Automatic sorting method and sorting system for laser blanking

Abstract

The invention relates to an automatic sorting method and system for laser blanking. The method comprises the steps that a CAM system obtains a first image of a to-be-machined plate in a front end cutting area conveyed by a visual photographing and positioning device; identifying the actual position coordinates of the angular points in the first image in the XOY coordinate system and the offset distance of the angular points deviating from the specified position of the XOY coordinate system; according to the actual position coordinates and the offset distances of the angular points, deflection angle information of the plate and actual position coordinates of feature points in a to-be-cut workpiece in the plate are obtained; according to the shape of the to-be-cut workpiece and the actual position coordinates of the feature points in the workpiece, position coordinate information of the cut workpiece on the sorting table is determined; and on the basis of the position coordinate information of the cut workpiece on the sorting table and the shape of the workpiece, an adsorption instruction for sending the suction cup driving assembly is generated, so that the suction cup driving assembly drives the suction cup to automatically pick up the workpiece. According to the method, integral sorting and discharging are achieved, efficiency is improved, and the method is compatible with parts of various specifications.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cutting, and in particular to an automatic sorting method and a sorting system for laser blanking. Background Art

[0002] Laser cutting machines have the characteristics of high precision, high cutting speed, low processing cost, and the ability to cut any pattern. They are increasingly used in the field of sheet metal cutting.

[0003] With the increasing demand for high efficiency, low labor cost and low labor intensity, the application of automatic sheet metal unloading and sorting is becoming more and more common. However, the problems of adhesion between cut parts and waste materials, incompatibility with any parts and inaccurate loading position have always restricted the development of automatic sorting and prevented the mass production of automatic sorting from being completed.

[0004] Therefore, there is an urgent need for an automatic laser blanking sorting method and a sorting system. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a laser blanking automatic sorting method and a sorting system.

[0007] (II) Technical solution

[0008] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0009] In a first aspect, an embodiment of the present invention provides a laser blanking automatic sorting method, comprising:

[0010] S100, the CAM system acquires a first image of the plate to be processed in the front cutting area transmitted by the visual camera positioning device;

[0011] S200, the CAM system identifies the actual position coordinates of the corner point in the first image in the XOY coordinate system and the offset distance of the corner point from the specified position of the XOY coordinate system;

[0012] S300, the CAM system obtains the deflection angle information of the plate and the actual position coordinates of the feature points in the workpiece to be cut in the plate according to the actual position coordinates and the offset distance of the corner point;

[0013] S400, the CAM system determines the position coordinate information of the workpiece on the sorting table after cutting according to the shape of the workpiece to be cut and the actual position coordinates of the feature points in the workpiece;

[0014] S500. The CAM system generates an adsorption instruction to send to the suction cup drive component based on the position coordinate information of the workpiece on the sorting table after cutting and the shape of the workpiece, so that the suction cup drive component drives the suction cup to automatically pick up the workpiece.

[0015] Optionally, S300, the CAM system obtains the deflection angle information of the plate according to the actual position coordinates and offset distance of the corner point, including:

[0016] 301. Process the first image using the Canny algorithm for edge detection to obtain contour information of the plate to be processed;

[0017] 302. According to the contour information of the plate to be processed, identify the actual position coordinates of the corner point in the XOY coordinate system, that is, the actual position coordinates of the cutting surface, the offset position dx of the X-direction edge line to which the corner point belongs, and the offset position dy of the Y-direction edge line of the corner point;

[0018] 303. Obtain the deflection angle α of the edge line in the X direction and the deflection angle β of the edge line in the Y direction according to the actual position coordinates of the corner point and dx, dy, and the standard position coordinates of the preset corner point;

[0019] 304. Obtain deflection angle information θ of the plate to be processed according to the deflection angle α of the edge line in the X direction and the deflection angle β of the edge line in the Y direction;

[0020] The standard position coordinates of the preset corner points are the corner point positions of the plate to be processed theoretically in the specified XOY coordinate system.

