A control method for an intelligent trimming and punching device

Abstract

The present invention discloses a control method for an intelligent trimming and punching device, which belongs to the technical field of metal sheet processing, and aims to solve the problem that the prior art requires multiple loading and unloading of metal sheets, which results in low processing efficiency and affects working hours. The control method is based on the setting of a trimming table and a punching table, and can perform integrated trimming and punching processing on metal sheets, without the need to repeatedly load and unload metal sheets in multiple processes, effectively improving work efficiency and saving working hours. Through the setting of a plate transport mechanism, the metal sheet loaded onto the upper surface of the trimming table is photographed and captured, and the original size of the metal sheet is calculated by the equipment system, and the plate transport mechanism is driven to shift and cut the metal sheet according to the trimming requirements, so as to adapt to the processing requirements of plates of different sizes. The overall equipment process has a high degree of intelligence, which can accelerate the production of metal sheets and meet actual production needs.

Description

Technical Field

[0001] The invention belongs to the technical field of metal plate processing, and in particular relates to a control method for an intelligent trimming and punching device. Background Art

[0002] Trimming and punching are two important process steps in sheet metal processing, which involve trimming the edge of the sheet metal and processing the holes on the sheet metal respectively. Trimming refers to the use of cutting tools (such as trimmers, laser cutters, etc.) to trim the edge of the sheet metal during sheet metal processing to achieve the required size and shape requirements. This step is usually performed in the initial processing stage of the sheet metal to ensure the smooth progress of the subsequent processing. Punching refers to a process method for processing holes in a sheet metal. It usually uses a punching machine or a punch press to punch the sheet metal through a mold to form the required holes on the sheet metal.

[0003] In the process of metal sheet processing, trimming and punching are often interrelated. For example, when processing a metal sheet with a specific shape and hole distribution, it is necessary to trim the sheet first to ensure that the size and shape of the sheet meet the requirements; then punching is performed to form the required holes on the sheet. The organic combination of these two process steps can achieve precise processing and efficient utilization of metal sheets. At present, when processing metal sheets, it is necessary to first place the sheet in a trimming machine, change the size of the metal sheet according to the size requirements, and then unload the metal sheet from the trimming machine after completion, and transport it to the punching device for punching. Such transportation requires multiple loading and unloading of the metal sheet, which has low processing efficiency and affects working hours. Therefore, the inventor proposes an intelligent trimming and punching device and a control method thereof to meet the use requirements. Summary of the invention

[0004] (1) Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an intelligent trimming and punching device and a control method thereof, aiming to solve the problem that the prior art requires multiple loading and unloading of metal sheets, resulting in low processing efficiency and affected working hours.

[0006] (2) Technical solution

[0007] In order to solve the above technical problems, on the one hand, the present invention provides a control method for an intelligent trimming and punching device, wherein the device comprises a trimming table and a punching table, wherein the trimming table and the punching table are arranged in a high and low dislocation, and a plate transporting mechanism is installed on the side wall of the trimming table facing the punching table; the plate transporting mechanism comprises an electromagnetic suction cup, a support beam, a vertical rod and a moving block, wherein the moving block is slidably connected to the side wall of the trimming table, the vertical rod is rotatably installed on the upper surface of the moving block, the support beam is vertically distributed with the moving block, and the moving beam is slidably installed on the vertical rod, and the bottom end surface of the support beam is horizontally opened A second movable groove, a slider is slidably installed in the second movable groove, the electromagnetic suction cup is arranged below the slider, and a camera is fixedly installed at one end of the support beam away from the vertical rod; a saw blade is installed near the side of the upper surface of the trimming table, a top plate is horizontally installed above the punching table, the top plate and the upper surface of the punching table are spaced apart, two groups of relatively movable plates are arranged below the top plate, and conveyor belts are respectively installed on the facing surfaces of the two groups of movable plates, a stamping plate is arranged at the center below the top plate, and a material receiving port is opened at the upper surface of the punching table corresponding to the stamping plate, and the method comprises:

[0008] When the support beam is located at the initial standby position, wherein the initial standby position defaults to the support beam being located on the central axis of the trimming table, and secondly, the coordinates of the imaging center point of the camera are the reference origin of the imaging coordinates, and the position change of the origin coordinates changes with the position change of the moving block and the rotation amount of the second screw rod, thereby realizing accurate identification of the real positions of multiple key points on the sheet material on the trimming table. Specifically, the current rotation amount of the second screw rod and the displacement amount of the moving block are obtained, the coordinates of the current imaging center point are determined, and the specific position of the multiple key points on the trimming table is determined by the pixel position relationship between the coordinates of the center point and the imaging pattern;

