A laser blanking automatic sorting method and sorting system

Abstract

This invention relates to an automatic sorting method and system for laser cutting. The method includes: a CAM system acquiring a first image of the sheet metal to be processed in the front-end cutting area transmitted by a vision imaging and positioning device; identifying the actual position coordinates of corner points in the first image in the XOY coordinate system and the offset distance of the corner points from a specified position in the XOY coordinate system; acquiring the deflection angle information of the sheet metal and the actual position coordinates of feature points in the workpiece to be cut in the sheet metal based on the actual position coordinates and offset distance of the corner points; determining the position coordinate information of the cut workpiece on the sorting table based on the shape of the workpiece to be cut and the actual position coordinates of the feature points in the workpiece; and generating and sending an adsorption command to the suction cup driving component based on the position coordinate information of the cut workpiece on the sorting table and the shape of the workpiece, so that the suction cup driving component drives the suction cup to automatically pick up the workpiece. The above method realizes integrated sorting and unloading, improves efficiency, and is compatible with parts of various specifications.

Description

Technical Field

[0001] This invention relates to the field of laser cutting technology, and in particular to an automatic sorting method and sorting system for laser cutting. Background Technology

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

[0003] With the increasing demand for high efficiency, low labor costs, and low labor intensity, the application of automatic sheet material unloading and sorting is also increasing. However, problems such as the adhesion between cut parts and waste materials, incompatibility with any parts, and inaccurate loading positions have been hindering the development of automatic sorting and preventing the completion of mass production through automatic sorting.

[0004] Therefore, there is an urgent need for an automatic laser-assisted material unloading and sorting method and system. Summary of the Invention

[0005] (a) Technical problems to be solved

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

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0009] In a first aspect, embodiments of the present invention provide an automatic sorting method for laser-assisted material unloading, comprising:

[0010] The S100 and CAM systems acquire the first image of the material to be processed in the front-end cutting area transmitted by the vision imaging and positioning device.

[0011] The S200 and CAM systems identify the actual position coordinates of corner points in the XOY coordinate system and the offset distance of the corner points from the specified position in the XOY coordinate system in the first image.

[0012] The S300 and CAM systems obtain the deflection angle information of the sheet metal and the actual position coordinates of the feature points in the workpiece to be cut in the sheet metal based on the actual position coordinates and offset distance of the corner points.

[0013] The S400 and CAM systems determine the position coordinates of the workpiece on the sorting table after cutting based on the shape of the workpiece to be cut and the actual position coordinates of the feature points in the workpiece.

[0014] Based on the position coordinates and shape of the cut workpiece on the sorting table, the S500 and CAM systems generate and send suction commands to the suction cup drive assembly, so that the suction cup drive assembly drives the suction cup to automatically pick up the workpiece.

[0015] Optionally, the S300 and CAM systems obtain the deflection angle information of the board material based on the actual position coordinates and offset distance of the corner points, including:

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

[0017] 302. Based on the contour information of the material to be processed, identify 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 to which the corner point belongs in the X direction, and the offset position dy of the edge line to which the corner point belongs in the Y direction.

[0018] 303. Based on the actual position coordinates of the corner point and dx, dy, and the preset standard position coordinates of the corner point, 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;

[0019] 304. Based on 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, obtain the deflection angle information θ of the material to be processed;

[0020] The standard position coordinates of the preset corner point are the theoretical corner point positions of the material to be processed 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] The S300 and CAM systems acquire the actual position coordinates of feature points of the workpiece to be cut in the sheet metal, including:

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

[0024]

[0025] Where (x', y') are the theoretical layout position coordinates of the first feature point in the XOY coordinate system, which are determined during the layout process of the CAM system.

[0026] Optionally, the S400 and CAM systems determine the position coordinates of the workpiece on the sorting table after cutting based on the shape of the workpiece to be cut and the actual position coordinates of the workpiece's feature points, including:

[0027] Based on the shape of the workpiece, obtain the actual position coordinates of multiple first feature points of the workpiece;

[0028] Based on the actual position coordinates of multiple first feature points and the preset mapping relationship, the position coordinate information of the cut workpiece on the sorting table is obtained;

[0029] The CAM system pre-stores the mapping relationship between the workpiece layout coordinates and the workpiece position coordinates on the sorting table.