[0021] Optionally, if the deflection angle of the edge line in the X direction is α, and the deflection angle of the edge line in the Y direction is β, then the deflection angle information θ of the plate to be processed is: θ=(α+β) / 2;

[0022] S300, CAM system obtains the actual position coordinates of the feature points of the workpiece to be cut in the plate, including:

[0023] The actual position coordinates (x, y) of the cutting surface of any first feature point in the workpiece are:

[0024]

[0025] Among them, (x', y') is the theoretical nesting position coordinates of the first feature point in the XOY coordinate system, which is determined during nesting by the CAM system.

[0026] Optionally, S400, the CAM system determines the position coordinate information of the workpiece on the sorting table after cutting according to the shape of the workpiece to be cut and the actual position coordinates of the feature points of the workpiece, including:

[0027] According to the shape of the workpiece, obtaining actual position coordinates of a plurality of first feature points of the workpiece;

[0028] According to the actual position coordinates of the plurality of first feature points and the preset mapping relationship, obtaining the position coordinate information of the workpiece after cutting on the sorting table;

[0029] The CAM system pre-stores a mapping relationship between the layout position coordinates of the workpieces and the position coordinate information of the workpieces on the sorting table.

[0030] Optionally, S500, the CAM system generates an adsorption instruction for sending a suction cup driving component based on the position coordinate information of the workpiece on the sorting table after cutting and the shape of the workpiece, including:

[0031] Determine whether the shape and size of the current workpiece can be covered by a suction cup. If it can be covered by a suction cup, generate a first instruction to turn on the switch of the suction component that matches the shape of the workpiece in the current suction cup according to the position coordinate information of the workpiece on the sorting table and the shape of the workpiece, and generate an adsorption instruction to move to the position coordinate information on the sorting table. When the suction cup driving component drives the suction cup to move to the area of ​​the workpiece, the suction cup turns on the switch of the adsorption component for adsorbing the workpiece based on the first instruction, so that the adsorption component of the suction cup adsorbs the workpiece on the sorting table, and the unturned adsorption component is used to press the waste around the workpiece;

[0032] If more than two suction cups are needed to cover the workpiece, a second instruction is generated to turn on the switch of the adsorption component in each suction cup that covers the shape of the workpiece according to the area of ​​the workpiece that each suction cup needs to cover, the position coordinate information of the workpiece on the sorting table, and the shape of the workpiece, and an adsorption instruction is generated to move to the position coordinate information on the sorting table. When the suction cup driving components drive each suction cup to move to the area of ​​the workpiece, the suction cup turns on the switch of the adsorption component for adsorbing the workpiece based on the second instruction, so that the adsorption component of the suction cup adsorbs the workpiece on the sorting table, and the unturned adsorption component is used to press down the waste around the workpiece.

[0033] Optionally, the first image is an image obtained by photographing the full-frame of the front-end cutting area by a fixed visual photography positioning device;

[0034] Workpiece shapes include: rectangular, circular, oval, triangular, and special shapes;

[0035] The structure in which the plate to be processed is located in the cutting area is a structure of regular shape.

[0036] In a second aspect, an embodiment of the present invention further provides a laser blanking automatic sorting system, including a laser cutting machine, a sorting suction cup device located in the laser cutting machine area, a supporting drive assembly, and a CAM system;

[0037] The CAM system is electrically connected to the sorting suction cup device through a supporting driving assembly, and the sorting suction cup device adsorbs the workpiece on the sorting table according to any of the laser blanking automatic sorting methods described in the first aspect.

[0038] Optionally, the sorting suction cup device comprises:

[0039] Suction cup frame, cylinder, vacuum suction cup, vacuum pump, suction cup assembly;

[0040] The suction cup frame is fixed to the bottom of the frame through a connecting piece. The suction cup frame has a matrix of cylinder mounting holes and gas line holes. The matrix cylinder is installed in the cylinder mounting holes and gas line holes at the bottom of the suction cup frame.

[0041] A vacuum suction cup assembly is connected to each cylinder extension rod through a transition connecting rod. Each suction cup assembly is independently lifted and lowered through a cylinder and a solenoid valve. Each suction cup assembly forms a vacuum through a vacuum pump to absorb the workpiece.

[0042] The frame is a structure that supports the sorting suction cup device in the support driving assembly.

