Automatic laser micro-connection plate blanking and taking method and system

Abstract

The invention provides an automatic laser micro-connection plate discharging and taking method and system, and relates to the technical field of machining, and the automatic laser micro-connection plate discharging and taking method comprises the steps that a plate located in a laser cutting area is cut through a laser part, a workpiece and the remaining plate are obtained, the workpiece and the remaining plate are connected through a connecting point, a reserved through groove is further formed between the workpiece and the remaining plate, and the plate is clamped on a movable workbench; the workpiece and the remaining plates are transferred from the laser cutting area to a material disassembling area through the movable workbench; a manipulator of a robot is controlled to stretch into the reserved through groove to clamp the workpiece and act, so that the connecting point is broken; and the manipulator is controlled to transfer the taken-down workpiece out of the material disassembling area. According to the device, workpieces can be automatically picked up, falling is prevented, and the machining procedure progress is improved.

Description

Technical Field

[0001] The present invention relates to the field of mechanical processing technology, and in particular to an automatic laser micro-joining plate blanking and fetching method and system. Background Art

[0002] The cutting of workpieces such as plates is an important part of machining.

[0003] In the related art, laser cutting machines are often used to process workpieces on plates. During the process of laser cutting of metal plates, the workpiece falls off after cutting. After the workpiece falls off, it is difficult to pick it up and it is easily damaged after falling. It can only be sorted manually and then put into subsequent processes, resulting in a huge consumption of manpower and time costs. Summary of the invention

[0004] The present invention aims to solve the problem that workpieces dropped after cutting are difficult to pick up and are easily damaged during laser cutting of a plate.

[0005] In order to solve the above problems, in a first aspect, the present invention provides an automatic laser micro-joining sheet material blanking and fetching method, comprising: The plate in the laser cutting area is cut by the laser unit to obtain a workpiece and the remaining plate, wherein the workpiece and the remaining plate are connected by a connection point and a reserved through groove is provided between the two, and the plate is clamped on a movable workbench; Transferring the workpiece and the remaining plate from the laser cutting area to the stripping area via the movable worktable; Controlling the manipulator of the robot to extend into the reserved through slot, clamp the workpiece and move to break the connection point; The robot is controlled to transfer the removed workpiece out of the material removal area.

[0006] Optionally, the step of cutting the plate in the laser cutting area by the laser unit to obtain the workpiece and the remaining plate includes: Controlling the laser unit to laser cut the plate according to a preset tool path, and generating a laser pause at a preset position in the preset tool path, so as to obtain the workpiece connected by the connection point and the remaining plate; Based on the position of the workpiece on the plate and the size information of the robot, the laser unit is controlled to perform grooving on the remaining plate to obtain the reserved through groove.

[0007] Optionally, based on the position of the workpiece on the plate and the size information of the robot, controlling the laser unit to perform grooving processing on the remaining plate to obtain the reserved through groove comprises: Determining the size information of the reserved through slot based on the edge position of the workpiece and the peripheral size of the manipulator; The laser unit is controlled to cut the remaining plate along the edge position of the workpiece to cut out the reserved through groove that meets the size information.

[0008] Optionally, the preset position is close to a middle section of the workpiece, and the edge position is close to an end of the workpiece.

[0009] Optionally, a fixture is provided on the movable workbench, the fixture includes a clamping cylinder and a clamping part, the clamping cylinder is installed on the movable workbench, the clamping part is fixed to the protruding end of the clamping cylinder, and the laser part cuts the plate located in the laser cutting area to obtain the workpiece and the remaining plate, and further includes: Controlling the clamping cylinder to retract so that the clamping part clamps the plate placed on the movable workbench; The movable workbench clamped with the plate is controlled to move into the laser cutting area.

[0010] Optionally, the manipulator includes a mounting seat, a first clamping finger and a second clamping finger, the mounting seat is arranged at the end of the robot's mechanical arm, the second clamping finger is fixedly mounted on the mounting seat, the first clamping finger is slidably arranged on the mounting seat, and the first clamping finger and the second clamping finger are arranged opposite to each other.