[0030] Optionally, the S500 and CAM systems generate suction commands for the suction cup drive assembly based on the position coordinates and shape of the cut workpiece on the sorting table, 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 suction component that matches the shape of the workpiece in the current suction cup based on the position coordinate information of the workpiece on the sorting table and the shape of the workpiece. Also generate an suction instruction to move to the position coordinate information on the sorting table. When the suction cup drive component drives the suction cup to move to the area of ​​the workpiece, the suction cup turns on the switch of the suction component for adsorbing the workpiece based on the first instruction, so that the suction component of the suction cup adsorbs the workpiece on the sorting table. The unactivated suction component is used to press down the waste around the workpiece.

[0032] If more than two suction cups are needed to cover the workpiece, a second instruction is generated based on the area of ​​the workpiece to be covered by each suction cup, the position coordinates of the workpiece on the sorting table, and the shape of the workpiece. This second instruction activates the suction component that covers the shape of the workpiece in each suction cup. An suction instruction is also generated to move to the position coordinates of the workpiece on the sorting table. When the suction cup drive component drives each suction cup to move to the area of ​​the workpiece, the suction cup activates the switch of the suction component for adsorbing the workpiece based on the second instruction. This allows the suction component of the suction cup to adsorb the workpiece on the sorting table. The unactivated suction components are used to hold down the waste around the workpiece.

[0033] Optionally, the first image is an image obtained by taking a full-width photograph of the front-end cutting area using a fixed visual imaging and positioning device;

[0034] Workpiece shapes include: rectangle, circle, ellipse, triangle, and irregular shape;

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

[0036] In a second aspect, embodiments of the present invention also provide an automatic sorting system for laser unloading, including a laser cutter, a sorting suction cup device located in the laser cutter area, a support drive assembly, and a CAM system;

[0037] The CAM system is electrically connected to the sorting suction cup device via a support drive component, and the sorting suction cup device adsorbs the workpieces on the sorting table according to the laser unloading automatic sorting method described in any of the first aspects.

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

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

[0040] The suction cup holder is fixed to the bottom of the frame by a connector. The suction cup holder has a matrix of cylinder mounting holes and air passage holes. The matrix of cylinders is installed in the cylinder mounting holes and air passage holes at the bottom of the suction cup holder.

[0041] Each cylinder extension rod is connected to a vacuum suction cup assembly via a transition connecting rod. Each suction cup assembly is independently raised and lowered via a cylinder and a solenoid valve. Each suction cup assembly uses a vacuum pump to create a vacuum to adsorb the workpiece.

[0042] The frame is the structure for supporting the sorting suction cup device in the support drive assembly.

[0043] Optionally, the system further includes:

[0044] A visual imaging and positioning device connected to a CAN system;

[0045] The visual imaging and positioning device is installed on top of the laser cutting machine and takes pictures downwards;

[0046] The visual imaging and 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 vision camera on top of the laser cutter; the top protective cover is installed on top of the vision camera to protect it from falling objects and dust; the bottom protective cover is a cylinder-driven push-pull plate type, which opens when taking pictures and closes after completion to prevent cutting fumes from contaminating the vision camera lens.

[0048] Thirdly, embodiments of the present invention also provide a numerical control system, including 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 of the first aspects above.

[0049] (III) Beneficial Effects

[0050] The automatic sorting method in this embodiment is not affected by the inaccurate loading position of the cutting surface in the laser cutting system, and is compatible with any part / workpiece size. The method uses visual imaging positioning and CAM system to calculate and analyze position and angle deviations, and automatically calculates the suction cups that should be extended and adsorbed, which improves the accuracy and speed of part picking.

[0051] The method of this 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 down on the waste, ensuring that the waste is not adhered and carried away, thus ensuring successful sorting.

