Punch forming method and system for steel plate part, intelligent terminal and storage medium

Abstract

The invention relates to a punch forming method and system for a steel plate piece, an intelligent terminal and a storage medium, and relates to the technical field of automation, the method comprises the steps that a material piece combination is placed at an inlet of a conveying type heating device, and the material piece combination comprises at least two material pieces; in response to the fact that the material part combination leaves the conveying type heating device, the relative position of each material part in the material part combination and the posture of each material part are corrected through a deviation correcting device, the deviation correcting device is arranged at the bottom of the material part combination, the deviation correcting device comprises a limiting stopper, and the deviation correcting device limits the positions of the material parts by lifting the limiting stopper upwards; the material part combination is transferred into the stamping device through the feeding manipulator; stamping the material part combination to obtain a steel plate part product combination; and through the discharging manipulator, the steel plate product combination is transferred to the discharging conveying device from the stamping device. The device has the effects of improving the intelligence of steel plate product production and improving the manufacturing efficiency.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a stamping forming method, system, intelligent terminal and storage medium for steel plate parts. Background Art

[0002] The stamping of steel sheets plays a vital role in modern manufacturing. It can not only improve production efficiency, reduce costs, and ensure high precision, but also realize the processing of complex shapes. It is an ideal process for large-scale and low-cost production. With the continuous development and optimization of technology, stamping will show its unique advantages in more fields and promote the development and innovation of various industries.

[0003] Related technology After the material is heated to a first temperature, the material is transferred to a stamping device, and the material is stamped to obtain a steel plate product. After the steel plate product is cooled to a second temperature, the steel plate product needs to be manually taken out of the stamping device and transferred to a finished product stacking area.

[0004] With respect to the above-mentioned related technologies, the inventors believe that the process of manufacturing steel plate products has low intelligence and low manufacturing efficiency. Summary of the invention

[0005] In order to improve the intelligence of steel plate product production and improve manufacturing efficiency, the present application provides a stamping forming method, system, intelligent terminal and storage medium for steel plate products.

[0006] In a first aspect, the present application provides a stamping forming method for a steel plate, which adopts the following technical solution: A stamping method for a steel plate part, comprising: Placing a material assembly at an inlet of a conveyor-type heating device, wherein the material assembly includes at least two materials, and the conveyor-type heating device is used to heat the material assembly to a preset temperature; In response to the material assembly leaving the conveyor heating device, the relative position and posture of each material in the material assembly are corrected by a deviation correction device, wherein the deviation correction device is arranged at the bottom of the material assembly, and the deviation correction device includes a stopper, and the deviation correction device limits the position of the material by lifting the stopper upwards; The material combination is transferred to the stamping device by a loading robot; Punching the material combination to obtain a steel plate product combination; The steel plate product combination is transferred from the stamping device to the unloading conveying device through the unloading robot.

[0007] By adopting the above technical solution, a fully automatic production line for steel plate products is constructed using a conveying heating device, a correction device, a loading robot, a stamping device, a unloading robot and a unloading conveying device. This not only improves the intelligence of steel plate product production, but also improves the manufacturing efficiency of steel plate products.

[0008] Optionally, a surface image of the steel plate product combination is obtained by a camera; Using the surface image, identifying the amount of coolant remaining in each steel plate product in the steel plate product combination; When the amount of coolant remaining in the target steel plate product is greater than the coolant remaining threshold, the target blowing device on the unloading robot is turned on; the target blowing device is controlled to remove the coolant on the target steel plate product; and the target steel plate product is sucked up by the vacuum suction cup on the unloading robot; When the coolant residue of the target steel plate product is less than the coolant residue threshold, the target steel plate product is sucked by the vacuum suction cup on the unloading robot.

[0009] By adopting the above technical solution, before using the unloading robot to remove the target steel plate product, the coolant remaining on the target steel plate product will be removed to ensure that the vacuum suction cup can suck up the target steel plate product and prevent the target steel plate product from falling during the transfer process.

[0010] Optionally, the coolant distribution on the target steel plate product is obtained through the surface image; Performing a clustering operation on the coolant distribution to obtain a coolant clustering result, wherein the coolant clustering result includes a plurality of clusters; Obtaining the geometric center of the coolant clustering result on the target steel plate product; According to the position of the geometric center, obtaining a target edge on the target steel plate product away from the geometric center; Setting the blowing direction from the target edge to the geometric center; The target blowing device is controlled to blow along the blowing direction.

[0011] By adopting the above technical solution, the blowing direction of the blowing device can be controlled so that the blowing device can remove the coolant on the target steel plate product as much as possible, and the efficiency of the blowing device in removing the coolant is improved, thereby improving the manufacturing efficiency of the steel plate product.