[0043] Optionally, the system further comprises:

[0044] Visual camera positioning device connected to the CAN system;

[0045] The visual photography positioning device is installed on the top of the laser cutting machine to take photos downward;

[0046] The visual camera positioning device includes: a mounting bracket, a visual camera, a top protective cover, and a bottom protective cover;

[0047] The mounting bracket is used to fix the visual camera on the top of the laser cutting machine; the top protective cover is installed on the top of the visual camera to protect against falling objects and dust; the bottom protective cover is a cylinder push-pull plate type, which is opened when taking pictures and closed after completion to prevent cutting smoke from contaminating the visual camera lens.

[0048] In a third aspect, an embodiment of the present invention further provides a numerical control system, comprising a memory and a processor, wherein the memory stores a computer program, the processor executes the computer program in the memory, and executes the laser blanking automatic sorting method described in any one of the first aspects above.

[0049] (III) Beneficial effects

[0050] The automatic sorting method of this embodiment is not afraid of the problem of inaccurate loading position of the cutting surface in the laser cutting system, and is compatible with any part / workpiece specifications; this method uses visual photography positioning and CAM system calculation and analysis of position deviation and angle deviation to automatically calculate the suction cup that should be extended and adsorbed, thereby improving the accuracy and speed of part picking.

[0051] The method of the embodiment of the present invention solves the problem of adhesion between parts and waste: each suction cup has an independent switch for automatic control, and the suction cup within the waste boundary automatically extends and presses the waste to ensure that the waste is not stuck and lifted up, thereby ensuring successful sorting.

[0052] The system of this embodiment realizes integrated sorting and unloading, and has high sorting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 An overall schematic diagram of a laser blanking automatic sorting system provided by an embodiment of the present invention;

[0054] Figure 2 A schematic diagram of the structure of a sorting robot provided in one embodiment of the present invention;

[0055] Figure 3 A cross-sectional view of a visual camera positioning device provided by an embodiment of the present invention;

[0056] Figure 4 and Figure 6 A flow chart of a sorting method of a laser blanking automatic sorting system provided in one embodiment of the present invention;

[0057] Figure 5 A schematic diagram of visual camera positioning provided by an embodiment of the present invention.

[0058] Description of reference numerals:

[0059] Sorting robot 1, frame 101, material fork 102, material fork drive transmission system 103, slide rail frame 104, linear guide rail 105, slider 106, suction cup frame 107, cylinder 108, vacuum suction cup / suction cup assembly 109, crossbeam assembly 2, crossbeam 201, horizontal movement drive transmission system 202, balancing cylinder 203, vertical beam assembly 3, vertical beam 301, linear guide rail 302, vertical movement drive transmission system 303, truss 4, visual camera positioning device 5, mounting bracket 501, visual camera 502, top protective cover 503, bottom protective cover 504, CAM system 6, laser cutting machine 7, unloading exchange vehicle 8, parts / workpieces 9, waste 10. DETAILED DESCRIPTION

[0060] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0061] In order to solve the problems of adhesion between parts and waste materials, incompatibility with multiple parts and inaccurate loading position, an automatic sorting system and a sorting method are provided. The automatic sorting system uses a visual camera positioning device to take a photo of the raw material plate and automatically calculates and compares its position deviation and angle deviation. The CAM system automatically calculates and controls the extension and adsorption of the corresponding suction cups on the sorting robot through an algorithm, so that the parts and waste materials are separated as a whole, and non-adhesion sorting is achieved. The system is compatible with the sorting and unloading of plates of any specifications and layouts, and can also perform normal cutting and automatic sorting and unloading when the loading position is inaccurate. The system has the advantages of high compatibility, good sorting effect and high efficiency.

[0062] Embodiment 1

[0063] Combination Figures 4 to 6 As shown, this embodiment provides a laser blanking automatic sorting method, and the method execution subject of this embodiment can be a CAM system in a numerical control system. The method of this embodiment includes:

[0064] S100, the CAM system obtains a first image of the plate to be processed in the front cutting area transmitted by the visual camera positioning device.

[0065] In this embodiment, the first image is an image obtained by taking a full-frame photo of the front-end cutting area by a fixed visual camera positioning device;

[0066] Workpiece shapes include: rectangular, circular, oval, triangular, and special shapes;

[0067] The structure in which the plate to be processed is located in the cutting area is a structure of regular shape.

[0068] S200: The CAM system identifies the actual position coordinates of the corner point in the first image in the XOY coordinate system and the offset distance of the corner point from the specified position of the XOY coordinate system.