[0009] The camera detects in real time whether there is a sheet material on the current trimming table based on a color-based image feature recognition algorithm. If so, a first shape is constructed to characterize the contour of the sheet material, and the position of the camera is adjusted for a second time based on the pixel positions corresponding to multiple endpoints in the first shape, so that the camera is close to the center line of the sheet material. The first adjustment is used to correct the camera position, thereby reducing the imaging distortion caused by the poor shooting position and thus the distortion of the first shape. Secondly, the color difference between the upper surface of the trimming table and the sheet material is used for identification;

[0010] Based on the finished size parameters of the stamping part, a second finished shape is constructed on the first shape, and based on the second product shape, at least one virtual straight line for scrap cutting is constructed on the first shape, and the in-tangent point coordinates and the out-tangent point coordinates of the virtual straight line for scrap cutting and the first shape are determined, and at the same time, the adsorption position coordinates of the electromagnetic chuck are determined based on the second finished shape, and a first displacement instruction is generated based on the adsorption position coordinates, so that the electromagnetic chuck is moved to above the adsorption position coordinate point through the moving block and the second screw rod, and the sheet blank is adsorbed and grasped;

[0011] Determine the rotation correction amount of the electromagnetic chuck based on the horizontal angle of the virtual straight line for scrap cutting, so that the virtual straight line for scrap cutting is parallel to the cutting line of the saw blade, and generate a rotation instruction so that the electromagnetic chuck rotates the grabbed sheet blank through the second rotary motor;

[0012] The entry point coordinates and the exit point coordinates are corrected based on the rotational correction amount, and then the second entry point coordinates and the second exit point coordinates are obtained, and based on the positional relationship between the second entry point coordinates and the saw blade's cutting line starting end coordinates, a second displacement instruction is generated to enable the electromagnetic suction cup to move the cutting starting point corresponding to the sheet material to the saw blade's cutting line starting end point, and based on the distance calculation between the second entry point coordinates and the second exit point coordinates, the rotation amount of the second screw rod is obtained, so that the electromagnetic suction cup horizontally and vertically drags the sheet material to cut the waste corner material, and after the cutting is completed, the sheet material is transferred to the punching station based on the preset transfer route.

[0013] There is a relatively obvious deviation in the shape of the sheet blank before cutting, so it is necessary to use the camera to plan a reasonable cutting line according to the placement and size of the specific sheet blank. After the cutting is completed, the consistency of the sheet blank is good, and the adsorption points of the electromagnetic suction cup are relatively uniform, so the subsequent transfer route is relatively single, and unified standardized transfer can be carried out through debugging before the equipment is operated. I will not elaborate on it again. The specific method can be: after cutting, move it to the first transfer position according to the preset program. At this time, the cut sheet blank is placed according to the preset placement method.

[0014] Preferably, after determining the rotational correction amount of the electromagnetic suction cup 16 based on the horizontal angle of the waste cutting virtual straight line, it also includes: constructing the rightmost / leftmost vertical dotted line corresponding to the first shape, and simulating the lateral displacement corresponding to the rightmost / leftmost vertical dotted line of the first shape during the rotational correction process, and determining the imaging center point position of the camera based on the current position of the moving block, and then determining whether it intersects with the cutting line of the saw blade based on the first shape parameters, the imaging center point position and the lateral displacement, and in the case of an intersection, adding a right / left shift correction instruction in the rotation instruction based on the horizontal distance between the rightmost point / leftmost point corresponding to the lateral displacement and the cutting line, so that when the electromagnetic suction cup rotates the sheet blank, the sheet blank collides with the saw blade.

[0015] Preferably, the upper surface of the trimming table has a mounting groove, the saw blade is vertically embedded in the mounting groove, and a material receiving box is provided on the side of the trimming table corresponding to the saw blade.

[0016] Preferably, a first movable groove is horizontally opened on the side wall of the trimming table, a first screw rod is rotatably installed in the first movable groove, the movable block is a lying convex structure, the end of the movable block is slidably embedded in the first movable groove, and is threadedly connected to the first screw rod.

[0017] Preferably, the interior of the moving block is a hollow structure, and a first rotating motor is embedded therein, and a rotating disk is rotatably mounted on the upper surface of the moving block, and the rotating disk is fixedly connected to the bottom end surface of the vertical rod.

