A laser slotter for silicon steel sheets and a slotting method thereof

Abstract

The application discloses a laser slotting machine for silicon steel sheets, and relates to the field of silicon steel slotting, comprising a base, an X-Y-Z movement system mounted on the base, a visual camera and a laser cutting head, an adjustable grid for placing silicon steel sheets is mounted on the base, and the X-Y-Z movement system is used to drive the visual camera and the laser cutting head to move above the adjustable grid. The non-contact and continuous laser slotting method is used to replace the mechanical and contact traditional slotting method, so that the time for the mechanical slotting mechanism to ascend and descend is greatly reduced, and the time for frequently replacing the mold and the cost of purchasing the mold are reduced. Meanwhile, the laser slotting has the advantages of high precision, fast operation speed, wide coverage and the like, and the efficiency is obviously improved compared with the existing mode. In addition, the laser slotting machine is steplessly adjustable for the slot width, and can cut any width after the program is set.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of silicon steel slotting, in particular to a laser slotting machine for silicon steel sheets and a slotting method thereof. BACKGROUND

[0002] With the continuous improvement of transformer voltage level and the increase of product capacity, in order to reduce magnetic flux loss and eddy current loss and improve permeability, slots will be opened on the core level. The core level is stacked by a plurality of silicon steel sheets, in order to ensure accuracy, the silicon steel sheets need to be slotted respectively before stacking.

[0003] The existing silicon steel sheet slotting processing usually uses a mechanical and contact type slotting module to realize. Due to the limitation of space structure, the length of the slotting module is usually short, generally only about 10 cm. However, the length of the silicon steel sheet to be slotted is relatively long, up to 5 m, which leads to the need for multiple up and down actions for slotting, resulting in low efficiency. For example, the processing time of 3 m double slot is about 10 min. In addition, the slot width is limited by the module, and the slot width of the slotting module is fixed. The cost of replacing the module is relatively high. SUMMARY

[0004] In view of the shortcomings of the prior art, the purpose of the present application is to provide a laser slotting machine for silicon steel sheets and a slotting method thereof to solve one or more problems in the prior art.

[0005] To achieve the above-mentioned purpose, the technical scheme of the present application is as follows:

[0006] A laser slotting machine for silicon steel sheets, comprising a base, an X-Y-Z motion system mounted on the base, a vision camera and a laser cutting head, an adjustable grid for placing silicon steel sheets is mounted on the base, the X-Y-Z motion system is used to drive the vision camera and the laser cutting head to move above the adjustable grid;

[0007] The adjustable grid comprises a guide structure, a plurality of modules and a driving structure corresponding to the plurality of modules, the guide structure is arranged on the base and parallel to the Y axis of the X-Y-Z motion system, the plurality of modules are slidably arranged on the guide structure, the driving structure is used to drive the corresponding module to move along the Y axis direction, and a blanking groove extending along the X axis direction is formed on the module;

[0008] The module comprises a sliding piece and a plurality of support parts, the sliding piece is slidably arranged on the guide structure, and a through groove is formed on the sliding piece, the parts on both sides of the through groove on the sliding piece are defined as mounting parts, the plurality of support parts are fixed on the top surfaces of the two mounting parts respectively by means of countersunk screws, and the plurality of support parts on the same mounting part are obliquely connected at the head and tail to form a support piece, the gap between the two support pieces in the same module constitutes a blanking groove, and the blanking groove and the through groove are communicated.

[0009] By the above technical solution, the adjustable grid can be moved to the target position according to the demand of the silicon steel sheet, and plays a supporting role in the laser slotting process while facilitating the discharge of waste silk. And the module adopts a split structure, divided into upper and lower two parts, the lower part adopts an integral sliding part to ensure accuracy, and the upper support part is divided into multiple sections. The advantage of this structure is that the support part can be quickly replaced after partial damage caused by laser cutting.

[0010] Further, the width of the through groove is greater than the width of the discharge groove, and the side of the support member constituting the discharge groove is provided with a chamfer, which is directed to the side of the through groove.

[0011] By the above technical solution, the chamfer structure can effectively prevent the splashing of residues generated during the laser slotting process, affecting the yield of the silicon steel sheet.

[0012] Further, the base is provided with a positioning abutment parallel to the X-axis and located on one side of the base along the Y-axis direction, and the laser cutting head is provided with a pressure roller device.

[0013] By the above technical solution, the pressure roller device on the laser cutting head and the positioning abutment on the base cooperate to ensure the position accuracy of the silicon steel sheet during the laser slotting process, improving the laser slotting accuracy.

[0014] Further, the X-Y-Z motion system includes an X-axis motion mechanism, a Y-axis motion mechanism and a Z-axis motion mechanism, wherein the movement distance of the X-axis motion mechanism is greater than the movement distance of the Y-axis motion mechanism and greater than the movement distance of the Z-axis motion mechanism, and the X-axis motion mechanism includes a linear motor and a magnetic scale for correcting the movement distance of the linear motor.