[0011] Optionally, the manipulator of the control robot extends into the reserved through groove, clamps the workpiece and moves to break the connection point, which includes: Control the mounting seat to align with the reserved through-slot up and down by the mechanical arm, and control the mechanical arm to move vertically from the current position along the reserved through-slot by a first preset distance and extend into the reserved through-slot, so that the first clamping finger and the second clamping finger are respectively located on both sides of the reserved through-slot; After the manipulator is controlled to move forward a second preset distance in the direction of the workpiece, the remaining workpiece is clamped by the manipulator, and a reciprocating twisting motion is performed with the connection point as the center of the circle, so as to break the connection point.

[0012] Optionally, the step of clamping the remaining workpiece by the manipulator and performing reciprocating twisting motion with the connection point as the center of a circle to break the connection point includes: The mounting seat is driven to move by a mechanical arm so that the clamping surface of the second clamping finger fits with one side surface of the plate, and the first clamping finger is controlled to move relative to the mounting seat so that the clamping surface of the first clamping finger fits with the other side surface of the plate.

[0013] Optionally, controlling the manipulator to transfer the removed workpiece out of the material removal area includes: After the manipulator clamps the workpiece, the manipulator is driven by the robot arm to perform a first movement in a direction perpendicular to the remaining plate and a second movement in a direction parallel to the remaining plate, wherein the first movement is used to separate the workpiece from the remaining plate by a third preset distance, and the second movement is used to separate the workpiece from the stripping area.

[0014] The automatic laser micro-joining plate blanking and material collection method provided by the present invention cuts the plate located in the laser cutting area by a laser unit to obtain a workpiece and the remaining plate, wherein the workpiece and the remaining plate are connected by a connection point and a reserved through groove is provided between the two, and the plate is clamped on a movable workbench. When blanking, the cutting of the plate can be completed by the coordinated cooperation of the laser unit, the movable workbench, etc., and a micro-connection is maintained between the plate and the workpiece after laser cutting to ensure that the workpiece will not fall off the plate, and can basically maintain consistency with the upper and lower surfaces of the plate to avoid the workpiece from falling, so that the laser unit is convenient for cutting multiple workpieces on the same plate, and a reserved through groove is also cut between the plate and the workpiece, and the reserved through groove is used as a manipulator to make the workpiece separate from the plate. That is, micro-connections and reserved through grooves can be reserved when unloading materials, which is convenient for the subsequent automatic material picking. Before automatic material picking, the workpiece and the remaining plate are transferred from the laser cutting area to the material removal area by the movable workbench, and unloading and material picking are separated, so that material picking will not be restricted by the environment of the laser part. During automatic material picking, the robot's manipulator is first controlled to extend into the reserved through groove, clamp the workpiece and move to break the connection point. Thus, the workpiece and the plate are actively separated through the action of the robot, which will not cause automatic falling and avoid damage to the workpiece. Subsequently, the manipulator is controlled to transfer the removed workpiece out of the material removal area, and it can be put into subsequent processes without manual sorting, saving manpower and time costs.

[0015] In a second aspect, the present invention also provides an automatic laser micro-joining sheet material unloading and retrieving system, comprising: Demolition area and laser cutting area; A laser unit, arranged corresponding to the laser cutting area, for cutting a workpiece on the plate; A robot, wherein the robot has a manipulator, and the manipulator is used to clamp the workpiece; A movable workbench, which is movably arranged between the stripping area and the laser cutting area and is used for clamping the sheet material; The controller is electrically connected to the laser unit, the robot and the movable workbench respectively, so as to realize the automatic laser micro-joining sheet material unloading and picking method as described in any one of the above items.

[0016] The automatic laser micro-joining plate blanking and retrieving system provided by the present invention has the same beneficial effects as the automatic laser micro-joining plate blanking and retrieving method has over the prior art, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the process of an automatic laser micro-joining plate blanking and material collection method according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the structure of the cooperation between the laser unit and the robot in an embodiment of the present invention is shown; Figure 3 Shows Figure 2 A partial enlarged schematic diagram of point B in the middle; Figure 4 A schematic diagram of the structure of a cut seam on a plate of a workpiece in an embodiment of the present invention is shown; Figure 5 Shows Figure 4 A local enlarged schematic diagram of the middle A; Figure 6 A schematic structural diagram of a manipulator in an embodiment of the present invention is shown.