[0018] Preferably, a lifting groove is vertically opened on the outer wall of the vertical rod, and an outer ring sleeve is fixedly connected to the end of the support beam facing the vertical rod. The outer ring sleeve is arranged on the outside of the vertical rod, and a lifting block is fixedly connected to the inner wall of the outer ring sleeve. The lifting block slides vertically along the lifting groove, and a connecting ring is fixedly connected to the end of the lifting block away from the inner wall of the outer ring sleeve. The connecting ring is located inside the vertical rod, and a third screw rod is vertically rotatably installed inside the vertical rod, and the connecting ring is threadedly connected to the third screw rod.

[0019] Preferably, a second screw is installed horizontally and rotatably inside the support beam, the second screw is threadedly connected to the slider, a second rotating motor is fixedly installed on the bottom of the slider, a telescopic cylinder is connected to the output shaft of the second rotating motor, and the telescopic end of the telescopic cylinder is fixedly connected to the upper surface of the electromagnetic suction cup.

[0020] Preferably, a stamping cylinder is installed vertically through the top plate, a connecting block is fixedly connected to the telescopic end of the stamping cylinder, and the connecting block is threadedly connected to the upper surface of the stamping plate.

[0021] Preferably, connecting frames are symmetrically installed on both sides of the upper surface of the top plate, the other end of the connecting frame is fixedly connected to the side wall of the punching table, and a shift cylinder is horizontally installed on the connecting frame, and the telescopic end of the shift cylinder is connected to the outer wall of the movable plate.

[0022] Preferably, a clamping cylinder is vertically installed on the inner side wall of the movable plate, the clamping cylinder is vertically arranged and located above the conveyor belt, and a pressure block is fixedly connected to the surface of the clamping cylinder facing the conveyor belt.

[0023] (3) Beneficial effects

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The control method disclosed in the present invention is based on the setting of the trimming table and the punching table, and can perform integrated trimming and punching processing on the metal sheet, without the need to repeatedly load and unload the metal sheet in multiple processes, effectively improving work efficiency and saving work time. Through the setting of the plate transporting mechanism, the metal sheet loaded onto the upper surface of the trimming table is photographed and captured, the equipment system calculates the original size of the metal sheet, and the plate transporting mechanism is driven to shift and cut the metal sheet according to the trimming requirements. The degree of automation is high, and the metal sheet after trimming can be directly transferred to the punching table for punching operation, and the conveyor belt drives it toward the top plate. It moves downward until it moves to the corresponding punching plate, clamps the metal sheet for punching, and the punched waste falls into the receiving port and enters the inner side of the punching table for receiving. The spacing of the moving plates is adjustable. When the processing size of the metal sheet is input into the equipment system, the equipment system controls the extension and contraction of the shift cylinder to drive the two moving plates to move closer or farther away from each other, thereby adjusting the spacing between the two sets of conveyor belts, so that the metal sheet can be received accordingly when it is turned over from the trimming table, which is suitable for the processing needs of plates of different sizes. The overall equipment process has a high degree of intelligence, which can accelerate the production of metal sheets and meet actual production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 It is a structural schematic diagram of the present invention;

[0028] Figure 2 Schematic diagram of the trimming table structure;

[0029] Figure 3 It is a schematic diagram of the structure of the plate transport mechanism;

[0030] Figure 4 for Figure 3 The enlarged structural diagram at A in the middle;

[0031] Figure 5 It is a schematic diagram of the punching table structure;

[0032] Figure 6 This is the front view of the top plate and movable plate.