[0015] By the above technical solution, since the X-axis movement distance is the longest, a linear motor with high control accuracy is used to control the X-axis movement, and a magnetic scale is equipped to detect the actual movement distance, ensuring the movement accuracy.

[0016] The application also provides a laser slotting method for silicon steel sheets, which is realized by using the above-mentioned laser slotting machine for silicon steel sheets, and includes the following steps:

[0017] S100, obtaining slotting parameters, the slotting parameters including the number of cutting slots, the width of cutting slots, the cutting length, the cutting pitch, the step amount, the step direction and the sheet type parameters of multiple sheet types under the step amount;

[0018] S200, adjusting the position of the adjustable grid according to the slotting parameters;

[0019] S300, acquire an initial image, the initial image is a real object image photographed by a visual camera at an initial point; and set a verification path according to the initial image and a sheet type parameter selected according to a slotting sequence, wherein the slotting sequence is cyclic according to a step size;

[0020] S400, move the visual camera according to the verification path and acquire a plurality of real object images by the visual camera;

[0021] S500, verify the real object sheet type according to the real object images, if the verification is successful, jump to S600; if the verification fails, stop and alarm;

[0022] S600, generate a movement path composed of a plurality of segments and a laser duty cycle on each segment according to the sheet type parameter and the real object images;

[0023] S700, control an X-Y-Z motion system and a laser cutting head to complete slotting of the current silicon steel sheet according to the movement path and the laser duty cycle;

[0024] S800, repeat S300 to S700 to complete slotting of the same batch of silicon steel sheets.

[0025] Through the above technical solution, the actual shape size of the silicon steel sheet is recognized by the visual camera, and is matched with the input sheet type parameter, so as to avoid deviation between the real object and the preset program, and to avoid processing errors.

[0026] Further, the movement path includes a first segment path and a slotting path, the first segment path refers to a path from the initial point to a specific point of the silicon steel sheet, the specific point is the nearest vertex of the silicon steel sheet from the initial point, and the slotting path refers to a path for laser slotting from the specific point of the silicon steel sheet, and the slotting path corresponding to the same sheet type parameter is the same;

[0027] Before generating the movement path composed of a plurality of segments and the laser duty cycle on each segment according to the sheet type parameter and the real object images, it is judged whether the slotting path and the laser duty cycle corresponding to the currently selected sheet type parameter are stored in the database,

[0028] If yes, generate the first segment path according to the real object images, and call the corresponding slotting path and laser duty cycle;

[0029] If not, generate the first segment path according to the real object images, and generate the slotting path and determine the corresponding laser duty cycle according to the sheet type parameter.

[0030] Further, the verification of the real object sheet type according to the real object images includes the following steps:

[0031] determining the real object parameter according to the real object images,

[0032] determining whether the physical parameters are consistent with the selected sheet type parameters according to the slotting sequence;

[0033] If consistent, the verification is successful.

[0034] Further, the verification of the physical sheet type according to the physical image further comprises the following steps:

[0035] If inconsistent, the physical parameters are compared with other sheet type parameters not selected in the current cycle,

[0036] If there is any consistent sheet type parameter, the verification is successful, a prompt is issued, and the consistent sheet type parameter is set as the currently selected sheet type parameter;

[0037] If all are inconsistent, the machine is stopped and an alarm is given.

[0038] Further, after the verification is successful, the following steps are further included:

[0039] The step number corresponding to the currently selected sheet type parameter is recorded in a preset first storage unit;

[0040] After the end of the current cycle, a temporary sequence is formed according to the step number in the first storage unit and stored in a preset second storage unit, and it is determined whether the temporary sequence in the second storage unit is the same,

[0041] If the same, the temporary sequence is used to replace the slotting sequence;

[0042] If different, only the last stored temporary sequence is retained, and the slotting sequence is initialized.

[0043] Further, the setting of the inspection path according to the initial image and the selected sheet type parameters according to the slotting sequence comprises the following steps:

[0044] The detection end point is determined according to the step direction, wherein the detection end point is a vertex on the silicon steel sheet except for a specific point;

[0045] The distance between the specific point and the detection end point is determined according to the sheet type data, and the distance is corrected according to the positional relationship between the specific point and the initial point in the initial image to obtain the verification path.

[0046] Compared with the prior art, the beneficial technical effects of the present application are as follows:

[0047] 1. The non-contact, continuous laser slotting method is used to replace the mechanical, contact type traditional slotting method, which greatly reduces the time of mechanical slotting mechanism rising and falling, the time of frequent mold replacement and the cost of purchasing mold; at the same time, the laser slotting has the advantages of high precision, fast running speed, wide coverage range and the like, such as 3m double slot processing time of about 2min, the efficiency is obviously improved compared with the existing mode. In addition, the laser slotting machine is stepless adjustable to the slot width, and only needs to be programmed to cut any width.