[0052] The system in this embodiment achieves integrated sorting and unloading, resulting in high sorting efficiency. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of an automatic laser unloading and sorting system according to an embodiment of the present invention;

[0054] Figure 2 This is a schematic diagram of a sorting robot structure provided in an embodiment of the present invention;

[0055] Figure 3 This is a cross-sectional view of a visual imaging positioning device provided in an embodiment of the present invention;

[0056] Figure 4 and Figure 6 A flowchart of a sorting method for a laser-assisted automatic sorting system according to an embodiment of the present invention;

[0057] Figure 5 This is a schematic diagram of visual image positioning provided in an embodiment of the present invention.

[0058] Explanation of reference numerals in the attached figures:

[0059] Sorting robot 1, Frame 101, Fork 102, Fork drive transmission system 103, Slide rail 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, Balance cylinder 203, Vertical beam assembly 3, Vertical beam 301, Linear guide rail 302, Vertical movement drive transmission system 303, Truss 4, Vision photography and positioning device 5, Mounting bracket 501, Vision camera 502, Top protective cover 503, Bottom protective cover 504, CAM system 6, Laser cutting machine 7, Unloading and exchange cart 8, Parts / workpieces 9, Waste 10. Detailed Implementation

[0060] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0061] To address the issues of parts and waste sticking together, incompatibility with multiple parts, and inaccurate loading positions, an automated sorting system and method are provided. This automated sorting system uses a visual imaging positioning device to photograph and position the raw material board, automatically calculating and comparing its positional and angular deviations. The CAM system uses algorithms to automatically calculate and control the extension and adsorption of the corresponding suction cups on the sorting robot arm, separating parts and waste as a whole, achieving non-sticky sorting. It is compatible with the sorting and unloading of boards of any size and layout. Even when the loading position is inaccurate, it can still cut and automatically sort and unload normally, with the advantages of high compatibility, good sorting effect, and high efficiency.

[0062] Example 1

[0063] Combination Figures 4 to 6 As shown, this embodiment provides an automatic sorting method for laser blanking. The main body executing this method can be a CAM system in a CNC system. The method of this embodiment includes:

[0064] The S100 and CAM systems acquire the first image of the sheet material to be processed in the front-end cutting area transmitted by the vision imaging and positioning device.

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

[0066] Workpiece shapes include: rectangle, circle, ellipse, triangle, and irregular shape;

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

[0068] The S200 and CAM systems identify the actual position coordinates of corner points in the XOY coordinate system of the first image, as well as the offset distance of the corner points from the specified position in the XOY coordinate system.

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

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

[0071] 202. Based on the contour information of the material to be processed, identify the actual position coordinates of the corner points in the XOY coordinate system, i.e., the actual position coordinates of the cutting surface, the offset position dx of the X-direction edge of the corner point, and the offset position dy of the Y-direction edge of the corner point; for example... Figure 5 As shown.

[0072] 203. Based on the actual position coordinates of the corner point and dx, dy, and the preset standard position coordinates of the corner point, 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;

[0073] 204. Based on 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, obtain the deflection angle information θ of the plate to be processed;

[0074] The standard position coordinates of the preset corner point are the theoretical corner point positions of the material to be processed 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 material to be processed is: θ=(α+β) / 2.

[0076] The S300 and CAM systems obtain the deflection angle information of the sheet metal and the actual position coordinates of the feature points in the workpiece to be cut in the sheet metal based on the actual position coordinates and offset distance of the corner points.

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

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

[0079] 302. Based on the contour information of the material to be processed, identify the actual position coordinates of the corner points in the XOY coordinate system, i.e., the actual position coordinates of the cutting surface, the offset position dx of the X-direction edge of the corner point, and the offset position dy of the Y-direction edge of the corner point; for example... Figure 5 As shown.

[0080] 303. Based on the actual position coordinates of the corner point and dx, dy, and the preset standard position coordinates of the corner point, 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;

[0081] 304. Based on 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, obtain the deflection angle information θ of the material to be processed;

[0082] The standard position coordinates of the preset corner point are the theoretical corner point positions of the material to be processed 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 material to be processed is: θ=(α+β) / 2.

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

[0085]

[0086]

[0087] Where (x', y') are the theoretical layout position coordinates of the first feature point in the XOY coordinate system, which are determined during the layout process of the CAM system.