[0033] The markings in the attached drawings are: 1. trimming table; 2. punching table; 3. material receiving box; 4. saw blade; 5. plate transport mechanism; 6. top plate; 8. moving plate; 9. first screw rod; 10. first moving groove; 11. mounting groove; 12. pressure block; 13. camera; 14. slider; 15. telescopic cylinder; 16. electromagnetic suction cup; 17. second screw rod; 18. support beam; 19. vertical rod; 20. rotating disk; 21. first rotating motor; 22. lifting groove; 23. moving block; 24. second rotating motor; 25. lifting block; 26. connecting ring; 27. outer ring sleeve; 28. third screw rod; 29. ​​material receiving port; 30. conveyor belt; 31. stamping plate; 32. connecting frame; 33. shift cylinder; 34. connecting block; 35. stamping cylinder; 36. clamping cylinder. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0035] This specific embodiment is an intelligent trimming and punching device, and its structural schematic diagram is as follows: Figure 1 , Figure 2 , Figure 5 As shown, it includes a trimming table 1 and a punching table 2, the trimming table 1 and the punching table 2 are arranged in a staggered manner, and a plate transport mechanism 5 is installed on the side wall of the trimming table 1 facing the punching table 2; a saw blade 4 is installed on the upper surface of the trimming table 1 near the side, and a top plate 6 is installed horizontally above the punching table 2, and the top plate 6 is spaced apart from the upper surface of the punching table 2. Two groups of relatively movable plates 8 are arranged below the top plate 6, and conveyor belts 30 are respectively installed on the facing surfaces of the two groups of movable plates 8. A stamping plate 31 is arranged in the center below the top plate 6, and a material receiving port 29 is opened on the upper surface of the punching table 2 corresponding to the stamping plate 31. The upper surface of the trimming table 1 has a mounting groove 11, and the saw blade 4 is vertically embedded in the mounting groove 11. A material receiving box 3 is arranged on the side of the trimming table 1 corresponding to the saw blade 4. A first movable groove 10 is horizontally opened on the side wall of the trimming table 1, and a first screw rod 9 is rotatably installed in the first movable groove 10. The movable block 23 is a lying convex structure, and the end of the movable block 23 is slidably embedded in the first movable groove 10 and is threadedly connected to the first screw rod 9.

[0036] Reference Figure 3 , Figure 4The plate transport mechanism 5 includes an electromagnetic suction cup 16, a support beam 18, a vertical rod 19 and a moving block 23. The moving block 23 is slidably connected to the side wall of the trimming table 1, and the vertical rod 19 is rotatably installed on the upper surface of the moving block 23. The support beam 18 and the moving block 23 are vertically distributed, and the moving beam is slidably installed on the vertical rod 19. The bottom end surface of the support beam 18 is horizontally provided with a second moving groove, and a slider 14 is slidably installed in the second moving groove. The electromagnetic suction cup 16 is arranged below the slider 14, and a camera 13 is fixedly installed at one end of the support beam 18 away from the vertical rod 19; the interior of the moving block 23 is a hollow structure, and a first rotating motor 21 is embedded therein. A rotating disk 20 is rotatably installed on the upper surface of the moving block 23, and the rotating disk 20 is fixedly connected to the bottom end surface of the vertical rod 19. A lifting groove 22 is vertically provided on the outer wall of the vertical rod 19. An outer ring sleeve 27 is fixedly connected to one end of the support beam 18 facing the vertical rod 19. The outer ring sleeve 27 is sleeved on the outside of the vertical rod 19. A lifting block 25 is fixedly connected to the inner wall of the outer ring sleeve 27. The lifting block 25 slides vertically along the lifting groove 22. A connecting ring 26 is fixedly connected to one end of the lifting block 25 away from the inner wall of the outer ring sleeve 27. The connecting ring 26 is located inside the vertical rod 19. A third screw rod 28 is vertically rotatably installed inside the vertical rod 19. The connecting ring 26 is threadedly connected to the third screw rod 28. A second screw rod 17 is horizontally rotatably installed inside the support beam 18. The second screw rod 17 is threadedly connected to the slider 14. A second rotary motor 24 is fixedly installed at the bottom of the slider 14. A telescopic cylinder 15 is connected to the output shaft of the second rotary motor 24. The telescopic end of the telescopic cylinder 15 is fixedly connected to the upper surface of the electromagnetic chuck 16.

[0037] Reference Figure 5 , Figure 6 A punching cylinder 35 is vertically installed on the top plate 6, and a connecting block 34 is fixedly connected to the telescopic end of the punching cylinder 35. The connecting block 34 is threadedly connected to the upper surface of the punching plate 31. Connecting frames 32 are symmetrically installed on both sides of the upper surface of the top plate 6. The other end of the connecting frame 32 is fixedly connected to the side wall of the punching table 2. A shifting cylinder 33 is horizontally installed on the connecting frame 32. The telescopic end of the shifting cylinder 33 is connected to the outer wall of the moving plate 8. A clamping cylinder 36 is vertically installed on the inner side wall of the moving plate 8. The clamping cylinder 36 is vertically arranged and located above the conveyor belt 30. The surface of the clamping cylinder 36 facing the conveyor belt 30 is fixedly connected to the pressing block 12. Example

[0038] This embodiment is based on Embodiment 1 and is used to provide a control method for an intelligent trimming and punching device, the method comprising:

[0039] Step S1, when the support beam 18 is located at the initial standby position, wherein the initial standby position defaults to the support beam 18 being located on the central axis of the trimming table 1, and secondly, the coordinates of the imaging center point of the camera 13 are the reference origin of the imaging coordinates, and the position change of the origin coordinates changes with the position change of the moving block 23 and the rotation amount of the second screw 17, thereby realizing accurate identification of the real positions of multiple key points on the sheet material on the trimming table 1, specifically, obtaining the current rotation amount of the second screw 17 and the displacement amount of the moving block 23, determining the coordinates of the current imaging center point, and determining its specific position on the trimming table 1 by the pixel position relationship between the coordinates of the multiple key points and the center point in the imaging pattern;

[0040] Step S2, the camera 13 detects in real time whether there is a sheet stock on the current trimming table 1 based on a color-based image feature recognition algorithm. If there is, a first shape for characterizing the contour of the sheet stock is constructed, and the position of the camera 13 is adjusted for a second time based on the pixel positions corresponding to the multiple endpoints in the first shape, so that the camera 13 is close to the center line of the sheet stock. Secondly, the first adjustment is used to correct the position of the camera 13, thereby reducing the imaging distortion caused by the poor shooting position and thus causing the distortion of the first shape. Secondly, the contour of the sheet stock is identified by using the color difference between the upper surface of the trimming table 1 and the sheet stock;

[0041] Step S3, based on the finished product size parameters of the stamping part, construct a second finished product shape on the first shape, and based on the second product shape, construct at least one waste cutting virtual straight line on the first shape, and determine the entry and exit point coordinates of the waste cutting virtual straight line and the first shape, and at the same time determine the adsorption position coordinates of the electromagnetic suction cup 16 based on the second finished product shape, and generate a first segment displacement instruction based on the adsorption position coordinates, so that the electromagnetic suction cup 16 is moved to the above the adsorption position coordinate point through the moving block 23 and the second screw rod 17, and the sheet blank is adsorbed and grasped. It should be noted that, considering the size of the anti-rotation friction suction force of the electromagnetic suction cup 16 and the torque problem caused by the sheet during the cutting process, the size of the sheet processed in this embodiment is only 150%-230% of the area of ​​the electromagnetic suction cup 16. For sheets that are significantly larger than the electromagnetic suction cup 16, it is not suitable for processing by this equipment;

[0042] Step S4, determining the rotation correction amount of the electromagnetic chuck 16 based on the horizontal angle of the virtual straight line for waste cutting, so that the virtual straight line for waste cutting is parallel to the cutting line of the saw blade 4, and generating a rotation instruction, so that the electromagnetic chuck 16 rotates the captured sheet material through the second rotary motor 24;

[0043] In step S4, when grabbing the sheet material based on the rotation correction amount, the sheet material should be prevented from touching the saw blade 4 during the rotation process. Therefore, the specific implementation method of generating the rotation instruction can be:

[0044] Construct the rightmost / leftmost vertical dotted line corresponding to the first shape, and simulate the lateral displacement corresponding to the rightmost / leftmost vertical dotted line of the first shape during the rotation correction process, and determine the imaging center point position of the camera 13 based on the current position of the moving block 23, and then determine whether it intersects with the cutting line of the saw blade 4 based on the first shape parameters, the imaging center point position and the lateral displacement, and in the case of an intersection, add a right / left shift correction instruction in the rotation instruction based on the horizontal distance between the rightmost point / leftmost point corresponding to the lateral displacement and the cutting line, so that when the electromagnetic suction cup 16 rotates the sheet blank, the sheet blank collides with the saw blade 4.

[0045] Step S5, based on the rotational correction amount, correct the entry point coordinates and the exit point coordinates, and then obtain the second entry point coordinates and the second exit point coordinates, and generate a second displacement instruction based on the positional relationship between the second entry point coordinates and the cutting line starting end coordinates of the saw blade 4, so that the electromagnetic suction cup 16 moves the cutting starting point corresponding to the sheet material to the cutting line starting end point of the saw blade 4, and calculates the rotation amount of the second screw rod 17 based on the distance between the second entry point coordinates and the second exit point coordinates, so that the electromagnetic suction cup 16 drags the sheet material horizontally and vertically to cut the waste corner material, and after the cutting is completed, the sheet material is transported to the punching station 2 based on the preset transfer route.