[0048] 2. The adjustable grid can quickly and automatically move to the target position according to product demand, support the product during the laser slotting process, facilitate the waste silk falling, cut the long waste silk into small pieces by combining the laser slotting method of breaking first and then slotting, and effectively solve the problem of difficult falling.

[0049] 3. The chamfer structure on the adjustable grid can effectively prevent the debris generated during the laser slotting process from splashing and affecting the product yield.

[0050] 4. The pressure roller device on the laser cutting head and the positioning abutment on the base cooperate to ensure the position accuracy of the product during the laser slotting process and improve the laser slotting precision.

[0051] 5. The X-Y-Z motion system controls the vision camera and the laser cutting head to realize the accuracy of the laser slotting path and improve the laser slotting precision, which can meet the slotting demand of different step-by-step methods of silicon steel sheets.

[0052] 6. The vision camera identifies the actual size of the silicon steel sheet and matches the recorded sheet type parameters to ensure the accuracy of product processing. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 A structure diagram of a laser slotting machine for a silicon steel sheet is shown.

[0054] Figure 2 A structure diagram of an X-Y-Z motion system is shown.

[0055] Figure 3 is Figure 1 An enlarged view of A in FIG.

[0056] Figure 4 A structure diagram of a pressure roller device is shown.

[0057] Figure 5 A structure diagram of an adjustable grid is shown.

[0058] Figure 6 A flowchart of a laser slotting method for a silicon steel sheet is shown.

[0059] Figure 7 A schematic view of a transversely stepped silicon steel sheet provided by the present application is shown.

[0060] Figure 8 A schematic view of a longitudinally stepped silicon steel sheet provided by the present application is shown.

[0061] Figure 9 A schematic view of a silicon steel sheet to be slotted provided by the present application is shown.

[0062] The reference signs: 1, base; 2, X-Y-Z movement system; 21, first sliding rail; 22, first sliding seat; 23, first driving member; 231, magnetic grating ruler; 24, second sliding rail; 25, second sliding seat; 26, second driving member; 27, third sliding rail; 28, third sliding seat; 29, third driving member; 3, adjustable grid; 31, guiding structure; 32, module; 321, sliding member; 322, supporting part; 323, blanking groove; 324, through groove; 33, driving structure; 4, visual camera; 5, laser cutting head; 6, positioning abutment; 61, locking member; 7, pressure roller device. DETAILED DESCRIPTION

[0063] A laser slitting machine for silicon steel sheets, as shown in Figure 1 , comprises a base, an X-Y-Z movement system, an adjustable grid, a visual camera and a laser cutting head. The adjustable grid and the X-Y-Z movement system are both mounted on the base, and the visual camera and the laser cutting head are mounted together on the X-Y-Z movement system and suspended above the adjustable grid. The X-Y-Z movement system is used to drive the visual camera and the laser cutting head to move above the adjustable grid.

[0064] As shown in Figure 1 and Figure 2 , the X-Y-Z movement system comprises an X-axis movement mechanism, a Y-axis movement mechanism and a Z-axis movement mechanism. The X-axis movement mechanism comprises a first sliding rail, a first sliding seat and a first driving member, the first sliding rail is fixed on the side edge of the base, and the length direction of the first sliding rail is defined as the X-axis direction. The first sliding seat is slidingly connected to the first sliding rail, and the first driving member is used to drive the sliding of the first sliding seat.

[0065] The Y-axis movement mechanism comprises a second sliding rail, a second sliding seat and a second driving member, one end of the second sliding rail is fixed on the first sliding seat, the other end of the second sliding rail extends beyond the adjustable grid in the horizontal direction, the length direction of the second sliding rail is perpendicular to the length direction of the first sliding rail, and the length direction of the second sliding rail is defined as the Y-axis direction. The second sliding seat is slidingly connected to the second sliding rail, and the second driving member is used to drive the sliding of the second sliding seat.

[0066] The Z-axis movement mechanism comprises a third sliding rail, a third sliding seat and a third driving member, the third sliding rail is fixed on the second sliding seat and is arranged in a vertical direction, and the length direction of the third sliding rail is defined as the Z-axis direction. The third sliding seat is slidingly connected to the third sliding rail. The vision camera and the laser cutting head are both fixed on the third sliding seat.