[0088] The S400 and CAM systems determine the position coordinates of the workpiece on the sorting table after cutting based on the shape of the workpiece to be cut and the actual position coordinates of the feature points in the workpiece.

[0089] Specifically, based on the shape of the workpiece, the actual position coordinates of multiple first feature points of the workpiece are obtained;

[0090] Based on the actual position coordinates of multiple first feature points and the preset mapping relationship, the position coordinate information of the cut workpiece on the sorting table is obtained;

[0091] The CAM system pre-stores the mapping relationship between the workpiece layout coordinates and the workpiece position coordinates on the sorting table.

[0092] Based on the position coordinates and shape of the cut workpiece on the sorting table, the S500 and CAM systems generate and send suction commands to the suction cup drive assembly, so that the suction cup drive assembly 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 suction component that matches the shape of the workpiece in the current suction cup based on the position coordinate information of the workpiece on the sorting table and the shape of the workpiece. Also generate an suction instruction to move to the position coordinate information on the sorting table. When the suction cup drive component drives the suction cup to move to the area of ​​the workpiece, the suction cup turns on the switch of the suction component for adsorbing the workpiece based on the first instruction, so that the suction component of the suction cup adsorbs the workpiece on the sorting table. The unactivated suction component is used to press down the waste around the workpiece.

[0095] If more than two suction cups are needed to cover the workpiece, a second instruction is generated based on the area of ​​the workpiece to be covered by each suction cup, the position coordinates of the workpiece on the sorting table, and the shape of the workpiece. This second instruction activates the suction component that covers the shape of the workpiece in each suction cup. An suction instruction is also generated to move to the position coordinates of the workpiece on the sorting table. When the suction cup drive component drives each suction cup to move to the area of ​​the workpiece, the suction cup activates the switch of the suction component for adsorbing the workpiece based on the second instruction. This allows the suction component of the suction cup to adsorb the workpiece on the sorting table. The unactivated suction components are used to hold down the waste around the workpiece.

[0096] The method in this embodiment uses visual image positioning and a CAM system to calculate and analyze positional and angular deviations, automatically calculating the suction cups that should extend and adhere, enabling rapid pickup of parts on the sorting table, and is compatible with any part specification type. This method can also automatically pick up workpieces / parts after cutting when the loading position 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 down on the waste, ensuring that the waste is not adhered and carried away, thus ensuring successful sorting.

[0098] Example 2

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

[0100] The CAM system is electrically connected to the sorting suction cup device via a support drive assembly. Based on the method described in Embodiment 1, the sorting suction cup device adsorbs workpieces on the sorting table. In this embodiment, sorting occurs on the back surface of the laser cutting machine, which is equivalent to a sorting table. The suction cups of the sorting robot are used to pick up finished parts, and the forks are used to pick up waste materials.

[0101] In addition, to better understand the laser unloading automatic sorting system of this embodiment, combined with Figures 1 to 3 The explanation is as follows.

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

[0103] The sorting robot 1 includes a frame 101, forks 102, a fork drive transmission system 103, and a sorting suction cup device. The frame is directly fixed to the bottom of the vertical beam 301 with screws, and all other parts are mounted on the frame 101. The forks 102 are arranged in two rows, facing each other on both sides. The tail of the forks 102 is fixed to a 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, ultimately realizing the opening and closing of the forks 102 on both sides. The fork drive transmission system 103 includes a motor, a reducer, a drive shaft, a bearing with a mounting seat, a sprocket, and a chain.

[0104] The sorting suction cup device includes a suction cup frame, cylinders, vacuum suction cups, and a vacuum pump. The suction cup frame is directly fixed to the bottom of the frame 101 with screws. The suction cup frame 107 has a matrix of cylinder mounting holes and air passage holes. The matrix of cylinders is installed in the cylinder mounting holes and air passage holes at the bottom of the suction cup frame and fixed with screws. Each cylinder 108 has a vacuum suction cup 109 connected to its extension rod via a transition connecting rod. Each suction cup can be independently raised and lowered via the cylinder 108 and a solenoid valve. Each suction cup uses a vacuum pump to create a vacuum to pick up parts.