[0018] Description of reference numerals: 1. Laser unit; 2. Robot; 3. Manipulator; 31. Mounting seat; 32. First clamping finger; 33. Second clamping finger; 4. Plate; 5. Workpiece; 6. Reserved through slot; 7. Movable workbench; 8. Stand; 9. Material removal area; 10. Laser cutting area; 11. Cutting seam; 12. Connection point; 13. Fixture; 131. Clamping cylinder; 132. Clamping unit; 14. Manipulator arm. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0020] It should be noted that, in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0021] In the description of this specification, the description with reference to the terms "embodiment", "one embodiment" and "one implementation" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or implementation are included in at least one embodiment or implementation of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or implementation. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or implementations in a suitable manner.

[0022] Reference Figure 1 and Figure 2 As shown, the embodiment of the present invention provides an automatic laser micro-joining plate blanking and fetching method; The automatic laser micro-joining sheet material unloading and picking method comprises: S100: The plate 4 located in the laser cutting area 10 is cut by the laser unit 1 to obtain a workpiece 5 and the remaining plate 4, wherein the workpiece 5 and the remaining plate 4 are connected by a connection point 12 and a reserved through groove 6 is provided therebetween, and the plate 4 is clamped on a movable workbench 7.

[0023] Specifically, the laser unit 1 can be equipped with a laser head, and the laser unit 1 corresponds to the laser cutting area 10. The laser head can be used to cut the plate 4 in the laser cutting area 10. The plate 4 is used as a slab to cut out a workpiece 5 that meets the target, and at this time, the workpiece 5 is also connected to the plate 4 through a connection point 12. The connection point 12 is a micro connection, that is, the two remain micro-connected after laser cutting to ensure that the workpiece 5 will not fall off the plate 4, and a reserved through groove 6 is cut between the plate 4 and the workpiece 5. The reserved through groove 6 serves as the position of the manipulator 3 to make the workpiece 5 detach from the plate 4. In summary, the connection point 12 is reserved and the reserved through groove 6 is cut during blanking and cutting, and the plate 4 can be fixed on the movable workbench 7 by a clamp during blanking and cutting. It should be noted that batch cutting of plates 4 can be completed in the laser cutting area 10.

[0024] S200 : transferring the workpiece 5 and the remaining plate 4 from the laser cutting area 10 to the stripping area 9 via the movable workbench 7 .

[0025] Specifically, the laser cutting area 10 is generally arranged in the box of the laser part 1, and the stripping area 9 can be arranged on one side outside the box of the laser part 1. After the unloading is completed, the workpiece 5 and the remaining plate 4 are transferred as a whole from the laser cutting area 10 to the stripping area 9 by moving the movable workbench 7. A linear track for the movement of the movable workbench 7 can be set between the stripping area 9 and the laser cutting area 10, that is, the movable workbench 7 can be transferred from the laser cutting area 10 to the stripping area 9 by linear movement.

[0026] S300: Control the manipulator 3 of the robot 2 to extend into the reserved through slot 6, clamp the workpiece 5 and move to break the connection point 12.

[0027] Specifically, the manipulator 3, as the main component for picking up materials, can be installed on the robot 2 through a robotic arm. For example, the robot 2 can be a multi-degree-of-freedom robot, so it can control the movement and rotation of the manipulator 3 in the target direction. After the manipulator 3 is extended into the reserved through groove 6, the manipulator 3 clamps the workpiece 5 and then moves, for example, driving the workpiece 5 to twist repeatedly, or pulling it in a certain direction to break the connection point 12, thereby completing the separation of the workpiece 5 from the plate 4.

[0028] S400: Control the robot 3 to transfer the removed workpiece 5 out of the disassembly area 9.

[0029] Specifically, after unloading is completed, the workpiece 5 is transferred out of the unloading area 9 by the robot 3 and put into the subsequent process, thus completing the unloading and taking process.