[0069] For example, step S200 may include the following sub-steps:

[0070] 201. Process the first image using the Canny algorithm for edge detection to obtain contour information of the plate to be processed;

[0071] 202. According to the contour information of the plate to be processed, the actual position coordinates of the corner point in the XOY coordinate system, i.e., the actual position coordinates of the cutting surface, the offset position dx of the edge line in the X direction to which the corner point belongs, and the offset position dy of the edge line in the Y direction of the corner point are identified; Figure 5 shown.

[0072] 203. Obtain a deflection angle α of the edge line in the X direction and a deflection angle β of the edge line in the Y direction according to the actual position coordinates of the corner point and dx, dy, and the standard position coordinates of the preset corner point;

[0073] 204. Obtain deflection angle information θ of the plate to be processed according to the deflection angle α of the edge line in the X direction and the deflection angle β of the edge line in the Y direction;

[0074] The standard position coordinates of the preset corner points are the corner point positions of the plate to be processed theoretically in the specified XOY coordinate system.

[0075] If the deflection angle of the edge line in the X direction is α, and the deflection angle of the edge line in the Y direction is β, then the deflection angle information θ of the plate to be processed is: θ=(α+β) / 2.

[0076] S300, the CAM system obtains the deflection angle information of the plate and the actual position coordinates of the feature points in the workpiece to be cut in the plate according to the actual position coordinates and the offset distance of the corner point.

[0077] For example, step S300 may include the following sub-steps:

[0078] 301. Process the first image using the Canny algorithm for edge detection to obtain contour information of the plate to be processed;

[0079] 302. According to the contour information of the plate to be processed, the actual position coordinates of the corner point in the XOY coordinate system, i.e., the actual position coordinates of the cutting surface, the offset position dx of the edge line in the X direction to which the corner point belongs, and the offset position dy of the edge line in the Y direction of the corner point are identified; Figure 5 shown.

[0080] 303. Obtain the deflection angle α of the edge line in the X direction and the deflection angle β of the edge line in the Y direction according to the actual position coordinates of the corner point and dx, dy, and the standard position coordinates of the preset corner point;

[0081] 304. Obtain deflection angle information θ of the plate to be processed according to the deflection angle α of the edge line in the X direction and the deflection angle β of the edge line in the Y direction;

[0082] The standard position coordinates of the preset corner points are the corner point positions of the plate to be processed theoretically in the specified XOY coordinate system.

[0083] If the deflection angle of the edge line in the X direction is α, and the deflection angle of the edge line in the Y direction is β, then the deflection angle information θ of the plate to be processed is: θ=(α+β) / 2.

[0084] 305. The actual position coordinates (x, y) of the cutting surface of any first feature point in the workpiece are:

[0085]

[0087] Among them, (x', y') is the theoretical nesting position coordinates of the first feature point in the XOY coordinate system, which is determined during nesting by the CAM system.

[0088] S400, the CAM system determines the position coordinate information of the workpiece on the sorting table after cutting according to the shape of the workpiece to be cut and the actual position coordinates of the feature points in the workpiece.

[0089] Specifically, according to the shape of the workpiece, the actual position coordinates of a plurality of first feature points of the workpiece are obtained;

[0090] According to the actual position coordinates of the plurality of first feature points and the preset mapping relationship, obtaining the position coordinate information of the workpiece after cutting on the sorting table;

[0091] The CAM system pre-stores a mapping relationship between the layout position coordinates of the workpieces and the position coordinate information of the workpieces on the sorting table.

[0092] S500. The CAM system generates an adsorption instruction to send to the suction cup drive component based on the position coordinate information of the workpiece on the sorting table after cutting and the shape of the workpiece, so that the suction cup drive component drives the suction cup to automatically pick up the workpiece.