[0012] Optionally, the blanking robot is close to a first side of the stamping device, and a second side of the stamping device is opposite to the first side; When the output power of the target blowing device is less than a power threshold, obtaining a target position of the target steel plate product in the stamping device; In the case where the number of products between the target position and the second side is less than a product number threshold, according to the target position, a candidate steel plate product adjacent to the target steel plate product and close to the second side is obtained, and a candidate blowing device corresponding to the candidate steel plate product is determined; the unloading robot is controlled to enter the stamping device from the first side until the candidate blowing device is aligned with the target steel plate product; and the candidate blowing device is controlled to remove the coolant on the target steel plate product; When the number of products between the target position and the second side is greater than the product number threshold, the unloading robot is controlled to enter the stamping device from the first side, and other blowing devices on the loading robot except the target blowing device are turned on; when the distance between the other blowing device and the target steel plate product is less than a preset distance, the other blowing devices are controlled to blow toward the target steel plate product.

[0013] By adopting the above technical solution, when the output power of the target blowing device is insufficient, other blowing devices on the unloading robot are used instead to ensure that the coolant on the target steel plate product can be removed promptly and thoroughly.

[0014] Optionally, when there are at least two other blowing devices, controlling the i-th other blowing device to blow along the first direction; Obtaining a rotation direction according to a relative position relationship between a coolant residual position on the target steel plate product and the first direction; Update the first direction according to the rotation direction to obtain a second direction; When the distance between the (i+1)th other blowing device and the target steel plate product is less than a preset distance, the (i+1)th other blowing device is controlled to blow along the second direction.

[0015] By adopting the above technical solution, when other blowing devices blow air to the target steel plate product, the air outlet direction of other blowing devices can be controlled so that the coolant on the target steel plate product can be fully blown away, thereby improving the success rate of the vacuum suction cup sucking the target steel plate product.

[0016] Optionally, in response to a target material in the material combination leaving the conveyor heating device, a current posture of the target material is acquired, and a target posture of the target material is acquired; When the similarity between the current posture and the target posture is less than a similarity threshold, a group of first stoppers corresponding to the target posture are lifted in the forward direction of the target material, and the distance between the first stoppers matches the size of the target material; When the distance between the target material and the first stopper is less than the preset deviation correction distance, the second stopper located at the bottom of the target material is lifted according to the current posture, and the second stopper is opposite to the first stopper.

[0017] By adopting the above technical solution, the posture of the target material can be corrected by the correction device when the target material leaves the conveyor heating device, so that the loading robot can accurately pick up multiple materials at one time, thereby improving the manufacturing efficiency of steel plate products.

[0018] Optionally, when the target material does not pass through the first stopper, a relative angle between the target material and the advancing direction is obtained; When the relative angle is less than the relative angle threshold, determine a target first stopper among the first stoppers according to the relative angle, and the target first stopper is located on the other side of the relative angle; lower the target first stopper; and after the target material passes through the target first stopper, raise the target first stopper; When the relative angle is greater than the relative angle threshold, a third stopper located at the bottom of the target material is acquired; the third stopper is controlled to be lifted at a preset speed, and the second stopper is lifted.

[0019] By adopting the above technical solution, the posture of the target material can be adjusted in time to ensure that the posture of the target material meets the requirements, thereby improving the accuracy of the loading robot in grasping the material and ensuring the manufacturing efficiency of the steel plate products.

[0020] In a second aspect, the present application provides a stamping forming system for steel plates, which adopts the following technical solution: A stamping forming system for a steel plate part, comprising: An acquisition module is used to acquire the relative position, the posture of each material, the surface image, the coolant residual threshold, the power threshold, the product quantity threshold, the coolant residual position, the current posture, the target posture, and the preset correction distance; A memory for storing a program of any one of the above-mentioned methods for stamping and forming a steel plate; The program in the processor memory can be loaded and executed by the processor to implement any of the above-mentioned stamping forming methods for steel plates.

[0021] By adopting the above technical solution, a fully automatic production line for steel plate products is constructed using a conveying heating device, a correction device, a loading robot, a stamping device, a unloading robot and a unloading conveying device. This not only improves the intelligence of steel plate product production, but also improves the manufacturing efficiency of steel plate products.

[0022] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution: An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any one of the above-mentioned methods.

[0023] In a fourth aspect, the present application provides a computer storage medium capable of storing corresponding programs, which is convenient for realizing the intelligentization of steel plate product production and improving manufacturing efficiency, and adopts the following technical solutions: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned stamping forming methods for steel plates.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. Use conveyor heating device, deviation correction device, loading manipulator, punching device, unloading manipulator and unloading conveying device to build a fully automatic production line for steel plate products, which not only improves the intelligent production of steel plate products, but also improves the manufacturing efficiency of steel plate products; 2. Before using the unloading manipulator to remove the target steel plate product, the coolant remaining on the target steel plate product will be removed to ensure that the vacuum suction cup can suck up the target steel plate product to prevent the target steel plate product from falling during the transfer process; 3. When the target material leaves the conveyor heating device, the posture of the target material can be corrected by the correction device, so that the loading robot can accurately pick up multiple materials at one time, thereby improving the manufacturing efficiency of steel plate products. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of a stamping forming device for a steel plate provided in an embodiment of the present application.