[0046] There is a relatively obvious deviation in the shape of the sheet stock before cutting, so it is necessary to use the camera 13 to plan a reasonable cutting line according to the placement position and size of the specific sheet stock. After the cutting is completed, the consistency of the sheet stock is good, and the adsorption points of the electromagnetic suction cup 16 are relatively uniform, so the subsequent transfer route is relatively single, and unified standardized transfer can be carried out through debugging before the equipment is run. I will not go into details again. The specific method can be: after cutting, move it to the first transfer position according to the preset program, and then the cut sheet stock is placed according to the preset placement method.

[0047] Working principle: When in use, the metal sheet material is first transported to the trimming table 1. At this time, the plate transport mechanism 5 is in the center of the trimming table 1. The metal sheet is detected by the camera 13. The trimming size of the metal sheet is input into the equipment system in advance. The camera 13 transmits the shooting picture to the equipment system, calculates the raw material size of the metal sheet, and cuts the metal sheet according to the required size. The specific method is shown in Example 2. Here, only the principle is briefly described. The second screw rod 17 and the first screw rod 9 rotate synchronously, driving the electromagnetic suction cup 16 to move to the center position of the metal sheet. When the second screw rod 17 rotates, the slider 14 The electromagnetic suction cup 16 is driven to move forward and backward. When the first screw rod 9 rotates, the moving block 23 is forced to move left and right along the trimming table 1, and then the electromagnetic suction cup 16 adjusts its position left and right. The telescopic cylinder 15 extends to drive the electromagnetic suction cup 16 to descend. After the electromagnetic suction cup 16 contacts the metal sheet, the electromagnetic suction cup 16 uses the interaction between the electromagnet and the metal sheet to generate suction. The electromagnet is composed of an iron core and a coil. When the coil is energized, a magnetic field is generated to attract the metal sheet and make it contact with the suction cup. Due to the difference in pressure inside and outside the suction cup, a low-pressure area is formed, so that a sealed gap is formed between the suction cup and the object, thereby generating suction. Then according to the equipment According to the system's instructions, the moving block 23 and the slider 14 begin to shift, and the saw blade 4 also begins to rotate. The moving block 23 drives the adsorbed metal sheet close to the saw blade 4, and the slider 14 drives the metal sheet to contact the part to be cut with the saw blade 4. At this time, the moving block 23 does not move, and the slider 14 drives the sheet to move, cuts the excess part, and the excess part falls into the receiving box 3. Then the moving block 23 moves in the opposite direction, driving the metal sheet away from the saw blade 4. The second rotating motor 24 is started, driving the metal sheet to rotate ninety degrees, and the other side corresponds to the saw blade 4. The moving block 23 drives the metal sheet close to the saw blade 4 again for cutting. After completion, the moving block 23 moves to the center position of the trimming table 1. At this time, the first rotating motor 21 rotates, driving the rotating plate to rotate 180 degrees, and then the electromagnetic suction cup 16 moves from the upper surface of the trimming table 1 to the upper surface of the punching table 2. At this time, the third screw 28 rotates, driving the connecting ring 26 to decrease in height. When the connecting ring 26 moves, the outer ring sleeve 27 is driven to move synchronously through the lifting block 25, and then the support beam 18 is forced to move downward until the electromagnetic suction cup 16 is lowered to place the metal sheet on the conveyor belt 30. At this time, the equipment system controls the electromagnetic suction cup 16 to move back to the upper surface of the trimming table 1, and the metal sheet that is subsequently loaded continues to be trimmed.

[0048] The metal sheet on the conveyor belt 30 has been trimmed and meets the required size. The conveyor belt 30 drives it to move toward the bottom of the top plate 6 until it moves to the corresponding punching plate. The conveyor belt 30 stops rotating, and the clamping cylinder 36 extends to drive the pressure block 12 to press the side wall of the metal sheet. At this time, the punching cylinder 35 extends to drive the punching plate 31 to approach the metal sheet to punch the sheet. The punched waste falls into the receiving port 29 and enters the inner side of the punching table 2. A door panel (not shown in the figure) is provided on the side wall of the punching table 2. A cutting die matching with the punching plate 31 is provided above the opening 29, which is not shown in the figure. Secondly, the model of the cutting die corresponds to the model of the punching plate 31, and both can be replaced according to the punching requirements). The waste can be cleaned up uniformly by opening the door panel. The punching plate 31 and the connecting block 34 can be detachably connected, and the punching plate 31 can be replaced according to the punching specification requirements. After the punching is completed, the pressing block 12 and the punching plate 31 rise, and the conveyor belt 30 continues to move to remove the processed metal sheet, and at this time, the metal sheet with trimming completed on the trimming table 1 continues to be received;

[0049] The spacing between the movable plates 8 is adjustable. When the processing size of the metal sheet is input into the equipment system, the equipment system controls the extension and retraction of the shift cylinder 33, driving the two movable plates 8 to move closer or farther away from each other, thereby adjusting the spacing between the two sets of conveyor belts 30, so that the metal sheet can be received accordingly when it is turned over from the trimming table 1.