[0030] When this embodiment is applied in practice, the plate 4 located in the laser cutting area 10 is cut by the laser unit 1 to obtain the workpiece 5 and the remaining plate 4, wherein the workpiece 5 and the remaining plate 4 are connected by a connection point 12 and a reserved through groove 6 is provided between the two. The plate 4 is clamped on a movable workbench 7. When unloading, the cutting of the plate 4 can be completed through the coordinated cooperation of the laser unit 1, the movable workbench 7, etc., and a micro-connection is maintained between the plate 4 and the workpiece 5 after laser cutting to ensure that the workpiece 5 will not fall off the plate 4, and can basically maintain consistency with the upper and lower surfaces of the plate 4 to prevent the workpiece 5 from falling, and can facilitate the laser unit 1 to cut multiple workpieces 5 on the same plate 4, and a reserved through groove 6 is cut between the plate 4 and the workpiece 5, and the reserved through groove 6 is used as a robot 3 to separate the workpiece 5 from the plate 4. That is, when unloading the material, micro-connections and reserved through grooves 6 can be reserved and cut out, which is convenient for the subsequent automatic material picking. Before the automatic material picking, the workpiece 5 and the remaining plate 4 are transferred from the laser cutting area 10 to the dismantling area 9 through the movable workbench 7. Unloading and picking are separated, so that the picking will not be restricted by the environment of the laser unit 1. When picking the material automatically, the manipulator 3 of the robot 2 is first controlled to extend into the reserved through groove 6, clamp the workpiece 5 and move to break the connection point 12. Thus, the workpiece 5 and the plate 4 are actively separated through the action of the robot 2, which will not cause automatic falling and avoid damage to the workpiece 5. Subsequently, the manipulator 3 is controlled to transfer the removed workpiece 5 out of the dismantling area 9, and it can be put into subsequent processes without manual sorting, saving manpower and time costs.

[0031] The present invention can greatly reduce the complicated processes and working time of traditional laser cutting machines. At the same time, the cooperation of automatic cutting control and robot 2 can fully meet the needs of modern intelligent unmanned workshops and realize fully automatic unmanned operation.

[0032] like Figure 4 and Figure 5 As shown, as an optional embodiment of the present invention, the plate 4 located in the laser cutting area 10 is cut by the laser unit 1 to obtain the workpiece 5 and the remaining plate 4, including: Control the laser unit 1 to laser cut the plate 4 according to a preset tool path, and generate a laser pause at a preset position in the preset tool path, so as to obtain the workpiece 5 and the remaining plate 4 connected by the connection point 12; Specifically, the preset tool path is used to form a slit 11 on the plate 4. The cut slit 11 forms the outline of the workpiece 5, and the slit 11 is discontinuous at a certain position (preset position) of the plate 4, thereby forming a connection point 12. The connection point 12 is a tiny connection, preferably 0.5mm-1mm in length, and its width is equivalent to the width of the slit 11. The laser is intermittent, that is, no laser cutting is performed at this position, and the plate body of the plate 4 is retained. Multiple workpieces 5 can be cut out of the plate 4.

[0033] Based on the position of the workpiece 5 on the plate 4 and the size information of the robot 3 , the laser unit 1 is controlled to perform grooving processing on the remaining plate 4 to obtain the reserved through groove 6 .

[0034] Specifically, the workpiece 5 is still on the plate 4 at this time. Based on the position of the workpiece 5 and the size of the manipulator 3, the reserved through groove 6 can be cut out. The reserved through groove 6 is mainly used for the manipulator 3 to reach in and clamp the workpiece 5. Therefore, the position of the workpiece 5 on the plate 4 is generally at the edge of the workpiece 5, such as one end.

[0035] When this embodiment is applied in practice, the contour of the plate 4 is obtained through laser cutting under a preset tool path and laser intermittence, and the contour is kept micro-connected with the plate 4, and then the reserved through groove 6 is cut out. Therefore, the entire material removal process is completed under the action of the laser part 1, and the workpiece 5 and the plate 4 will not separate or fall off, which is convenient for the subsequent implementation of automatic material removal.

[0036] The stripping area 9 and the laser cutting area 10 can both be arranged on the stand 8 , and the movable workbench 7 can move on the stand 8 .

[0037] like Figure 4 As shown, as an optional embodiment of the present invention, based on the position of the workpiece 5 on the plate 4 and the size information of the manipulator 3, the laser unit 1 is controlled to perform grooving on the remaining plate 4 to obtain the reserved through groove 6, which includes: Determine the size information of the reserved through slot 6 based on the edge position of the workpiece 5 and the peripheral size of the manipulator 3; Specifically, the edge position of the workpiece 5, such as the end position, and the maximum outer dimension of the manipulator 3 are located to determine the size information of the reserved through slot 6. The reserved through slot 6 is opened along the edge position of the workpiece 5, and the reserved through slot 6 needs to accommodate the manipulator 3. Therefore, the size of the reserved through slot 6 is larger than the outer dimension of the manipulator 3. For example, the end edge of the workpiece 5 is a straight line, and the manipulator 3 is nearly circular. The reserved through slot 6 can preferably be square, and the reserved through slot 6 passes through the plate 4.