[0093] Specifically, this step may include:

[0094] Determine whether the shape and size of the current workpiece can be covered by a suction cup. If it can be covered by a suction cup, generate a first instruction to turn on the switch of the suction component that matches the shape of the workpiece in the current suction cup according to the position coordinate information of the workpiece on the sorting table and the shape of the workpiece, and generate an adsorption instruction to move to the position coordinate information on the sorting table. When the suction cup driving component drives the suction cup to move to the area of ​​the workpiece, the suction cup turns on the switch of the adsorption component for adsorbing the workpiece based on the first instruction, so that the adsorption component of the suction cup adsorbs the workpiece on the sorting table, and the unturned adsorption component is used to press the waste around the workpiece;

[0095] If more than two suction cups are needed to cover the workpiece, a second instruction is generated to turn on the switch of the adsorption component in each suction cup that covers the shape of the workpiece according to the area of ​​the workpiece that each suction cup needs to cover, the position coordinate information of the workpiece on the sorting table, and the shape of the workpiece, and an adsorption instruction is generated to move to the position coordinate information on the sorting table. When the suction cup driving components drive each suction cup to move to the area of ​​the workpiece, the suction cup turns on the switch of the adsorption component for adsorbing the workpiece based on the second instruction, so that the adsorption component of the suction cup adsorbs the workpiece on the sorting table, and the unturned adsorption component is used to press down the waste around the workpiece.

[0096] The method of this embodiment uses visual camera positioning and CAM system calculation and analysis of position deviation and angle deviation to automatically calculate the suction cup that should be extended and adsorbed, thereby realizing rapid picking of parts on the sorting table, and is compatible with any type of part specifications. The method of this embodiment can realize automatic picking of workpieces / parts after cutting when the position of the material on the cutting surface is inaccurate.

[0097] The above method solves the problem of adhesion between parts and waste: each suction cup has an independent switch for automatic control, and the suction cup within the waste boundary automatically extends and presses the waste to ensure that the waste is not stuck and lifted up, ensuring successful sorting.

[0098] Embodiment 2

[0099] This embodiment provides a laser material automatic sorting system, including a laser cutting machine, and a sorting suction cup device, a support drive assembly, and a CAM system located in the laser cutting machine area;

[0100] The CAM system is electrically connected to the sorting suction cup device through the support drive assembly, and the sorting suction cup device is used to absorb the workpiece on the sorting table based on the method described in the first embodiment. In this embodiment, the sorting is performed on the back surface of the laser cutting machine, and the back surface is equivalent to a sorting table. The suction cup of the sorting robot is required to absorb the finished parts, and the material fork is used to pick up the waste materials.

[0101] In addition, in order to better understand the laser blanking automatic sorting system of this embodiment, Figures 1 to 3 The description is as follows.

[0102] like Figure 1 As shown, the laser blanking automatic sorting system includes: a sorting robot 1, a crossbeam assembly, a vertical beam assembly, a truss, a visual camera positioning device, a CAM system, and a blanking exchange vehicle.

[0103] The sorting robot 1 includes a frame 101, a material fork 102, a material fork drive transmission system 103, and a sorting suction cup device. The frame is directly fixed to the bottom of the vertical beam 301 by screws, and all other parts are installed on the frame 101. The material forks 102 are divided into two rows, left and right, distributed on both sides and arranged oppositely. The tail of the material fork 102 is fixed on the slide rail frame 104. Two parallel linear guide rails 105 are installed on both sides of the slide rail frame. The guide rails and the sliders 106 fixed on the frame 101 form a sliding pair to achieve relative sliding, and finally realize the opening and closing of the material forks 102 on both sides. The material fork drive transmission system 103 includes a motor, a reducer, a transmission shaft, a seat bearing, a sprocket, and a chain.

[0104] The sorting suction cup device includes a suction cup frame, a cylinder, a vacuum suction cup, a vacuum pump, etc. The suction cup frame is directly fixed to the bottom of the frame 101 by screws. The suction cup frame 107 has a matrix of cylinder mounting holes and air path wiring holes. The matrix cylinder is installed in the cylinder mounting holes and air path wiring holes at the bottom of the suction cup frame and fixed by screws. A vacuum suction cup 109 is connected to the extension rod of each cylinder 108 through a transition connecting rod. Each suction cup can be independently lifted and lowered through the cylinder 108 and the solenoid valve. Each suction cup forms a vacuum through a vacuum pump to absorb parts.