[0050] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for an intelligent trimming and punching device, the device comprising a trimming table (1) and a punching table (2), the trimming table (1) and the punching table (2) being arranged in a staggered manner, a plate transport mechanism (5) being installed on the side wall of the trimming table (1) facing the punching table (2); the plate transport mechanism (5) comprising an electromagnetic suction cup (16), a support beam (18), a vertical rod (19) and a moving block (23), the moving block (23) being slidably connected to the side wall of the trimming table (1), the vertical rod (19) being rotatably installed on the upper surface of the moving block (23), the support beam (18) and the moving block (23) being arranged vertically, and the moving beam being slidably installed on the vertical rod (19), the bottom end surface of the support beam (18) being horizontally provided with a second moving groove, the second moving groove being arranged on the bottom end surface of the support beam (18) A slider (14) is slidably installed in the groove, the electromagnetic suction cup (16) is arranged below the slider (14), and a camera (13) is fixedly installed on one end of the support beam (18) away from the vertical rod (19); a saw blade (4) is installed on the upper surface of the trimming table (1) near the side, and a top plate (6) is horizontally installed above the punching table (2), and the top plate (6) is spaced apart from the upper surface of the punching table (2). Two groups of movable plates (8) that can move relative to each other are arranged below the top plate (6), and conveyor belts (30) are respectively installed on the facing surfaces of the two groups of movable plates (8). A stamping plate (31) is arranged in the center below the top plate (6), and a material receiving port (29) is opened on the upper surface of the punching table (2) corresponding to the stamping plate (31), characterized in that: A second screw rod (17) is installed in the support beam (18) for horizontal rotation, the second screw rod (17) is threadedly connected to the slider (14), a second rotary motor (24) is fixedly installed at the bottom of the slider (14), a telescopic cylinder (15) is connected to the output shaft of the second rotary motor (24), and the telescopic end of the telescopic cylinder (15) is fixedly connected to the upper surface of the electromagnetic suction cup (16), the method comprising: When the support beam (18) is located at the initial standby position, the camera (13) detects in real time whether there is a plate blank on the current trimming table (1) based on a color-based image feature recognition algorithm. If there is, a first shape for characterizing the contour of the plate blank is constructed, and the position of the camera (13) is adjusted secondary based on the pixel positions corresponding to the multiple endpoints in the first shape, so that the camera (13) is close to the center line of the plate blank, wherein the first shape is constructed in the following manner: the coordinates of the imaging center point of the camera (13) are the imaging coordinate reference origin, and the position change of the origin coordinate changes with the position change of the moving block (23) and the rotation amount of the second screw rod (17), thereby realizing accurate recognition of the real positions of multiple key points on the plate blank on the trimming table (1), that is, obtaining the current rotation amount of the second screw rod (17) and the displacement amount of the moving block (23), determining the coordinates of the current imaging center point, and determining its specific position on the trimming table (1) based on the pixel position relationship between the coordinates of the multiple key points and the center point in the imaging pattern; Based on the finished dimension parameters of the stamped part, a second finished shape is constructed on the first shape, and based on the second finished shape, at least one virtual straight line for scrap cutting is constructed on the first shape, and the in-tangent point coordinates and the out-tangent point coordinates of the virtual straight line for scrap cutting and the first shape are determined, and at the same time, the adsorption position coordinates of the electromagnetic suction cup (16) are determined based on the second finished shape, and a first displacement instruction is generated based on the adsorption position coordinates, so that the electromagnetic suction cup (16) is moved to above the adsorption position coordinate point through the moving block (23) and the second screw rod (17), and an adsorption and grabbing operation is performed on the sheet blank; Determining the rotation correction amount of the electromagnetic chuck (16) based on the horizontal angle of the virtual straight line for waste material cutting so that the virtual straight line for waste material cutting is parallel to the cutting line of the saw blade (4), and generating a rotation instruction so that the electromagnetic chuck (16) rotates the grasped plate blank through the second rotating motor (24); Based on the rotational correction amount, the entry point coordinates and the exit point coordinates are corrected to obtain a second entry point coordinate and a second exit point coordinate, and based on the positional relationship between the second entry point coordinate and the coordinates of the starting end of the cutting line of the saw blade (4), a second displacement instruction is generated to enable the electromagnetic suction cup (16) to move the cutting starting point corresponding to the sheet material to the starting end of the cutting line of the saw blade (4), and based on the distance between the second entry point coordinate and the second exit point coordinate, the rotation amount of the second screw rod (17) is calculated to enable the electromagnetic suction cup (16) to horizontally and vertically drag the sheet material to cut the scrap material, and after the cutting is completed, the sheet material is transferred to the punching table (2) based on a preset transfer route; After determining the rotation correction amount of the electromagnetic chuck (16) based on the horizontal angle of the virtual straight line for cutting the waste material, the method further comprises: The rightmost / leftmost vertical dotted line corresponding to the first shape is constructed, and the lateral displacement corresponding to the rightmost / leftmost vertical dotted line of the first shape during the rotation correction process is simulated, and the imaging center point position of the camera (13) is determined based on the current position of the moving block (23), and then based on the first shape parameters, the imaging center point position and the lateral displacement, it is determined whether it has an intersection with the cutting line of the saw blade (4), and in the case of an intersection, a right / left shift correction instruction is added to the rotation instruction based on the horizontal distance between the rightmost point position / leftmost point position corresponding to the lateral displacement and the cutting line, so that when the electromagnetic suction cup (16) rotates the plate blank, the plate blank collides with the saw blade (4).