[0038] Along the edge position of the workpiece 5 , the laser unit 1 is controlled to cut the remaining plate 4 to cut out the reserved through groove 6 that meets the size information.

[0039] Specifically, along the side of the workpiece 5, a reserved through groove 6 whose size meets the size information is cut off to complete the laser cutting action before taking the material, and the cutting parameters of the laser head of the laser part 1 are all preset.

[0040] When this embodiment is applied in practice, based on the edge of the workpiece 5 and the size information of the robot 3, a reserved through groove 6 can be accurately cut out on the side of the workpiece 5 to meet the needs of subsequent material removal.

[0041] like Figure 4 As shown, as an optional embodiment of the present invention, the preset position is close to the middle section of the workpiece 5 , and the edge position is close to the end of the workpiece 5 .

[0042] When this embodiment is applied in practice, Figure 3 In the embodiment, the preset position is close to the midpoint position along the length direction of the workpiece 5, and the middle section position divides the workpiece 5 into three equal parts, and the middle part is the middle section. The purpose of this setting is to prevent the workpiece 5 from falling easily due to its own weight when the connection point 12 is set at the end. The preset position is close to the middle section of the workpiece 5, so that the torque formed by the parts at both ends is equivalent and it is not easy to fall. In addition, the purpose of the edge position being close to the end of the workpiece 5 is that the twisting force is far enough away from the connection point 12, and the force arm of the twisting force is long enough to save effort.

[0043] like Figure 6 As shown, as an optional embodiment of the present invention, the manipulator 3 includes a mounting seat 31, a first clamping finger 32 and a second clamping finger 33, the mounting seat 31 is arranged at the end of the mechanical arm 14 of the robot 2, the second clamping finger 33 is fixedly installed on the mounting seat 31, the first clamping finger 32 is slidably arranged on the mounting seat 31, and the first clamping finger 32 and the second clamping finger 33 are arranged relatively to each other.

[0044] When this embodiment is applied in practice, the setting of the manipulator 3 can realize the clamping and transfer of the workpiece 5. The first clamping finger 32 can be driven to move by a screw. In order to ensure the stability of sliding, the first clamping finger 32 is provided with a guide rod (not shown in the figure) slidably connected to the mounting seat 31.

[0045] like Figure 4 As shown, as an optional embodiment of the present invention, the manipulator 3 of the control robot 2 extends into the reserved through groove 6, clamps the workpiece 5 and moves to break the connection point 12, including: The mounting seat 31 is controlled by the mechanical arm 14 to be aligned with the reserved through slot 6 in a vertical direction, and the manipulator 3 is controlled to move vertically from the current position along the reserved through slot 6 by a first preset distance and extend into the reserved through slot 6, so that the first clamping finger 32 and the second clamping finger 33 are respectively located on both sides of the reserved through slot 6; Specifically, the mounting seat 31 has an axis, which can be considered as the axis of the manipulator 3. The centering of the mounting seat 31 is equal to the centering of the manipulator 3. After the manipulator 3 is aligned with the center of the reserved through-slot 6 from above the reserved through-slot 6, the manipulator 3 is then extended into the reserved through-slot 6 under control (for example, through the action of the robot arm 14), and the first clamping finger 32 and the second clamping finger 33 are located on both sides of the reserved through-slot 6. The first clamping finger 32 and the second clamping finger 33 are first opened a sufficient distance, and then when the distance sensor on the second clamping finger 33 cannot detect the workpiece 5, it indicates that the second clamping finger 33 has begun to reach the bottom of the workpiece 5. At this time, the first clamping finger 32 and the second clamping finger 33 are located on both sides of the reserved through-slot 6.

[0046] After the manipulator 3 is controlled to move forward a second preset distance in the direction of the workpiece 5 , the remaining workpiece 5 is clamped by the manipulator 3 , and a reciprocating twisting motion is performed with the connection point 12 as the center of the circle, so that the connection point 12 is broken.

