tool base plate (100), and put the soft sheath (10) into the feed hopper (70) and arrange them neatly into the discharge pipe (60); wherein the discharge pipe (60) is provided with an expandable head baffle (61) at the discharge port, and an openable side baffle (62) is provided at a specified position from the discharge port. In the closed state, the side baffle (62) extends radially through the discharge pipe (60); Step 2: The control device (50) controls the servo motor to drive the horizontal axis rail (20) and the vertical axis rail (30) mounted on the base plate (100) to move horizontally in the longitudinal and transverse directions, thereby moving the punch (40) set at the intersection of the horizontal axis rail (20) and the vertical axis rail (30) to the initial positioning point at the first opening. The punch (40) clamps the discharge pipe (60). The color recognition device (42) integrated on the punch (40) identifies the color mark (101) set on the base plate (100) and performs fine-tuning alignment. Step 3: The control device (50) drives the stepper motor (80) integrated in the punch (40) to press the punch (40) down along the vertical axis to press the soft sheath (10) at the bottom of the discharge pipe (60) into the opening of the metal plate. When the stepper motor (80) drives the discharge pipe (60) to press down along the vertical axis, the head of the soft sheath (10) enters the opening of the metal plate first, and then the head baffle (61) touches the metal plate. As the side baffle (62) presses down, the head baffle (61) deforms and collapses, completely exposing the soft sheath (10). Step 4: After the stepper motor (80) runs a specified number of pulses, the control device (50) reverses and resets it, and the discharge pipe (60) is pulled up to complete the installation. The color recognition device (42) scans the position after installation to see if there is a color mark (101). If no color mark is detected, the installation is considered successful. When the stepper motor (80) drives the discharge pipe (60) to lift along the vertical axis, the head baffle (61) automatically resets, and the side baffle (62) opens and closes once to make the next soft sheath fall due to gravity and be blocked by the head baffle (61). Step 5: The control device (50) controls the servo motor to drive the horizontal axis rail (20) or the vertical axis rail (30) to move, causing the punch (40) to move a distance of one hole interval in the longitudinal or transverse direction. The position is finely adjusted by the color recognition device (42), and the installation process is repeated.

2. The method according to claim 1, characterized in that, The side baffle (62) is controlled to open and close by an electromagnet. When the discharge pipe (60) is pressed down along the vertical axis, it provides an upper support force to press the soft sheath (10) into the hole of the metal plate. When the discharge pipe (60) is lifted up along the vertical axis, the electromagnet is energized and attracts the side baffle (62) to open. This causes the next soft sheath (10) to fall due to gravity. After being blocked by the head baffle (61), the electromagnet is de-energized and reset.

3. The method according to claim 1, characterized in that, The head baffle (61) includes two baffles, each baffle having two movable joints. When the discharge pipe (60) is pressed down along the vertical axis, the movable joints of the two baffles automatically extend and open. When the discharge pipe (60) is lifted up along the vertical axis, the movable joints automatically reset.

4. The method according to claim 1, characterized in that, The soft sheath (10) is a cylinder with frustum-shaped ends. The upper and lower edges of the cylinder are provided with grooves (11). When the soft sheath (10) is inserted into the hole of the metal plate, the grooves (11) are engaged with the metal plate.

5. The method according to claim 1, characterized in that, The horizontal axis track (20) includes a horizontal axis track body (21) and horizontal axis track support rods (22) located at both ends of the horizontal axis track body (21); the vertical axis track (30) includes a vertical axis track body (31) and vertical axis track support rods (32) located at both ends of the vertical axis track body (31); the four edges of the base plate (100) are provided with grooves, and linear guides are installed in the grooves. The corresponding sliders of the linear guides are connected to the horizontal axis track support rods (22) and the vertical axis track support rods (32) to realize the free sliding of the support rods along the straight line.

6. The method according to claim 1, characterized in that, The discharge pipe (60) is provided with racks (65) on both sides. Each rack (65) meshes with a gear (45) driven by a stepper motor (80) to realize the vertical movement of the discharge pipe (60).

7. The method according to claim 1, characterized in that, The color recognition device (42) is fixedly installed at the lower end of the punch (40). It determines the axis of the punch (40) by scanning the color mark (101) exposed at the opening of the metal plate and feeds it back to the control device (50) for trajectory fine adjustment so that the punch (40) is directly above the opening.

8. The method according to claim 1, characterized in that, In step 4, if the color recognition device (42) scans the position after installation and there is a color mark, it is determined that the installation has failed. The control device (50) controls the stepper motor (80) to drive the discharge pipe (60) to press down along the vertical axis again. If the installation fails to be installed twice in a row, it is determined that there is no material in the discharge pipe (60), triggering the interrupt program. The punch (40) returns to the edge of the workbench to complete the replenishment and then returns to the interrupt position to continue the operation.

9. The method according to claim 8, characterized in that, After the interrupt program is triggered, the control device (50) controls the servo motor to drive the horizontal axis rail (20) and the vertical axis rail (30) to move, driving the punch (40) back to the edge of the machine tool. The electric robotic arm pours the pre-prepared soft sheath (10) into the feed hopper (70), and the feed hopper (70) shakes the soft sheath (10) into the discharge pipe (60) below by vibration.

Images