[0067] As shown in Figure 1 , the movement distance of the X-axis movement mechanism is greater than that of the Y-axis movement mechanism and that of the Z-axis movement mechanism. In order to ensure the accuracy of movement in the X-axis direction, referring to Figure 2 , the first driving member comprises a linear motor and a magnetic scale for correcting the movement distance of the linear motor, and the magnetic scale is installed on the side of the first sliding seat away from the adjustable grid to reduce the accumulation of dust and other impurities on the magnetic scale. The second driving member and the third driving member are both driving structures of servo motor plus ball screw, the first screw rod rotates in the second sliding rail or the third sliding rail, and the corresponding second sliding seat or third sliding seat is threadedly connected to the first screw rod, and the servo motor is used to drive the rotation of the corresponding first screw rod. The vision camera and the laser cutting head are controlled by the X-Y-Z movement system to realize the accuracy of the laser slotting path and improve the laser slotting precision.

[0068] Referring to Figure 1 and Figure 3 , the first sliding rail is fixed with a positioning abutment on the side wall facing the adjustable grid. A plurality of locking members are installed on the positioning abutment, the plurality of locking members are equidistantly distributed along the length direction of the positioning abutment, and a gap is left between the locking members and the adjustable grid to facilitate the side edge of the silicon steel sheet to contact the positioning abutment.

[0069] In this embodiment, the locking member is a pneumatic cylinder and the output shaft of the pneumatic cylinder is arranged downward. When the pneumatic cylinder is started, the end of the output shaft of the pneumatic cylinder moves downward to contact the silicon steel sheet and lock the side edge of the silicon steel sheet.

[0070] Referring to Figure 4 , a pressure roller device is installed on the laser cutting head, and the pressure roller closely contacts the silicon steel sheet when the laser cutting head cuts the silicon steel sheet. The pressure roller device on the laser cutting head and the abutment device on the equipment base cooperate to ensure the position accuracy of the silicon steel sheet during the laser slotting process, thereby improving the laser slotting precision.

[0071] Referring to Figure 5The adjustable grid includes a guide structure, a plurality of modules, and a driving structure corresponding to the plurality of modules. The guide structure includes a plurality of guide rods, each of which is fixed on the base along the Y-axis direction, and the plurality of guide rods are sequentially distributed along the X-axis direction. The number of modules is consistent with the maximum slot number of the silicon steel sheet. In this embodiment, the maximum slot number of the silicon steel sheet is 4, so there are also 4 modules. The modules are arranged along the Y-axis direction, and the plurality of modules are slidingly arranged on the guide structure. The driving structure is used to drive the corresponding module to move along the Y-axis direction. A blanking groove extending along the X-axis direction is formed on the module.

[0072] The driving structure includes a plurality of driving motors and corresponding second screws. The second screws are rotationally connected to the base along the Y-axis direction, and the stepping motors are fixed on the base and the output shafts of the stepping motors are coaxially connected to the corresponding second screws. The plurality of second screws in the same driving structure are sequentially and spacedly arranged on the base along the X-axis direction, and the second screws in different driving structures are alternately arranged. The plurality of stepping motors in the same driving structure synchronously rotate the same number of turns, drive the corresponding second screws to rotate, and thereby drive the corresponding module to move, so that the module can be moved to the target position according to the slotting requirement of the silicon steel sheet, and the silicon steel sheet is supported during the laser slotting process and the waste wire is conveniently blanked.

[0073] Referring to Figure 3 The module includes a sliding member and a plurality of support portions. The sliding member is slidingly arranged on the guide rod and is threadedly connected to the corresponding second screw. A through groove is formed on the sliding member. The portions on the sliding member on both sides of the through groove are mounting portions, and the top surfaces of all the mounting portions are on the same horizontal plane. The plurality of support portions are fixed on the top surfaces of the two mounting portions by means of the countersunk screws, and the plurality of support portions on the same mounting portion are end-to-end beveled to form a support member. The structure of the support member can be replaced only by replacing the corresponding mounting portion after the local area is damaged by laser cutting, thereby improving the convenience of replacement and reducing the maintenance cost. The gap between the two support members in the same module constitutes a blanking groove, and the blanking groove and the through groove are communicated. The width of the through groove is greater than the width of the blanking groove, and the side surface of the support member constituting the blanking groove is provided with a chamfer, and the chamfer faces the side of the through groove.

[0074] During the laser cutting process, the high-temperature laser beam acting on the metal surface will cause partial metalization, and the generated oxides will increase the surface tension of the material to cause splashing. The chamfer structure on the adjustable grid makes the upper layer gap of the grid small and the lower layer gap large, forming a horn-like opening. During laser cutting, the generated metal oxides can be dispersed from the horn-like opening with the aid of the nitrogen blowing device installed on the laser cutting head, thereby reducing the generation of splashing and reducing the impact on the yield of the silicon steel sheet.

[0075] The embodiment also provides a laser slotting method for a silicon steel sheet, which is realized by a laser slotting machine controlled by a processor. Referring to Figure 6, comprising the following steps:

[0076] S100, acquiring slotting parameters.