[0026] Figure 2 It is a structural schematic diagram of a correction device provided in an embodiment of the present application.

[0027] Figure 3 It is a schematic flow chart of a stamping forming method for a steel plate part provided in an embodiment of the present application.

[0028] Figure 4 It is a flow chart of a method for removing a steel plate product provided in an embodiment of the present application.

[0029] Figure 5 It is a flow chart of a first blowing method of a target blowing device provided in an embodiment of the present application.

[0030] Figure 6 It is a flow chart of a second blowing method of a target blowing device provided in an embodiment of the present application.

[0031] Figure 7 It is a structural schematic diagram of a stamping device provided in an embodiment of the present application.

[0032] Figure 8 It is a flow chart of a third blowing method of a target blowing device provided in an embodiment of the present application.

[0033] Fig. 9 It is a flow chart of a working method 1 of a deviation correction device provided in an embodiment of the present application.

[0034] Fig.10 It is a flow chart of a second working method of a deviation correction device provided in an embodiment of the present application.

[0035] Fig.11 It is a structural schematic diagram of a stamping forming system for a steel plate part provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figures 1 to 11 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0037] The present application embodiment discloses a stamping forming device for steel plate parts. Figure 1 The equipment includes: a conveying heating device 1, a deviation correction device 2, a loading robot 3, a punching device 4, a unloading robot 5 and an unloading conveying device 6.

[0038] The conveyor heating device 1 is composed of a conveyor belt and a heating furnace, and the heating furnace surrounds the conveyor belt. The conveyor belt is used to transport materials, and when the materials move together with the conveyor belt, the heating furnace can heat the materials. Further, the first end of the conveyor heating device 1 is provided with an initial material rack, on which materials are placed, and the second end of the conveyor heating device 1 is provided with a deviation correction device 2. Optionally, a material combination including at least two materials is placed on the conveyor heating device 1 by a robot.

[0039] The correction device 2 is used to adjust the relative position and posture of each material in the material combination so that each material in the material combination meets the preset standard. For example, please refer to Figure 2The correcting device 2 includes a limiter 21. The correcting device 2 limits the position of the material 7 by lifting the limiter 21 upward, so that each material 7 meets the preset standard, so that the loading robot 3 can pick up multiple materials 7 at one time.

[0040] The feeding robot 3 is used to transfer a plurality of pieces from the deviation correcting device 2 to the punching device 4. Optionally, a vacuum suction cup is installed on the feeding robot 3.

[0041] The punching device 4 is used to punch multiple pieces of material at the same time to obtain multiple steel plate products. Optionally, the punching device 4 includes a punching die, a driving system, a control system and a cooling system.

[0042] The loading robot 3 is used to transfer a plurality of steel plate products from the punching device 4 to the unloading conveying device 6. Optionally, a vacuum suction cup is installed on the unloading robot 5.

[0043] The unloading conveying device 6 is used to transfer the steel plate products to the finished product stacking area. The unloading conveying device 6 includes a conveyor belt.

[0044] The present application discloses a stamping method for a steel plate. Referring to FIG. 3 , the method includes: Step S301: placing a material assembly at an entrance of a conveyor-type heating device, wherein the material assembly includes at least two materials, and the conveyor-type heating device is used to heat the material assembly to a preset temperature.

[0045] Optionally, a robot is used to place the material combination at the entrance of the conveyor heating device.

[0046] The shapes of the various parts in the material combination can be the same or different. For example, one of the parts in the material combination is cylindrical and the other is a cuboid.

[0047] Exemplarily, when the material assembly moves in the conveyor heating device, the conveyor heating device heats the material assembly so that the temperature of the material assembly reaches a preset temperature. Further, when the material assembly moves in the conveyor heating device, it passes through different temperature zones in the conveyor heating device.

[0048] Step S302: In response to the material combination leaving the conveyor heating device, the relative position and posture of each material in the material combination are corrected by a correction device, the correction device is arranged at the bottom of the material combination, the correction device includes a limiter, and the correction device limits the position of the material by lifting the limiter upwards.

[0049] Optionally, an infrared sensor is provided at the exit of the conveyor-type heating device, and the infrared sensor can be used to detect whether the material combination leaves the conveyor-type heating device.

[0050] Optionally, a camera is provided at the exit of the conveyor heating device. The camera is used to obtain a material image of the material combination. When it is detected that the area of ​​the material combination in the material image is larger than a preset area, it is confirmed that the material combination has left the conveyor heating device.