[0047] Specifically, the first clamping finger 32 and the second clamping finger 33 are respectively located on both sides of the reserved through groove 6, that is, on both sides of the plate 4 and the workpiece 5, one is located at the upper part and the other is located at the lower part. At this time, the manipulator 3 is controlled to advance a second preset distance in the direction of the workpiece 5, and the second preset distance is close to the width of the reserved through groove 6, so that the workpiece 5 is located between the first clamping finger 32 and the second clamping finger 33, and then, the manipulator 3 can clamp the workpiece 5, and then drive the workpiece 5 to perform reciprocating torsional motion with the connection point 12 as the fulcrum (at this time, the manipulator 3 as a whole performs reciprocating linear motion along the thickness direction of the workpiece 5) to twist off the connection point 12. As a micro-connection point, the connection point 12 is easier to be twisted off. Since the manipulator 3 clamps the workpiece 5, the workpiece 5 will not fall after being separated from the plate 4.

[0048] When this embodiment is applied in practice, the manipulator 3 extends into the reserved through slot 6 → the manipulator 3 clamps the workpiece 5 and twists it to achieve the purpose of separating the workpiece 5 and the plate 4, and realize the complete material removal process. The workpiece 5 will not fall off after cutting, and the workpiece 5 and the laser part 1 will not collide or interfere with each other to cause damage to the equipment.

[0049] like Figure 4 and Figure 5 As shown, based on the structure of the above-mentioned manipulator 3, as an optional embodiment of the present invention, the clamping of the remaining workpiece 5 by the manipulator 3 includes: The mounting seat 31 is driven to move by the robot arm 14 so that the clamping surface of the second clamping finger 33 is in contact with the surface of one side of the remaining plate 4, and the first clamping finger 32 is controlled to move relative to the mounting seat 31 so that the clamping surface of the first clamping finger 32 is in contact with the surface of the other side of the remaining plate 4.

[0050] Specifically, the first clamping finger 32 is arranged at the relative top of the second clamping finger 33. The manipulator 3 is first controlled to move upward as a whole, so that the clamping surface of the second clamping finger 33 is in contact with one side surface of the plate 4, and the clamping surface of the first clamping finger 32 is controlled to be in contact with the other side surface of the remaining plate 4. The distance between the second clamping finger 33 and the lower surface, and the distance between the first clamping finger 32 and the plate 4 are displayed at all times. Distance sensors are provided on the opposite surfaces of the two. The thickness of the workpiece 5 is also known (equal to the thickness of the plate 4). The distances between the first clamping finger 32 and the second clamping finger 33 to the surface of the plate 4 are respectively known. After controlling the first clamping finger 32 to move a first distance in the direction of the mounting seat 31, it can firmly clamp the manipulator 3 to bear the force of the twisting action, and realize the transfer after clamping the workpiece 5. The first distance is the difference between the distance between the clamping surface of the first clamping finger 32 and the surface of the plate 4 and the thickness of the plate 4.

[0051] When this embodiment is used in practice, in the reserved through groove 6 , the workpiece 5 can be firmly clamped by firstly the overall action of the manipulator 3 and then the action of the first clamping finger 32 relative to the second clamping finger 33 .

[0052] like Figure 2 and 3 As shown, as an optional embodiment of the present invention, the movable workbench 7 is provided with a fixture 13, the fixture 13 includes a clamping cylinder 131 and a clamping portion 132, the clamping cylinder 131 is installed on the movable workbench 7, and the clamping portion 132 is fixed to the protruding end of the clamping cylinder 131, and the laser unit 1 cuts the plate 4 located in the laser cutting area 10 to obtain the workpiece 5 and the remaining plate 4, and also includes: Controlling the clamping cylinder 131 to retract so that the clamping portion 132 clamps the plate 4 placed on the movable workbench 7; Specifically, the clamping cylinder 131 is controlled to retract the second distance, and the initial vertical distance from the clamping part of the clamping part 132 to the surface of the plate 4 placed on the movable workbench 7 is obtained. The second distance is determined according to the initial vertical distance and the thickness value of the workpiece 5. The second distance is the difference between the initial vertical distance and the thickness value of the workpiece 5. The clamping part is a flexible clamping part or an elastic clamping part, so the workpiece 5 can be clamped on the movable workbench 7.

[0053] Generally, there are multiple clamps 13 , which are evenly distributed along the edge of the plate 4 .

[0054] The movable workbench 7 clamped with the plate 4 is controlled to move into the laser cutting area 10 .

[0055] Specifically, the movement of the movable workbench 7 can be carried out based on a screw transmission assembly (not shown in the drawings), the screw and the movable workbench 7 are threadedly connected, and the movable workbench 7 and the platform 8 are slidably limited, and the screw is driven by a motor.