[0077] The slotting parameters are acquired by manual input or reading a production process sheet filled in according to a specification.

[0078] The slotting parameters include the number of cutting slots, the width of cutting slots, the length of cutting slots, the cutting interval, the step amount, the step direction, and the sheet type parameters of a plurality of sheet types under the step amount.

[0079] The number of cutting slots refers to the number of slots to be opened on a silicon steel sheet.

[0080] The width of cutting slots and the length of cutting slots respectively refer to the width and length of a single slot on a silicon steel sheet, and the shapes of a plurality of slots on the same silicon steel sheet are the same.

[0081] The cutting interval refers to the interval between adjacent slots on the same silicon steel sheet. When the number of cutting slots is 1, the cutting interval is 0 by default.

[0082] For convenience of description, in the present embodiment, the step amount is set to 5. In actual use, the slotting machine in the present application can cover the processing requirements of all step amounts.

[0083] The step direction includes horizontal step and vertical step. Figure 7 The silicon steel sheet for horizontal step is shown in the schematic diagram; Figure 8 The silicon steel sheet for vertical step is shown in the schematic diagram;

[0084] The sheet type parameters include the length, width and position relationship between each vertex on the contour of the silicon steel sheet.

[0085] As can be seen, the number of cutting slots, the width of cutting slots, the length of cutting slots, and the cutting interval are parameter settings for the slots to be opened, while the step amount, the step direction and the sheet type parameters are data of the silicon steel sheet to be slotted.

[0086] Before starting the subsequent steps, the processor can first perform a simple check on the parameter settings of the slots. For example, in the present embodiment, a maximum of 4 slots can be opened on a silicon steel sheet, if the number of cutting slots obtained exceeds 4, it indicates that the slotting parameters are incorrect; for example, in conventional production, the slot width is usually 4mm, 4.5mm, 5mm, 5.5mm, 6mm, 6.5mm, therefore the slot width should be set to be below 7mm, if the cutting slot width is set to 8mm, it also indicates that the slotting parameters are incorrect. When the slotting parameters are incorrect, an alarm is issued; when the slotting parameters are correct, the step S200 is started.

[0087] S200, adjusting the position of the adjustable grid according to the slotting parameters.

[0088] When the silicon steel sheet is placed on the adjustable grid, one side of the long side of the silicon steel sheet needs to be attached to the positioning support, so the center line of the silicon steel sheet is determined according to the sheet type parameters, and then combined with the cutting slot number, the cutting slot width and the cutting interval, a plurality of slotting regions corresponding to the slots to be opened are determined, and then the corresponding pulse number is determined according to the slotting region, and the pulse number is output to the corresponding driving motor, so that the adjustable grid can move the module to the corresponding slotting region.

[0089] S300, acquire an initial image, and set a verification path according to the initial image and the sheet type parameters selected according to the slotting sequence.

[0090] The initial image is a real image captured by the vision camera at the initial point.

[0091] The initial point is located at one end of the adjustable grid along the X-axis direction. After the laser slotting machine is powered on, initialized, and completes a slotting, the X-Y-Z motion system will move the vision camera and the laser cutting head back to the initial point. Since the silicon steel sheet is placed on the adjustable grid, the silicon steel sheet is positioned by the positioning support in the width direction, and lacks fine positioning in the length direction. When loading, only the end of the silicon steel sheet in the length direction needs to be near the initial point.

[0092] Since the silicon steel sheet slotting involves loading and unloading, if manual loading and unloading is used, the vision camera needs to acquire the initial image under the control of the manual; if the loading and unloading are realized by a matching automatic device, the vision camera will acquire the initial image in response to the loading completion information sent by the automatic device.

[0093] The slotting sequence is a numbered sequence that is cycled according to a step size. For example, if the step size is 5, the slotting sequence is cycled between 1 and 5.

[0094] The verification path refers to the movement path of the vision camera under the control of the X-Y-Z motion camera.

[0095] During the slotting process of the same batch of silicon steel sheets, when the slotting sequence is in the first cycle, the recorded sheet type parameters and the batch of silicon steel sheets have not been verified, and the processor needs to acquire the complete real parameters of the silicon steel sheet to accurately determine whether the sheet type parameters and the real parameters are consistent, so as to avoid incorrect processing of different batches of silicon steel sheets. Therefore, during the first cycle, the verification path needs to be generated according to the outer contour of the silicon steel sheet in the sheet type parameters.

[0096] When the slotting sequence is in the second and subsequent cycles, the batch of silicon steel sheets has been confirmed to be correct, and the focus of subsequent verification is whether the stacking sequence of the silicon steel sheets is problematic or missing. Continuing to move the vision camera according to the complete verification path generated based on the contour profile will result in too much time being spent. Therefore, the verification path can be reduced, and a small number of vertices can be selected for verification according to the shape characteristics of the silicon steel sheets.