[0051] Relative position is used to describe the positional relationship between different parts in the same part combination. For example, part A is located to the left of part B, and the shortest distance between part A and part B is 15 cm.

[0052] The pose of a material is used to describe the position and orientation of the material relative to a preset reference coordinate system.

[0053] Step S303: Transfer the material combination to the stamping device through the loading robot.

[0054] The punching device is provided with a plurality of punching dies, and the number of the punching dies is the same as the number of the material components of the material component combination.

[0055] Optionally, a plurality of vacuum suction cups are installed on the loading robot, and the number of vacuum suction cups is the same as the number of materials in the material combination. Exemplarily, the loading robot is moved above the material combination so that the vacuum suction cup on the loading robot is aligned with the material. The loading robot is lowered so that the vacuum suction cup contacts the material. The vacuum suction cup on the loading robot is started, and at this time, the vacuum suction cup will suck up the material. The loading robot is moved to the stamping die of the stamping device so that the material is aligned with the stamping die. The loading robot is lowered so that the material enters the stamping die. The vacuum suction cup is turned off, and the loading robot is moved out of the loading device.

[0056] Step S304: stamping the material combination to obtain a steel plate product combination.

[0057] The material combination is punched, and each material in the material combination is processed into a preset shape to obtain a steel plate product combination.

[0058] Step S305: The steel plate product combination is transferred from the stamping device to the unloading conveying device through the unloading robot.

[0059] Optionally, a plurality of vacuum suction cups are installed on the unloading robot, and the number of the vacuum suction cups is the same as the number of materials in the material combination.

[0060] By adopting the above technical solution, a fully automatic production line for steel plate products is constructed using a conveying heating device, a correction device, a loading robot, a stamping device, a unloading robot and a unloading conveying device. This not only improves the intelligence of steel plate product production, but also improves the manufacturing efficiency of steel plate products.

[0061] In the following embodiments, when stamping the material, coolant is usually used for cooling, but the coolant will remain on the surface of the stamped steel plate product, affecting the unloading robot to use the vacuum suction cup to suck up the steel plate product. To solve the above problem, the embodiment of the present application discloses a method for removing the steel plate product. Figure 4 , the method comprising: Step S401: Acquire a surface image of the steel plate product combination through a camera.

[0062] A camera is arranged below the unloading robot, and the camera is aimed at the steel plate product combination. The surface image includes a steel plate product.

[0063] Step S402: using the surface image, identifying the amount of coolant remaining in each steel plate product in the steel plate product combination.

[0064] Coolant residual amount is used to describe the coverage area or volume of coolant on the surface of steel plate products.

[0065] Exemplarily, an image recognition model is called to perform image recognition processing on the surface image to obtain the position distribution of the coolant on the steel plate product in the surface image. The coverage area of ​​the coolant is calculated based on the position distribution. The ratio between the coverage area of ​​the coolant and the surface area of ​​the steel plate product is calculated to obtain the residual amount of the coolant.

[0066] Step S403: when the coolant residual amount of the target steel plate product is greater than the coolant residual amount threshold, turn on the target blowing device on the unloading robot.

[0067] A plurality of blowing devices are arranged on the unloading manipulator, and the number of the blowing devices is consistent with the number of steel plate products in the steel plate product combination. The target blowing device is the blowing device on the unloading manipulator corresponding to the target steel plate product.

[0068] The coolant residual threshold is a preset empirical value. For example, the coolant residual threshold is 50%, which means that the coolant covers 50% of the area of ​​the steel plate product.

[0069] When the amount of coolant remaining on the target steel plate product is greater than the coolant remaining threshold, it means that there is too much coolant on the surface of the target steel plate product, which will affect the sealing effect of the vacuum suction cup and cause the vacuum suction cup to be unable to suck up the target steel plate product. Therefore, in this step, it is necessary to turn on the target blowing device to remove the coolant on the target steel plate product as much as possible.

[0070] Step S404: Control the target blowing device to remove the coolant on the target steel plate product.

[0071] In an optional implementation, the air outlet of the target blowing device is controlled to be aimed at the target steel plate product. The target blowing device is turned on. After the opening time of the target blowing device reaches a preset opening time, the target blowing device is turned off.

[0072] Step S405: Use the vacuum suction cup on the unloading robot to suck up the target steel plate product.

[0073] In some other embodiments, after the target blowing device is turned off, an updated surface image of the target steel plate product is obtained through a camera. The remaining coolant residue on the surface of the target steel plate product is obtained through the updated surface image. If the remaining coolant residue is greater than the coolant residue threshold, the target blowing device is turned on. If the remaining coolant residue is greater than the coolant residue threshold, the step of using the vacuum suction cup on the unloading manipulator to suck the target steel plate product is performed.