[0105] The crossbeam assembly 2 includes a crossbeam 201, a horizontal movement drive transmission system 202, and a balancing cylinder 203. The crossbeam 201 is rolled and supported on the main beam guide rails on both sides by four steel wheels on both sides, and the remaining accessories are all installed on the crossbeam frame. The horizontal movement drive transmission system includes a motor, a reducer, a coupling, a transmission shaft, a synchronous pulley, and a synchronous belt. The two ends of the synchronous belt are fixed at the two ends of the truss, and the crossbeam assembly 2 moves horizontally along the direction of the synchronous belt. There are two balancing cylinders 203, which are symmetrically installed on the crossbeam 201. The extension rod is connected to the sorting robot frame through a floating joint, which is used to lift the vertical beam and the sorting robot 1, which helps to balance and stabilize the operation.

[0106] The vertical beam assembly 3 includes a vertical beam 301, a linear guide rail 302, a slider, and a vertical movement drive transmission system 303. There are two vertical beams 301, which are installed in parallel on both sides of the horizontal beam 201. Each vertical beam 301 is connected to the horizontal beam 201 through two vertically installed linear guide rails 302 and four sliders, and is lifted up and down through the vertical movement drive transmission system 303. The vertical movement drive system 303 is mainly installed on the horizontal beam 201, including a motor, a reducer, a transmission shaft, a sprocket, a chain, etc. The vertical beam assembly 3 is finally lifted up and down by lifting the chain.

[0107] The truss 4 includes 6 columns, 2 main beams, 3 cross braces, etc. The main beams are fixed to the columns by screws, and the height can be adjusted by adjusting nuts. A V-shaped guide rail is directly welded on one main beam, and a flat rail is welded on the other main beam to support and guide the cross beam assembly 2. The cross brace is fixed to two adjacent columns by screws to play a reinforcing role.

[0108] The visual camera positioning device 5 is installed on the top of the laser cutting machine 7, takes pictures downward, and realizes the positioning of the plate. The structure mainly includes a mounting bracket 501, a visual camera 502, a top protective cover 503, a bottom protective cover 504, etc. The mounting bracket is used to fix the visual camera on the top of the laser cutting machine 7. The top protective cover is installed on the top of the visual camera to protect against falling objects and dust. The bottom protective cover is a cylinder push-pull plate type. The bottom protective cover is opened when taking pictures, and the protective cover is closed after completion to prevent cutting dust from contaminating the camera lens. Through the visual camera positioning function, the position deviation and deflection angle of the actual plate position and the standard position coordinates can be calculated, and then this data can be transmitted to the CAM system 6.

[0109] The CAM system 6 includes software and hardware parts. The software part can realize the layout of cutting graphics, calculation and comparison of the actual position of the plate, calculation and comparison of the position of parts and suction cups, and other computing functions. The hardware part mainly includes industrial computers, network cables, etc. The CAM system receives the plate position deviation and deflection angle transmitted from the visual camera positioning device, and obtains the final part layout position after computing. The vacuum suction cup 109 has a preset fixed position in the CAM. By calculating the relative position of the suction cup and the layout part, it can be calculated and controlled that the suction cup pressed within the range of the part 9 can be extended and adsorbed; the suction cup pressed within the range of the waste 10 only extends but does not adsorb; the suction cup assembly pressed outside the boundary line or the plate does not extend or adsorb.

[0110] The material exchange vehicle 8 comprises an upper waste material vehicle and a lower finished product material vehicle, the two vehicles are driven by a motor reducer and friction between a steel wheel and a guide rail, one for entry and one for exit.

[0111] When the raw material sheet is placed on the table of the laser cutting machine 7 and transported to the front cutting area, the visual camera positioning device 5 located at the top first takes full-width camera positioning of the raw material sheet, and calculates its deviation position and deflection angle data by comparing it with the standard position preset in the CAM system and transmits it to the CAM system 6. The CAM system 6 performs corresponding position offset and angle deflection on the preset standard part layout, and forms the final part layout position in the CAM system 6. Then the cutting machine 7 will cut the sheet according to the layout pattern. After the cutting is completed, the sheet is transported to the back table sorting and unloading area through the exchange table.