[0097] Specifically, the verification path is set according to the initial image and the sheet type parameters selected according to the slotting sequence, including the following steps:

[0098] S310, determining the detection endpoint according to the step direction.

[0099] S320, determining the distance between the specific point and the detection endpoint according to the sheet type data, and correcting the distance according to the positional relationship between the specific point and the initial point in the initial image to obtain the verification path.

[0100] In the second and subsequent cycles, the verification path is only composed of the detection starting point and the detection endpoint, wherein the detection starting point is the initial point, and the detection endpoint is a vertex on the silicon steel sheet other than the specific point. The specific point is the vertex on the silicon steel sheet closest to the initial point, i.e., the real image captured by the vision camera at the initial point position can identify the specific point, so another vertex can be determined to obtain another real image.

[0101] In combination with Figure 7 and Figure 8 , it can be seen that the silicon steel sheets are different in transverse step and longitudinal step. When the step direction is transverse step, the detection endpoint is the vertex adjacent to the specific point; when the step direction is longitudinal step, the detection endpoint is the vertex diagonally opposite to the specific point.

[0102] S400, moving the vision camera according to the verification path and acquiring a plurality of real images through the vision camera.

[0103] S500, verifying the real sheet type according to the real images, if the verification is successful, jumping to S600; if the verification fails, stopping and alarming.

[0104] In the first cycle, the movement of the vision camera is controlled according to the verification path to identify the coordinates of points A, B, C, D, E and F on the silicon steel sheet, as shown in Figure 9 If a certain point is not found in the verification path, the identification stops, and an alarm is issued to prompt personnel to confirm.

[0105] Second cycle and after, the visual camera only need to take the detection of the end of the region of the real image, according to the real image in the detection of the end of the image center point (represent the projection of the visual camera center point) between the position relationship, detection of the end and the initial point between the position relationship and the visual camera to the detection of the end of the distance, can calculate the detection of the end of the actual position relationship with a specific point, so as to determine the real parameters of silicon steel sheet according to the real image. The real parameters and the input sheet type parameters are compared, which is the verification.

[0106] S600, according to the sheet type parameters and real image to generate a moving path composed of multiple road sections and the laser duty ratio on each road section.

[0107] The moving path includes the first path and the slotting path. The first path refers to the path of the laser cutting head from the initial point to the specific point of the silicon steel sheet. The slotting path refers to the path of laser slotting from the specific point of the silicon steel sheet. The slotting path corresponding to the same sheet type parameter is the same. The slotting path is composed of multiple road sections, and each road section has a corresponding laser duty ratio.

[0108] Because the silicon steel sheet has no clear positioning in the length direction during loading, the position of the specific point of each silicon steel sheet from the initial point is different, so the first path must be generated depending on the real image taken by the visual camera.

[0109] Considering that the slotting path of the same sheet type parameter is the same, if there is a suitable slotting path, it can be directly called.

[0110] Therefore, before generating the moving path composed of multiple road sections and the laser duty ratio on each road section according to the sheet type parameters and the real image, it is determined whether the slotting path and the laser duty ratio corresponding to the currently selected sheet type parameter are stored in the database. If they exist, the first path is generated according to the real image, and the corresponding slotting path and laser duty ratio are called. If they do not exist, the first path is generated according to the real image, and the slotting path is generated according to the sheet type parameters and the corresponding laser duty ratio is determined.

[0111] The slotting path and the laser duty ratio in the database can be manually input, or can be automatically stored in the database after being generated by the processor according to the sheet type parameters.

[0112] In addition to the path segment generated according to the profile of the groove to be formed, the slitting path further includes a path segment generated according to a breaking point of the groove. Since the length of the silicon steel sheet is relatively long, the length of the groove to be formed is also relatively long, and the breaking point needs to be set in advance to shorten the length of the waste wire generated during the slitting process and ensure that the waste wire is smoothly discharged. The number and position of the breaking points are determined according to the length of the groove. Generally, the length of the single cutting waste wire is controlled within 700 mm, so a breaking point is set every 700 mm until the remaining groove length is less than 700 mm.

[0113] S700, according to the movement path and the laser duty cycle, controlling the X-Y-Z motion system and the laser cutting head to complete the slitting of the current silicon steel sheet.

[0114] S800, repeating S300 to S700 to complete the slitting of the same batch of silicon steel sheets.

[0115] In one embodiment, the physical sheet type is verified according to the physical image, including the following steps:

[0116] S510, determining the physical parameters according to the physical image.

[0117] S520, judging whether the physical parameters are consistent with the sheet type parameters selected according to the slitting sequence.

[0118] S530, if consistent, the verification is successful.