[0074] Step S406: When the coolant residual amount of the target steel plate product is less than the coolant residual amount threshold, the target steel plate product is sucked by the vacuum suction cup on the unloading robot.

[0075] When the coolant residue of the target steel plate product is less than the coolant residue threshold, it means that there is less coolant on the surface of the target steel plate product, which will not affect the sealing effect of the vacuum suction cup, and the vacuum suction cup can normally suck up the target steel plate product.

[0076] By adopting the above technical solution, before using the unloading robot to remove the target steel plate product, the coolant remaining on the target steel plate product will be removed to ensure that the vacuum suction cup can suck up the target steel plate product and prevent the target steel plate product from falling during the transfer process.

[0077] In the following embodiments, when using a target blowing device to remove the coolant on the surface of a target steel plate product, the blowing direction of the target blowing device can be adjusted to improve the removal efficiency of the coolant, thereby shortening the time for taking out the steel plate product and improving the manufacturing efficiency of the steel plate product. Therefore, the embodiment of the present application discloses a blowing method 1 of a target blowing device. Figure 5 , the method comprising: Step S501: obtaining the coolant distribution on the target steel plate product through the surface image.

[0078] Coolant distribution is used to describe the location of coolant on the target steel plate product.

[0079] Exemplarily, an image recognition model is called to perform image recognition processing on the surface image to obtain the coolant position on the target steel plate product, and a coolant distribution is generated according to the coolant position.

[0080] Step S502: performing clustering operation on the coolant distribution to obtain a coolant clustering result, wherein the coolant clustering result includes a plurality of clusters.

[0081] Optionally, the number of clusters is one or more.

[0082] Exemplarily, the coolant position is read from the coolant distribution. For the target coolant position in the coolant position, the shortest distance between the target coolant position and other coolant positions is calculated. If the shortest distance is less than a preset shortest distance, the target coolant position and other coolant positions are classified into the same cluster.

[0083] Step S503: Obtain the geometric center of the coolant clustering result on the target steel plate product.

[0084] The geometric center is the center or center point. The geometric center can be single or multiple.

[0085] Exemplarily, a fitting graph of the coolant clustering result is generated, and the fitting graph is a circle or a rectangle. If the fitting graph is a circle, the center of the fitting graph is used as the geometric center. If the fitting graph is a rectangle, the center point of the fitting graph is used as the geometric center.

[0086] In some other embodiments, the coverage area of ​​each cluster is calculated. The coverage area is sorted from large to small to obtain a coverage area sorting. According to the coverage area sorting, the first cluster ranked first in the coverage area sorting and the second cluster ranked second in the coverage area sorting are taken out. The coverage area difference between the first coverage area corresponding to the first cluster and the second coverage area corresponding to the second cluster is calculated. When the coverage area is greater than the coverage area threshold and the ratio of the second coverage area to the first coverage area is less than the coverage area ratio, the center of gravity of the first cluster is taken out as the geometric center. When the coverage area is less than the coverage area threshold or the ratio of the second coverage area to the first coverage area is greater than the coverage area ratio, the center of gravity of the first cluster is taken out as the first geometric center, and the center of gravity of the second cluster is removed as the second geometric center, and the third cluster ranked third in the coverage area sorting is taken out to repeat the operation. In other words, the ath cluster ranked ath in the coverage area sorting and the a+1th cluster ranked a+1th in the coverage area sorting are taken out, where a is a positive integer. Calculate the difference in coverage between the ath coverage area corresponding to the ath cluster and the a+1th coverage area corresponding to the a+1th cluster. Determine the geometric center based on the difference in coverage between the ath coverage area and the a+1th coverage area and the ratio of the a+1th coverage area to the ath coverage area.

[0087] Step S504: according to the position of the geometric center, obtain the target edge of the target steel plate product that is away from the geometric center.

[0088] Exemplarily, when the surface of the target steel plate product is rectangular, a pair of opposite sides on the target steel plate product is obtained, for example, the pair of sides is the length or width of the target steel plate product. According to the position of the geometric center, the target side away from the geometric center is taken out from the pair of sides.

[0089] Step S505: Setting the blowing direction from the target edge to the geometric center.

[0090] For example, the midpoint of the target edge is taken, and the direction from the center to the geometric center is set as the blowing direction.

[0091] Step S506: Control the target blowing device to blow along the blowing direction.

[0092] When the target blowing device blows along the blowing direction, the coolant on the target steel plate product will leave from the opposite side of the target edge, so that the coolant can leave from the closer opposite side, which not only shortens the time to remove the coolant, but also reduces the area passed by the coolant when leaving the target steel plate product, thereby reducing the impact of the coolant.

[0093] Furthermore, when there are multiple geometric centers, in order to ensure that the residual coolant can be removed as much as possible, multiple blowing directions are set according to the multiple geometric centers, and the target blowing device is controlled to blow in sequence according to the multiple blowing directions.