[0112] Then, the vertical beam 3 brings the sorting robot 1 down to a specific height. The position of each suction cup 109 of the sorting robot 1 is preset in the CAM system 6. Through the CAM system 6 algorithm calculation and control, the vacuum suction cup 109 that falls within the part and the waste range will be extended by its cylinder 108 to press on the part 9 and the waste 10. The suction cup 109 on or outside the boundary does not extend. The suction cup 109 pressing on the part 9 turns on the vacuum negative pressure to adsorb the part. After reaching the set negative pressure value, the control cylinder 108 retracts to drive the suction cup 109 to rise and lift the part 9; the suction cup 109 pressed within the waste 10 range does not turn on the vacuum adsorption, but only presses the waste until the part 9 is lifted and the two are separated, and then the cylinder 108 retracts, thereby achieving the separation of the part 9 and the waste 10. At this time, the material fork 102 is inserted into the space between the table knife strips, and then the sorting robot 1 moves up as a whole to lift the waste 10. After rising to a specific position, it is transported to the top of the material exchange vehicle 8 through the crossbeam assembly 2 and the truss 4, firstly the material fork 102 is opened to release the waste material 10 to the upper waste vehicle, and then the suction cup 109 is opened to release the parts 9 to the lower finished product vehicle, thus completing an automatic sorting and unloading. The above system realizes integrated sorting and unloading with high efficiency.

[0113] In addition, an embodiment of the present invention further provides a numerical control system, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program in the memory and executes the laser blanking automatic sorting method described in any of the above embodiments.

[0114] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0115] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions.

[0116] It should be noted that in the claims, any reference numerals placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by the same hardware. The use of the words first, second, third, etc., is for convenience of expression only and does not indicate any order. These words may be understood as part of the component name.

[0117] In addition, it should be noted that, in the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0118] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments after knowing the basic creative concept. Therefore, the claims should be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0119] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include these modifications and variations.

Claims

1. A laser blanking automatic sorting method, characterized in that: include: S100, the CAM system acquires a first image of the plate to be processed in the front cutting area transmitted by the visual camera positioning device; S200, the CAM system identifies the actual position coordinates of the corner point in the first image in the XOY coordinate system and the offset distance of the corner point from the specified position of the XOY coordinate system; S300, the CAM system obtains the deflection angle information of the plate and the actual position coordinates of the feature points in the workpiece to be cut in the plate according to the actual position coordinates and the offset distance of the corner point; S400, the CAM system determines the position coordinate information of the workpiece on the sorting table after cutting according to the shape of the workpiece to be cut and the actual position coordinates of the feature points in the workpiece; S500. The CAM system generates an adsorption instruction to send to the suction cup drive component based on the position coordinate information of the workpiece on the sorting table after cutting and the shape of the workpiece, so that the suction cup drive component drives the suction cup to automatically pick up the workpiece.

2. The method according to claim 1, characterized in that: S300, CAM system obtains the deflection angle information of the plate according to the actual position coordinates and offset distance of the corner point, including:

301. Process the first image using the Canny algorithm for edge detection to obtain contour information of the plate to be processed; 302. According to the contour information of the plate to be processed, identify the actual position coordinates of the corner point in the XOY coordinate system, that is, the actual position coordinates of the cutting surface, the offset position dx of the X-direction edge line to which the corner point belongs, and the offset position dy of the Y-direction edge line of the corner point; 303. Obtain the deflection angle α of the edge line in the X direction and the deflection angle β of the edge line in the Y direction according to the actual position coordinates of the corner point and dx, dy, and the standard position coordinates of the preset corner point; 304. Obtain deflection angle information θ of the plate to be processed according to the deflection angle α of the edge line in the X direction and the deflection angle β of the edge line in the Y direction; The standard position coordinates of the preset corner points are the corner point positions of the plate to be processed theoretically in the specified XOY coordinate system.

3. The method according to claim 2, characterized in that If the deflection angle of the edge line in the X direction is α, and the deflection angle of the edge line in the Y direction is β, then the deflection angle information θ of the plate to be processed is: θ=(α+β) / 2; S300, CAM system obtains the actual position coordinates of the feature points of the workpiece to be cut in the plate, including: The actual position coordinates (x, y) of the cutting surface of any first feature point in the workpiece are: Among them, (x', y') is the theoretical nesting position coordinates of the first feature point in the XOY coordinate system, which is determined during nesting by the CAM system.