[0105] The crossbeam assembly 2 includes a crossbeam 201, a horizontal movement drive transmission system 202, and balancing cylinders 203. The crossbeam 201 is supported and rolls across the main beam guide rails on both sides via four steel wheels on each side. All other accessories are mounted on the crossbeam frame. The horizontal movement drive transmission system includes a motor, reducer, coupling, drive shaft, synchronous pulley, and synchronous belt. The synchronous belt is fixed at both ends to the truss, and the crossbeam assembly 2 moves horizontally along the direction of the synchronous belt. There are two balancing cylinders 203, symmetrically mounted on the crossbeam 201. Their extension rods are connected to the sorting robot frame via floating joints, used to lift the vertical beam and the sorting robot 1, contributing to balanced and stable operation.

[0106] The vertical beam assembly 3 includes a vertical beam 301, linear guide rails 302, sliders, and a vertical movement drive transmission system 303. There are two vertical beams 301, installed parallel to each other on both sides of the horizontal beam 201. Each vertical beam 301 is connected to the horizontal beam 201 via two vertically installed linear guide rails 302 and four sliders, and its vertical movement is achieved through the vertical movement drive transmission system 303. The vertical movement drive system 303 is mainly installed on the horizontal beam 201 and includes a motor, reducer, drive shaft, sprocket, chain, etc. The vertical beam assembly 3 ultimately achieves its lifting and lowering through the chain.

[0107] The truss 4 includes 6 columns, 2 main beams, and 3 cross braces. The main beams are fixed to the columns with screws, and their height can be adjusted using adjusting nuts. A V-shaped guide rail is directly welded to one main beam, and a flat rail is welded to the other main beam for supporting and guiding the cross beam assembly 2. The cross braces are fixed to two adjacent columns with screws, serving a reinforcement function.

[0108] The visual imaging and positioning device 5 is installed on top of the laser cutting machine 7, taking downward photos to position the sheet metal. Its structure mainly includes a mounting bracket 501, a visual camera 502, a top protective cover 503, and a bottom protective cover 504. The mounting bracket is used to fix the visual camera to the top of the laser cutting machine 7. The top protective cover is installed on top of the visual camera to protect against falling objects and dust. The bottom protective cover is a cylinder-driven push-pull plate type; it opens during imaging and closes afterward to prevent cutting fumes from contaminating the camera lens. Through the visual imaging and positioning function, the positional deviation and deflection angle between the actual sheet metal position and the standard position coordinates can be calculated, and this data is then transmitted to the CAM system 6.

[0109] The CAM system 6 comprises software and hardware components. The software component performs calculations such as layout of cut graphics, calculation and comparison of the actual position of the sheet metal, and calculation and comparison of the position of parts and suction cups. The hardware component mainly includes an industrial computer and network cables. The CAM system receives the sheet metal position deviation and deflection angle transmitted from the vision imaging and positioning device, and obtains the final part layout position after calculation. The vacuum suction cup 109 has a fixed position preset in the CAM. By calculating the relative position of the suction cup and the layout parts, it can calculate and control whether the suction cup within the range of the part 9 can extend and adhere; the suction cup within the range of the waste material 10 can only extend without adhering; and the suction cup assembly outside the boundary line or the sheet metal cannot extend or adhere.

[0110] The material exchange vehicle 8 includes an upper waste material vehicle and a lower finished material vehicle. The two vehicles enter and exit in turn, driven by a motor reducer and by friction between steel wheels and guide rails.

[0111] When the raw material sheet is placed on the laser cutting machine 7 table and conveyed to the front cutting area, the top-mounted visual imaging and positioning device 5 first performs a full-width photographic positioning of the raw material sheet. By comparing it with the preset standard position in the CAM system, it calculates the deviation position and deflection angle data and transmits it to the CAM system 6. The CAM system 6 performs corresponding positional offsets and angle deflections on the preset standard part layout, forming the final part layout position in the CAM system 6. Subsequently, the cutting machine 7 cuts the sheet according to the layout graphic. After cutting, the sheet is conveyed to the rear sorting and unloading area via an exchange table.