[0094] By adopting the above technical solution, the blowing direction of the blowing device can be controlled so that the blowing device can remove the coolant on the target steel plate product as much as possible, and the efficiency of the blowing device in removing the coolant is improved, thereby improving the manufacturing efficiency of the steel plate product.

[0095] In the following embodiments, when using a blowing device to remove coolant from a steel plate product, the output power of the blowing device is required to reach a certain level to achieve a better effect. However, in actual scenarios, the output power of the blowing device may be insufficient. For example, the blowing device is aged or fails, making it difficult for the blowing device to remove the coolant. To solve the above problems, the embodiment of the present application discloses a second blowing method for a target blowing device. Figure 6 , the method comprising: Step S601: when the output power of the target blowing device is less than the power threshold, the target position of the target steel plate product in the stamping device is obtained.

[0096] The blanking robot is close to a first side of the punching device, and a second side of the punching device is opposite to the first side.

[0097] The power threshold is a preset empirical value, for example, the power threshold is the rated power of the target blowing device.

[0098] Optionally, the steel plate products in the stamping device are arranged between the first side and the second side, and the steel plate products are numbered in sequence starting from the first side to obtain the serial number of each steel plate product in the stamping device. The serial number of the target steel plate product is used as the target position. For example, please refer to Figure 7 , taking the right side shown in the figure as the first side and the left side shown in the figure as the second side, the serial number of the steel plate product 701 located in the stamping device is 2.

[0099] Step S602: When the number of products between the target position and the second side is less than the product number threshold, obtain candidate steel plate products adjacent to the target steel plate product and close to the second side according to the target position, and determine the candidate blowing device corresponding to the candidate steel plate product.

[0100] The product quantity threshold is a preset empirical value. For example, the product quantity threshold is 2.

[0101] For example, please refer to Figure 7 If steel sheet product 701 is the target steel sheet product, steel sheet product 702 and steel sheet product 703 are both adjacent to steel sheet product 701, wherein steel sheet product 702 is close to the second side, and therefore steel sheet product 702 is a candidate steel sheet product.

[0102] Step S603: Control the unloading robot to enter the stamping device from the first side until the candidate blowing device is aligned with the target steel plate product.

[0103] Exemplarily, based on the length of the target steel sheet product to the first side and the position of the candidate blowing device on the unloading robot, the entry length of the unloading robot from the first side into the stamping device is set so that the candidate blowing device is aligned with the target steel sheet product.

[0104] Step S604: Control the candidate blowing device to remove the coolant on the target steel plate product.

[0105] Exemplarily, after the candidate blowing device is aligned with the target steel plate product, the unloading robot is kept stationary, and the candidate blowing device is turned on to blow air toward the target steel plate product, thereby removing the coolant on the target steel plate product through the candidate blowing device.

[0106] Step S605: When the number of products between the target position and the second side is greater than the product number threshold, control the unloading robot to enter the stamping device from the first side, and turn on other blowing devices on the loading robot except the target blowing device.

[0107] When the number of products between the target position and the second side is greater than the product number threshold, the unloading robot enters the stamping device from the first side and aligns the blowing device with the steel plate products one by one. A number of blowing devices will pass through the target steel plate products. Because the number of products is greater than the product number threshold, a sufficient number of blowing devices will pass through the target steel plate products during the movement of the unloading robot, which can ensure that the coolant on the target steel plate products can be removed relatively completely.

[0108] Step S606: When the distance between the other blowing devices and the target steel plate product is less than a preset distance, control the other blowing devices to blow air toward the target steel plate product.

[0109] The preset distance is a preset empirical value. The specific value of the preset distance can be adjusted according to actual needs.

[0110] By adopting the above technical solution, when the output power of the target blowing device is insufficient, other blowing devices on the unloading robot are used instead to ensure that the coolant on the target steel plate product can be removed promptly and thoroughly.

[0111] In the following embodiments, when other blowing devices blow air to the target steel plate product, in order to ensure the removal effect of the coolant, the blowing direction of each blowing device can be adjusted to achieve the complete removal of the coolant. Therefore, the embodiment of the present application discloses a blowing method three for the target blowing device. Figure 8 , the method comprising: Step S801: when there are at least two other blowing devices, control the i-th other blowing device to blow along a first direction.

[0112] The first direction can be Figure 5 The blowing direction of the embodiment shown may also be other directions.

[0113] Exemplarily, when the distance between the i-th other blowing device and the target steel plate product is less than a preset distance, the (i+1)-th other blowing device is controlled to blow along the first direction.

[0114] Step S802: Obtain the rotation direction according to the relative position relationship between the coolant residual position on the target steel plate product and the first direction.