2. The control method of the intelligent trimming and punching device according to claim 1, characterized in that: The upper surface of the trimming table (1) is provided with a mounting groove (11), the saw blade (4) is vertically embedded in the mounting groove (11), and a material receiving box (3) is provided on the side of the trimming table (1) corresponding to the saw blade (4).

3. The control method of the intelligent trimming and punching device according to claim 1, characterized in that: A first movable groove (10) is horizontally opened on the side wall of the trimming table (1), a first screw rod (9) is rotatably installed in the first movable groove (10), the movable block (23) is a lying convex structure, the end of the movable block (23) is slidably embedded in the first movable groove (10), and is threadedly connected to the first screw rod (9).

4. The control method of the intelligent trimming and punching device according to claim 1, characterized in that: The interior of the moving block (23) is a hollow structure, and a first rotating motor (21) is embedded therein; a rotating disk (20) is rotatably mounted on the upper surface of the moving block (23), and the rotating disk (20) is fixedly connected to the bottom end surface of the vertical rod (19).

5. The control method of the intelligent trimming and punching device according to claim 1, characterized in that: A lifting groove (22) is vertically provided on the outer wall of the vertical rod (19); an outer ring sleeve (27) is fixedly connected to one end of the support beam (18) facing the vertical rod (19); the outer ring sleeve (27) is sleeved on the outside of the vertical rod (19); a lifting block (25) is fixedly connected to the inner wall of the outer ring sleeve (27); the lifting block (25) slides vertically along the lifting groove (22); an end of the lifting block (25) away from the inner wall of the outer ring sleeve (27) is fixedly connected to a connecting ring (26); the connecting ring (26) is located inside the vertical rod (19); a third screw rod (28) is vertically rotatably installed inside the vertical rod (19); the outer ring sleeve is threadedly connected to the third screw rod (28).

6. The control method of the intelligent trimming and punching device according to claim 1, characterized in that: A punching cylinder (35) is installed vertically through the top plate (6), a connecting block (34) is fixedly connected to the telescopic end of the punching cylinder (35), and the connecting block (34) is threadedly connected to the upper surface of the punching plate (31).

7. The control method of the intelligent trimming and punching device according to claim 6, characterized in that: Connecting frames (32) are symmetrically mounted on both sides of the upper surface of the top plate (6), the other end of the connecting frame (32) is fixedly connected to the side wall of the punching table (2), and a shift cylinder (33) is horizontally mounted on the connecting frame (32), the telescopic end of the shift cylinder (33) is connected to the outer wall of the movable plate (8).

8. The control method of the intelligent trimming and punching device according to claim 7, characterized in that: A clamping cylinder (36) is vertically mounted on the inner side wall of the movable plate (8); the clamping cylinder (36) is vertically arranged and located above the conveyor belt (30); a pressure block (12) is fixedly connected to the surface of the clamping cylinder (36) facing the conveyor belt (30).

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