[0112] Subsequently, the vertical beam 3 lowers the sorting robot 1 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 algorithm calculation and control of the CAM system 6, the vacuum suction cup 109 falling within the part 9 and waste 10 range will be extended by its cylinder 108, pressing it onto the part 9 and waste 10. The suction cup 109 on or outside the boundary will not extend. The suction cup 109 pressing on the part 9 will activate vacuum negative pressure to adsorb the part. After reaching the set negative pressure value, the control cylinder 108 will retract, driving the suction cup 109 to rise and lift the part 9. The suction cup 109 pressing on the waste 10 range will not activate vacuum adsorption, but will only press the waste until the part 9 is lifted to separate the two, and then the cylinder 108 will retract, thus achieving the separation of part 9 and waste 10. At this time, the fork 102 is inserted into the gap between the table blades, and then the sorting robot 1 moves upward as a whole to lift the waste 10. Once it rises to a specific position, it is conveyed via the crossbeam assembly 2 and truss 4 to the top of the unloading and exchange cart 8. First, the forks 102 open to release the waste material 10 onto the upper waste cart, then the suction cups 109 open to release the parts 9 onto the lower finished product cart, thus completing one automatic sorting and unloading cycle. The above system achieves integrated sorting and unloading with high efficiency.

[0113] In addition, embodiments of the present invention also provide a numerical control system, including 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 of the above embodiments.

[0114] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0116] It should be noted that any reference numerals placed between parentheses in the claims should 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 can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In claims that enumerate several means, several of these means may be embodied by the same hardware. The use of the terms first, second, third, etc., is merely for convenience of expression and does not indicate any order. These terms can be understood as part of the component names.

[0117] Furthermore, it should be noted that in the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions 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 suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0118] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the claims should be interpreted to include both the preferred embodiments and all changes and modifications falling within the scope of the invention.

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

Claims

1. A laser-assisted automatic sorting method, characterized in that, include: The S100 and CAM systems acquire the first image of the material to be processed in the front-end cutting area transmitted by the vision imaging and positioning device. The S200 and CAM systems identify the actual position coordinates of corner points in the XOY coordinate system and the offset distance of the corner points from the specified position in the XOY coordinate system in the first image. The S300 and CAM systems obtain the deflection angle information of the sheet metal and the actual position coordinates of the feature points in the workpiece to be cut in the sheet metal based on the actual position coordinates and offset distance of the corner points. The S400 and CAM systems determine the position coordinates of the workpiece on the sorting table after cutting based on the shape of the workpiece to be cut and the actual position coordinates of the feature points in the workpiece. Based on the position coordinates and shape of the cut workpiece on the sorting table, the S500 and CAM systems generate and send suction commands to the suction cup drive assembly, so that the suction cup drive assembly drives the suction cup to automatically pick up the workpiece. Specifically, the suction cup activates the switch of the adsorption component for adsorbing the workpiece based on the adsorption command, so that the adsorption component of the suction cup adsorbs the workpiece on the sorting table. The adsorption component that is not activated is used to press down the waste material around the workpiece. That is, the vacuum suction cup that falls within the workpiece and the waste material area presses down on the workpiece and the waste material. The suction cup that is pressing down on the workpiece activates the vacuum negative pressure to adsorb the workpiece and lift it up. The suction cup that is pressing down on the waste material area does not activate the vacuum adsorption, but only presses down the waste material until the workpiece is lifted up.

2. The method according to claim 1, characterized in that, The S300 and CAM systems obtain the deflection angle information of the board material based on the actual position coordinates and offset distance of the corner points, including:

301. The first image is processed using the Canny algorithm for edge detection to obtain the contour information of the board to be processed; 302. Based on the contour information of the material to be processed, identify 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 to which the corner point belongs in the X direction, and the offset position dy of the edge line to which the corner point belongs in the Y direction.

303. Based on the actual position coordinates of the corner point and dx, dy, and the preset standard position coordinates of the corner point, 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; 304. Based on 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, obtain the deflection angle information θ of the material to be processed; The standard position coordinates of the preset corner point are the theoretical corner point positions of the material to be processed 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 material to be processed is: θ=(α+β) / 2; The S300 and CAM systems acquire the actual position coordinates of feature points of the workpiece to be cut in the sheet metal, including: The actual position coordinates (x, y) of the cutting surface at any first feature point in the workpiece are: Where (x', y') are the theoretical layout position coordinates of the first feature point in the XOY coordinate system, which are determined during the layout process of the CAM system.