[0119] S540, if not consistent, the physical parameters are compared with other sheet type parameters not selected in the current cycle in turn.

[0120] S550, if there is any consistent sheet type parameter, the verification is successful, a prompt is issued, and the consistent sheet type parameter is set as the currently selected sheet type parameter.

[0121] S560, if all are inconsistent, stop and alarm.

[0122] When the same batch of silicon steel sheets are produced, they are generally stacked in sequence according to the step size. For example, if the step size is 5, the sheet type sequence corresponding to the stacking order of a stack of silicon steel sheets should be 12345, 12345, 12...; However, there may be errors in the stacking order due to unexpected situations, such as workers swapping the stacking order of adjacent silicon steel sheets, losing a silicon steel sheet, or inserting silicon steel sheets from other batches.

[0123] Step S540 is to further judge whether the current silicon steel sheet is only placed in the wrong order in the current cycle or other problems are found when the current silicon steel sheet is not stacked in the set order.

[0124] For example, the lamination sequence is 12453, 12451, 2345..., in the third check of the first cycle, the physical parameter 4 is compared with the sheet type parameter 3, and it is found that they are inconsistent, then the sheet type parameter 4 and the sheet type parameter 5 are compared in turn, and the check can be successful, then the silicon steel sheet corresponding to the physical parameter 4 can be normally slotted, but a reminder will be issued to inform the worker that the silicon steel sheet sequence is incorrect and needs to be adjusted. Similarly, the fourth check, the fifth check in the first cycle, and the first four checks in the second cycle can also successfully check, but when the fifth check in the second cycle comes, there is only the unselected sheet type parameter 3 left in this cycle, and the physical parameter is 1, the check fails, the slitting opportunity stops and issues an alarm to prompt the worker that there is a problem that needs to be manually checked.

[0125] In one embodiment, after the check is successful, the following steps are further included:

[0126] S551, record the stepping sequence number corresponding to the currently selected sheet type parameter in the preset first storage unit;

[0127] S552, after the end of the current cycle, form a temporary sequence according to the stepping sequence number in the first storage unit and store it in the preset second storage unit, and judge whether the temporary sequence in the second storage unit is the same,

[0128] S553, if the same, replace the slitting sequence with the temporary sequence;

[0129] S554, if different, only keep the last stored temporary sequence, and initialize the slitting sequence.

[0130] The first storage unit is only provided with the same number of storage cells as the stepping amount, and each storage cell is used to store a stepping sequence number, and the storage order of the storage cells also remains consistent with the rotation order of the stepping amount.

[0131] In the case of normal lamination placement sequence, the temporary sequence formed in step S552 is consistent with the slitting sequence in the initial state. When the lamination placement sequence is exchanged in the same stepping amount, the temporary sequence will be different from the current slitting sequence, and the temporary sequence and the pre-stored temporary sequence in the second storage unit will be different. The initial slitting sequence remains unchanged, only the temporary sequence in the second storage unit is changed. Only when the same sequence is exchanged again next time, the same temporary sequence is generated, and the slitting sequence will be replaced by the temporary sequence, and once the subsequent silicon steel sheet stacking sequence changes, the slitting sequence will be initialized immediately.

[0132] The method can ensure that when there are multiple stacking sequences in the same batch of silicon steel sheets, the processor can use the stacking sequence with the largest quantity as the slotting sequence most of the time, so that the checking process can pass as quickly as possible, and the time spent on checking is reduced.

[0133] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not conflict, they should be considered within the scope of the present disclosure.

[0134] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A laser slitting machine for silicon steel sheets, characterized by: The base, the X-Y-Z movement system installed on the base, the visual camera and the laser cutting head, the adjustable grid for placing silicon steel sheets is installed on the base, the X-Y-Z movement system is used to drive the visual camera and the laser cutting head to move above the adjustable grid; The adjustable grid includes a guide structure, a plurality of modules and a driving structure corresponding to the plurality of modules, the guide structure is arranged on the base and parallel to the Y-axis of the X-Y-Z movement system, the plurality of modules are slidingly arranged on the guide structure, and the driving structure is used to drive the corresponding module to move along the Y-axis direction, and a blanking groove extending along the X-axis direction is formed on the module; The module includes a sliding piece and a plurality of support parts, the sliding piece is slidingly arranged on the guide structure, and a through groove is formed on the sliding piece, the parts on both sides of the through groove on the sliding piece are defined as mounting parts, the plurality of support parts are fixed on the top surfaces of the two mounting parts through the countersunk screws, and the plurality of support parts on the same mounting part are connected end to end at an angle to form a support piece, the gap between the two support pieces in the same module constitutes a blanking groove, and the blanking groove and the through groove are communicated.

2. A laser slitting machine for silicon steel sheets as claimed in claim 1, characterized in that: The width of the through groove is greater than the width of the blanking groove, and the side of the support piece constituting the blanking groove is provided with a chamfer, and the chamfer is towards the side of the through groove.