[0115] The direction of rotation is either clockwise or counterclockwise.

[0116] In some embodiments, when the distance between the i-th other blowing device and the target steel plate product is greater than a preset distance, the i-th other blowing device is stopped from blowing air to the target steel plate product. A temporary surface image of the target steel plate product is acquired through a camera. The residual position of the coolant on the target steel plate product is determined through the surface image. The rotation direction is obtained according to the relative position relationship between the first direction and the residual position of the coolant.

[0117] In other embodiments, the rotation direction is a preset direction.

[0118] Step S803: Update the first direction according to the rotation direction to obtain a second direction.

[0119] In some embodiments, the first direction is updated according to the rotation direction so that the second direction passes through the above-mentioned coolant residual position.

[0120] In other embodiments, if the rotation direction is a preset direction, the preset angle is rotated according to the rotation direction to obtain the second direction.

[0121] Step S804: when the distance between the (i+1)th other blowing device and the target steel plate product is less than a preset distance, control the (i+1)th other blowing device to blow along the second direction.

[0122] Furthermore, when the distance between the i+1th other blowing device and the target steel plate product is less than the preset distance, a temporary surface image of the target steel plate product is acquired in real time. The position change of the coolant on the surface of the target steel plate product is acquired according to the temporary surface image. The second direction is adjusted according to the position change of the coolant so that the second direction passes through the position of the coolant.

[0123] By adopting the above technical solution, when other blowing devices blow air to the target steel plate product, the air outlet direction of other blowing devices can be controlled so that the coolant on the target steel plate product can be fully blown away, thereby improving the success rate of the vacuum suction cup sucking the target steel plate product.

[0124] In the following embodiment, after the material combination leaves the conveyor heating device, it is necessary to adjust the posture and relative position of each material to ensure that multiple materials can be identified and grasped by the loading robot. The embodiment of the present application discloses a working method of a deviation correction device. Fig. 9 , the method comprising: Step S901: in response to a target material in the material assembly leaving the conveyor heating device, obtaining a current posture of the target material and obtaining a target posture of the target material.

[0125] The target material is any one of the material combinations. The target posture refers to the posture of the material that can be recognized and absorbed by the loading robot.

[0126] Optionally, a camera is provided at the exit of the conveyor heating device. A target material image of the target material is obtained through the camera. When it is detected that the area of ​​the target material in the target material image is larger than a preset area, it is confirmed that the target material leaves the conveyor heating device. The current posture of the target material is obtained through the target material image.

[0127] Step S902: when the similarity between the current posture and the target posture is less than the similarity threshold, a group of first stoppers corresponding to the target posture are lifted in the forward direction of the target material, and the distance between the first stoppers matches the size of the target material.

[0128] The similarity threshold is a preset empirical value.

[0129] A group of first stoppers includes two first stoppers, and the two first stoppers are parallel to each other.

[0130] Exemplarily, the stoppers are arranged along the advancing direction. According to the current posture of the target material, the position information of the target material on the deviation correction device is obtained. According to the position information, the two linear positions closest to the target material are obtained, and the two linear positions are consistent with the arrangement positions of the stoppers along the advancing direction. The first stopper is determined at the two linear positions.

[0131] In some embodiments, when the target material is rectangular in the advancing direction, the side parallel to the advancing direction is used as the length of the target material, and the side perpendicular to the advancing direction is used as the width of the target material, the distance between the two first limiters is greater than the width of the target material, and the difference between the distance between the two first limiters and the width of the target material is less than the preset width difference.

[0132] Step S903: When the distance between the target material and the first stopper is less than the preset deviation correction distance, the second stopper located at the bottom of the target material is lifted according to the current posture, and the second stopper is positioned opposite to the first stopper.

[0133] The preset deviation correction distance is a preset empirical value, and is positively correlated with the moving speed of the material on the deviation correction device.

[0134] The first stopper and the second stopper are located on the same straight line.

[0135] Exemplarily, the second stopper located at the bottom of the target material is determined according to the current posture. The second stopper is lifted. At this time, the target material can be limited between the second stoppers by lifting the second stopper, and because the first stopper and the second stopper are located on the same straight line, the target material can pass between the first stoppers, thereby achieving the position limitation of the target material, so that the loading robot can accurately grab the material.

[0136] By adopting the above technical solution, the posture of the target material can be corrected by the correction device when the target material leaves the conveyor heating device, so that the loading robot can accurately pick up multiple materials at one time, thereby improving the manufacturing efficiency of steel plate products.

[0137] The present application embodiment discloses a second working method of a deviation correction device. Fig.10 , the method comprising: Step S1001: when the target material does not pass through the first stopper, obtain the relative angle between the target material and the advancing direction.

[0138] The relative angle refers to the angle between the preset axis of the target material and the advancing direction. Optionally, when the target material is a cuboid, the preset axis is the length of the target material.