4. The method according to claim 3, characterized in that, The S400 and CAM systems determine the workpiece's position coordinates on the sorting table after cutting based on the workpiece's shape and the actual coordinates of its feature points. This includes: Based on the shape of the workpiece, obtain the actual position coordinates of multiple first feature points of the workpiece; Based on the actual position coordinates of multiple first feature points and the preset mapping relationship, the position coordinate information of the cut workpiece on the sorting table is obtained; The CAM system pre-stores the mapping relationship between the workpiece layout coordinates and the workpiece position coordinates on the sorting table.

5. The method according to claim 1, characterized in that, Based on the position coordinates and shape of the cut workpiece on the sorting table, the S500 and CAM systems generate suction commands for the suction cup drive assembly, 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 suction component that matches the shape of the workpiece in the current suction cup based on the position coordinate information of the workpiece on the sorting table and the shape of the workpiece. Also generate an suction instruction to move to the position coordinate information on the sorting table. When the suction cup drive component drives the suction cup to move to the area of ​​the workpiece, the suction cup turns on the switch of the suction component for adsorbing the workpiece based on the first instruction, so that the suction component of the suction cup adsorbs the workpiece on the sorting table. The unactivated suction component is used to press down the waste around the workpiece. If more than two suction cups are needed to cover the workpiece, a second instruction is generated based on the area of ​​the workpiece to be covered by each suction cup, the position coordinates of the workpiece on the sorting table, and the shape of the workpiece. This second instruction activates the suction component that covers the shape of the workpiece in each suction cup. An suction instruction is also generated to move to the position coordinates of the workpiece on the sorting table. When the suction cup drive component drives each suction cup to move to the area of ​​the workpiece, the suction cup activates the switch of the suction component for adsorbing the workpiece based on the second instruction. This allows the suction component of the suction cup to adsorb the workpiece on the sorting table. The unactivated suction components are used to hold down the waste around the workpiece.

6. The method according to claim 1, characterized in that, The first image is an image obtained by a fixed visual imaging positioning device taking a full-width photograph of the front-end cut area; Workpiece shapes include: rectangle, circle, ellipse, triangle, and irregular shape; The structure of the material to be processed in the cutting area is a regular shape.

7. An automatic sorting system for laser-cut materials, comprising a laser cutting machine, characterized in that, Also includes: Sorting suction cup device, support drive assembly, and CAM system located in the laser cutting machine area; The CAM system is electrically connected to the sorting suction cup device via a support drive assembly, and the sorting suction cup device adsorbs the workpiece on the sorting table according to the laser unloading automatic sorting method according to any one of claims 1 to 6.

8. The system according to claim 7, characterized in that, The sorting suction cup device includes: Suction cup holder, cylinder, vacuum suction cup, vacuum pump, suction cup assembly; The suction cup holder is fixed to the bottom of the frame by a connector. The suction cup holder has a matrix of cylinder mounting holes and air passage holes. The matrix of cylinders is installed in the cylinder mounting holes and air passage holes at the bottom of the suction cup holder. Each cylinder extension rod is connected to a vacuum suction cup assembly via a transition connecting rod. Each suction cup assembly is independently raised and lowered via a cylinder and a solenoid valve. Each suction cup assembly uses a vacuum pump to create a vacuum to adsorb the workpiece. The frame is the structure for supporting the sorting suction cup device in the support drive assembly.

9. The system according to claim 7, characterized in that, The system also includes: A visual imaging and positioning device connected to a CAM system; The visual imaging and positioning device is installed on top of the laser cutting machine and takes pictures downwards; The visual imaging and 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 vision camera on top of the laser cutter; the top protective cover is installed on top of the vision camera to protect it from falling objects and dust; the bottom protective cover is a cylinder-driven push-pull plate type, which opens when taking pictures and closes after completion to prevent cutting fumes from contaminating the vision camera lens.

10. A numerical control system, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program in the memory and performs the laser unloading automatic sorting method according to any one of claims 1 to 6.

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