[0056] When this embodiment is applied in practice, a robot (such as a transport robot or a picking robot) picks up the plate 4 and places it on the movable workbench 7 of the laser section 1. After being clamped and fixed by the clamp 13, the plate 4 is pushed into the laser cutting area 10 in the laser section 1 by the movable workbench 7, so as to realize automatic transportation and clamping of the plate 4, and then transport it to the laser cutting area 10 to realize safe laser cutting.

[0057] like Figure 1 As shown, as an optional embodiment of the present invention, controlling the manipulator 3 to transfer the removed workpiece 5 out of the material removal area 9 includes: After the robot 3 clamps the workpiece 5, the robot arm 14 drives the robot 3 to make a first movement in a direction perpendicular to the remaining plate 4 and a second movement in a direction parallel to the remaining plate 4, wherein the first movement is used to make the workpiece 5 and the remaining plate 4 separated by a third preset distance, and the second movement is used to make the workpiece 5 leave the stripping area 9.

[0058] Specifically, after the workpiece 5 is separated from the plate 4, the manipulator 3 still keeps the workpiece 5 clamped, and then the robotic arm 14 moves to drive the manipulator 3 to perform a first movement and a second movement respectively. The first movement is preferably a movement perpendicular to the surface of the plate 4, and the second movement is preferably a movement parallel to the surface of the plate 4; the third preset distance is such that the workpiece 5 and the surface of the plate 4 are far enough apart. When leaving the stripping area 9, the movement distance is generally greater than the maximum length of the plate 4. The above can enable the robotic arm 14 of the robot 2 to drive the manipulator 3 and the workpiece 5 to safely leave the stripping area 9 and put them into subsequent processes.

[0059] The present invention also provides an automatic laser micro-joining plate blanking and fetching system, comprising: Demolition area 9 and laser cutting area 10; A laser unit 1, arranged corresponding to the laser cutting area 10, for cutting a workpiece 5 from a plate 4; A robot 2, wherein the robot 2 has a manipulator 3, and the manipulator 3 is used to clamp the workpiece 5; A movable workbench 7 is movably arranged between the stripping area 9 and the laser cutting area 10 and is used for clamping the sheet material 4; The controller is electrically connected to the laser unit 1, the robot 2 and the movable workbench 7 respectively, so as to realize the automatic laser micro-joining sheet material unloading and picking method as described in any of the above embodiments.

[0060] The specific implementation of this embodiment can also refer to the corresponding implementation method mentioned above, which will not be described again here.

[0061] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0062] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

[0063] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. An automatic laser micro-joining plate blanking and material collection method, characterized in that: include: The plate (4) located in the laser cutting area (10) is cut by a laser unit (1) to obtain a workpiece (5) and the remaining plate (4), wherein the workpiece (5) and the remaining plate (4) are connected via a connection point (12) and a reserved through groove (6) is provided between the two, and the plate (4) is clamped on a movable workbench (7); Transferring the workpiece (5) and the remaining plate (4) from the laser cutting area (10) to the stripping area (9) via the movable workbench (7); The manipulator (3) of the control robot (2) extends into the reserved through slot (6), clamps the workpiece (5) and moves to break the connection point (12); The robot (3) is controlled to transfer the removed workpiece (5) out of the material removal area (9).

2. The automatic laser micro-joining sheet material blanking and taking method according to claim 1 is characterized in that: The process of cutting a plate (4) located in a laser cutting area (10) by a laser unit (1) to obtain a workpiece (5) and the remaining plate (4) comprises: Controlling the laser unit (1) to laser cut the plate (4) according to a preset tool path, and generating a laser pause at a preset position in the preset tool path, so as to obtain the workpiece (5) and the remaining plate (4) connected via the connection point (12); Based on the position of the workpiece (5) on the plate (4) and the size information of the robot (3), the laser unit (1) is controlled to perform a grooving process on the remaining plate (4) to obtain the reserved through groove (6).

3. The automatic laser micro-joining sheet material blanking and taking method according to claim 2 is characterized in that: Based on the position of the workpiece (5) on the plate (4) and the size information of the robot (3), controlling the laser unit (1) to perform a grooving process on the remaining plate (4) to obtain the reserved through groove (6) comprises: Determining the size information of the reserved through slot (6) based on the edge position of the workpiece (5) and the peripheral size of the robot (3); The laser unit (1) is controlled to cut the remaining plate (4) along the edge position of the workpiece (5) to cut out the reserved through groove (6) that meets the size information.