3. A laser slitting machine for silicon steel sheets as claimed in claim 1, characterized in that: The base is provided with a positioning abutment, the positioning abutment is parallel to the X-axis and is on one side of the base along the Y-axis direction, and the laser cutting head is provided with a pressure roller device.

4. A laser slitting machine for silicon steel sheets as claimed in claim 1, characterized in that: The X-Y-Z movement system includes an X-axis movement mechanism, a Y-axis movement mechanism and a Z-axis movement mechanism, wherein the movement distance of the X-axis movement mechanism is greater than the movement distance of the Y-axis movement mechanism and greater than the movement distance of the Z-axis movement mechanism, and the X-axis movement mechanism includes a linear motor and a magnetic scale for correcting the movement distance of the linear motor.

5. A method for laser grooving of silicon steel sheets, implemented using the laser grooving machine for silicon steel sheets according to any one of claims 1 to 4, characterized in that, The method includes the following steps: S100, acquiring slotting parameters, the slotting parameters including the number of cutting slots, the width of cutting slots, the cutting length, the cutting interval, the step amount, the step direction and the sheet type parameters of a plurality of sheet types under the step amount; S200, adjusting the position of the adjustable grid according to the slotting parameters; S300, acquiring an initial image, the initial image being a real image captured by the visual camera at an initial point, and setting a verification path according to the initial image and the sheet type parameters selected according to the slotting sequence, wherein the slotting sequence is cyclic according to one step amount; S400, moving the visual camera according to the verification path and acquiring a plurality of real images through the visual camera; S500, verifying the real sheet type according to the real image, if the verification is successful, jumping to S600, if the verification fails, stopping and alarming; S600, generating a moving path composed of a plurality of path segments and a laser duty cycle on each path segment according to the sheet type parameters and the real image; S700, controlling the X-Y-Z movement system and the laser cutting head to complete the slotting of the current silicon steel sheet according to the moving path and the laser duty cycle; S800, repeating S300 to S700 to complete the slotting of the silicon steel sheets in the same batch.

6. A method for laser grooving of silicon steel sheets as claimed in claim 5, wherein: The movement path comprises a first path and a slotting path, the first path refers to a path of the laser cutting head from an initial point to a specific point of the silicon steel sheet, the specific point is the nearest vertex of the silicon steel sheet from the initial point, and the slotting path refers to a path of laser slotting starting from the specific point of the silicon steel sheet, and the slotting paths corresponding to the same sheet type parameters are the same. Before the movement path composed of a plurality of path segments and the laser duty cycle on each path segment are generated according to the sheet type parameters and the real image, it is judged whether the slotting path corresponding to the currently selected sheet type parameters and the laser duty cycle are stored in the database, If yes, the first path is generated according to the real image, and the corresponding slotting path and laser duty cycle are called; If no, the first path is generated according to the real image, and the slotting path is generated according to the sheet type parameters and the corresponding laser duty cycle is determined.

7. A method for laser grooving of silicon steel sheets as claimed in claim 5, wherein The real sheet type is verified according to the real image, comprising the following steps: The real parameters are determined according to the real image, It is judged whether the real parameters are consistent with the sheet type parameters selected according to the slotting sequence; If yes, the verification is successful.

8. A method for laser grooving of silicon steel sheets as claimed in claim 7, characterized in that The real sheet type is verified according to the real image, and the following steps are further included: If no, the real parameters are compared with other sheet type parameters not selected in the current cycle in turn, If there is any consistent sheet type parameter, the verification is successful, a prompt is issued, and the consistent sheet type parameter is set as the currently selected sheet type parameter; If all are inconsistent, the machine is stopped and an alarm is given.

9. A method for laser grooving of silicon steel sheets as claimed in claim 8, characterized in that, After the verification is successful, the following steps are further included: The step sequence number corresponding to the currently selected sheet type parameter is recorded in a preset first storage unit; After the current cycle is completed, a temporary sequence is formed according to the step sequence number in the first storage unit and stored in a preset second storage unit, and it is judged whether the temporary sequences in the second storage unit are the same, If yes, the temporary sequence is used to replace the slotting sequence; If no, only the last stored temporary sequence is retained, and the slotting sequence is initialized.

10. A method for laser grooving of silicon steel sheets as claimed in claim 9, wherein, The verification path is set according to the initial image and the sheet type parameters selected according to the slotting sequence, comprising the following steps: The detection end point is determined according to the step direction, wherein the detection end point is a vertex of the silicon steel sheet except the specific point; The distance between the specific point and the detection end point is determined according to the sheet type data, and the distance is corrected according to the position relationship between the specific point and the initial point in the initial image to obtain the verification path.

Images