4. The method according to claim 3, characterized in that S400, the CAM system determines the position coordinate information of the workpiece on the sorting table after cutting according to the shape of the workpiece to be cut and the actual position coordinates of the feature points of the workpiece, including: According to the shape of the workpiece, obtaining actual position coordinates of a plurality of first feature points of the workpiece; According to the actual position coordinates of the plurality of first feature points and the preset mapping relationship, obtaining the position coordinate information of the workpiece after cutting on the sorting table; The CAM system pre-stores a mapping relationship between the layout position coordinates of the workpieces and the position coordinate information of the workpieces on the sorting table.

5. The method according to claim 1, characterized in that S500, the CAM system generates and sends the suction instruction of the suction cup drive component based on the position coordinate information of the workpiece on the sorting table after cutting and the shape of the workpiece, including: Determine whether the shape and size of the current workpiece can be covered by a suction cup. If it can be covered by a suction cup, generate a first instruction to turn on the switch of the suction component that matches the shape of the workpiece in the current suction cup according to the position coordinate information of the workpiece on the sorting table and the shape of the workpiece, and generate an adsorption instruction to move to the position coordinate information on the sorting table. When the suction cup driving component drives the suction cup to move to the area of ​​the workpiece, the suction cup turns on the switch of the adsorption component for adsorbing the workpiece based on the first instruction, so that the adsorption component of the suction cup adsorbs the workpiece on the sorting table, and the unturned adsorption component is used to press the waste around the workpiece; If more than two suction cups are needed to cover the workpiece, a second instruction is generated to turn on the switch of the adsorption component in each suction cup that covers the shape of the workpiece according to the area of ​​the workpiece that each suction cup needs to cover, the position coordinate information of the workpiece on the sorting table, and the shape of the workpiece, and an adsorption instruction is generated to move to the position coordinate information on the sorting table. When the suction cup driving components drive each suction cup to move to the area of ​​the workpiece, the suction cup turns on the switch of the adsorption component for adsorbing the workpiece based on the second instruction, so that the adsorption component of the suction cup adsorbs the workpiece on the sorting table, and the unturned adsorption component is used to press down the waste around the workpiece.

6. The method according to claim 1, characterized in that The first image is an image obtained by taking a full-frame photo of the front-end cutting area by a fixed visual camera positioning device; Workpiece shapes include: rectangular, circular, oval, triangular, and special shapes; The structure in which the plate to be processed is located in the cutting area is a structure of regular shape.

7. A laser blanking automatic sorting system, comprising a laser cutting machine, characterized in that: Also includes: Sorting suction cup device, support drive assembly, CAM system located in the laser cutting machine area; The CAM system is electrically connected to the sorting suction cup device through a supporting driving assembly, and the sorting suction cup device adsorbs the workpiece on the sorting table according to the laser blanking automatic sorting method described in any one of claims 1 to 6.

8. The system according to claim 7, characterized in that The sorting suction cup device comprises: Suction cup frame, cylinder, vacuum suction cup, vacuum pump, suction cup assembly; The suction cup frame is fixed to the bottom of the frame through a connecting piece. The suction cup frame has a matrix of cylinder mounting holes and gas line holes. The matrix cylinder is installed in the cylinder mounting holes and gas line holes at the bottom of the suction cup frame. A vacuum suction cup assembly is connected to each cylinder extension rod through a transition connecting rod. Each suction cup assembly is independently lifted and lowered through a cylinder and a solenoid valve. Each suction cup assembly forms a vacuum through a vacuum pump to absorb the workpiece. The frame is a structure that supports the sorting suction cup device in the support driving assembly.

9. The system according to claim 7, characterized in that The system further comprises: Visual camera positioning device connected to the CAN system; The visual photography positioning device is installed on the top of the laser cutting machine to take photos downward; The visual camera positioning device includes: a mounting bracket, a visual camera, a top protective cover, and a bottom protective cover; The mounting bracket is used to fix the visual camera on the top of the laser cutting machine; the top protective cover is installed on the top of the visual camera to protect against falling objects and dust; the bottom protective cover is a cylinder push-pull plate type, which is opened when taking pictures and closed after completion to prevent cutting smoke from contaminating the visual camera lens.

10. A numerical control system, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program in the memory and executes the laser blanking automatic sorting method as described in any one of claims 1 to 6.

Images