4. The automatic laser micro-joining sheet material blanking and taking method according to claim 3 is characterized in that: The preset position is close to the middle section of the workpiece (5), and the edge position is close to the end of the workpiece (5).

5. The automatic laser micro-joining sheet material blanking and taking method according to claim 1 is characterized in that: The manipulator (3) comprises a mounting seat (31), a first gripping finger (32) and a second gripping finger (33); the mounting seat (31) is arranged at the end of a mechanical arm (14) of the robot (2); the second gripping finger (33) is fixedly mounted on the mounting seat (31); the first gripping finger (32) is slidably arranged on the mounting seat (31); and the first gripping finger (32) and the second gripping finger (33) are arranged relative to each other.

6. The automatic laser micro-joining sheet material blanking and taking method according to claim 5 is characterized in that: The manipulator (3) of the control robot (2) extends into the reserved through slot (6), clamps the workpiece (5) and moves to break the connection point (12), including: The mounting seat (31) is controlled by the mechanical arm (14) to be aligned vertically with the reserved through slot (6), and the mechanical arm (3) is controlled to move vertically from a current position to a first preset distance along the reserved through slot (6) and extend into the reserved through slot (6), so that the first clamping finger (32) and the second clamping finger (33) are respectively located on two sides of the reserved through slot (6); After the manipulator (3) is controlled to move forward a second preset distance in the direction of the workpiece (5), the remaining workpiece (5) is clamped by the manipulator (3) and a reciprocating twisting motion is performed with the connection point (12) as the center of the circle, so that the connection point (12) is broken.

7. The automatic laser micro-joining sheet material blanking and taking method according to claim 6 is characterized in that: The clamping of the remaining workpiece (5) by the manipulator (3) comprises: The mounting seat (31) is driven to move by the mechanical arm (14) so ​​that the clamping surface of the second clamping finger (33) fits with the surface of one side of the remaining plate (4), and the first clamping finger (32) is controlled to move relative to the mounting seat (31) so that the clamping surface of the first clamping finger (32) fits with the surface of the other side of the remaining plate (4).

8. The automatic laser micro-joining sheet material blanking and taking method according to any one of claims 2 to 4, characterized in that: The movable workbench (7) is provided with a clamp (13), the clamp (13) comprising a clamping cylinder (131) and a clamping portion (132), the clamping cylinder (131) being mounted on the movable workbench (7), the clamping portion (132) being fixed to the protruding end of the clamping cylinder (131), and the laser unit (1) cutting the plate (4) located in the laser cutting area (10) to obtain the workpiece (5) and the remaining plate (4) further comprising: Controlling the clamping cylinder (131) to retract so that the clamping portion (132) clamps the plate (4) placed on the movable workbench (7); The movable workbench (7) clamped with the plate (4) is controlled to move into the laser cutting area (10).

9. The automatic laser micro-joining sheet material blanking and taking method according to claim 5 is characterized in that: The controlling the robot (3) to transfer the removed workpiece (5) out of the material removal area (9) comprises: After the manipulator (3) clamps the workpiece (5), the manipulator (3) is driven by the manipulator arm (14) to perform a first movement in a direction perpendicular to the remaining plate (4) and a second movement in a direction parallel to the remaining plate (4), wherein the first movement is used to place the workpiece (5) at a third preset distance from the remaining plate (4), and the second movement is used to separate the workpiece (5) from the stripping area (9).

10. An automatic laser micro-joining sheet material unloading and picking system, characterized in that: include: Demolition area (9) and laser cutting area (10); A laser unit (1) is arranged corresponding to the laser cutting area (10) and is used to cut a workpiece (5) from the plate (4); A robot (2), the robot (2) having a manipulator (3), the manipulator (3) being used to clamp the workpiece (5); A movable workbench (7) is movably arranged between the stripping area (9) and the laser cutting area (10) and is used for clamping the plate (4); A controller is electrically connected to the laser unit (1), the robot (2) and the movable workbench (7) respectively, and is used to implement the automatic laser micro-joining sheet material unloading and picking method as described in any one of claims 1 to 9.

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