[0139] Step S1002: when the relative angle is less than the relative angle threshold, determining a target first stopper among the first stoppers according to the relative angle, the target first stopper being located on the other side of the relative angle.

[0140] The relative angle threshold is a preset empirical value. Relevant personnel can adjust the specific value of the relative angle threshold according to needs.

[0141] Exemplarily, when the relative angle is less than the relative angle threshold, a stopper close to the target material is determined among the first stoppers as the target first stopper.

[0142] Step S1003: lowering the target first limiter.

[0143] Exemplarily, the target first stopper is lowered so that the height of the target first stopper is lower than the lowest end of the target material. At this time, the target first stopper will not affect the movement of the target material.

[0144] Step S1004: After the target material passes through the target first stopper, lift the target first stopper.

[0145] After the target material passes through the target first stopper, the target first stopper is lifted to limit the position of the target material to ensure that the target material can be confined between the two first stoppers.

[0146] Step S1005: when the relative angle is greater than the relative angle threshold, a third stopper located at the bottom of the target material is obtained.

[0147] Exemplarily, when the relative angle is greater than the relative angle threshold, a physical image including the target material is acquired through a camera, coordinates of the target material on the deviation correction device are determined based on the physical image, and a third stopper located at the bottom of the target material is determined based on the aforementioned coordinates.

[0148] Step S1006: Control the third limiter to be lifted at a preset speed, and lift the second limiter.

[0149] The preset speed is a preset experience value, and relevant personnel can adjust the specific value of the preset speed according to actual needs.

[0150] By adopting the above technical solution, the posture of the target material can be adjusted in time to ensure that the posture of the target material meets the requirements, thereby improving the accuracy of the loading robot in grasping the material and ensuring the manufacturing efficiency of the steel plate products.

[0151] Based on the same inventive concept, the present application embodiment provides a stamping forming system for steel plates, please refer to Fig.11 The system comprises: The acquisition module 1101 is used to acquire the relative position, the posture of each material, the surface image, the coolant residual threshold, the power threshold, the product quantity threshold, the coolant residual position, the current posture, the target posture, and the preset correction distance; A memory 1102, used for storing a program of any one of the above-mentioned stamping forming methods of a steel plate part; Processor 1103, the program in the memory can be loaded and executed by the processor to implement any of the above-mentioned stamping forming methods of steel plates.

[0152] By adopting the above technical solution, a fully automatic production line for steel plate products is constructed using a conveying heating device, a correction device, a loading robot, a stamping device, a unloading robot and a unloading conveying device. This not only improves the intelligence of steel plate product production, but also improves the manufacturing efficiency of steel plate products.

[0153] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0154] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed for a stamping forming method of a steel plate part.

[0155] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0156] Based on the same inventive concept, an embodiment of the present application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a stamping forming method for steel plates.

[0157] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0158] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A stamping method for a steel plate part, characterized in that: The method comprises: Placing a material assembly at an inlet of a conveyor-type heating device, wherein the material assembly includes at least two materials, and the conveyor-type heating device is used to heat the material assembly to a preset temperature; In response to the material assembly leaving the conveyor heating device, the relative position and posture of each material in the material assembly are corrected by a deviation correction device, wherein the deviation correction device is arranged at the bottom of the material assembly, and the deviation correction device includes a stopper, and the deviation correction device limits the position of the material by lifting the stopper upwards; The material combination is transferred to the stamping device by a loading robot; Punching the material combination to obtain a steel plate product combination; Acquire a surface image of the steel plate product combination by using a camera; Using the surface image, identifying the amount of coolant remaining in each steel plate product in the steel plate product combination; When the amount of coolant remaining in the target steel plate product is greater than the coolant remaining threshold, the target blowing device on the unloading robot is turned on; the target blowing device is controlled to remove the coolant on the target steel plate product; and the target steel plate product is sucked up by the vacuum suction cup on the unloading robot; wherein the step of controlling the target blowing device to remove the coolant on the target steel plate product comprises: obtaining the coolant distribution on the target steel plate product through the surface image; performing clustering operation on the coolant distribution to obtain a coolant clustering result, wherein the coolant clustering result comprises a plurality of clustering clusters; obtaining the geometric center of the coolant clustering result on the target steel plate product; obtaining a target edge on the target steel plate product away from the geometric center according to the position of the geometric center; setting a blowing direction from the target edge to the geometric center; and controlling the target blowing device to blow along the blowing direction; When the coolant residual amount of the target steel plate product is less than the coolant residual amount threshold, using the vacuum suction cup on the unloading manipulator to suck the target steel plate product; The steel plate product combination is transferred from the stamping device to the unloading conveying device through the unloading robot.

2. The stamping forming method of a steel plate according to claim 1, characterized in that: The blanking robot is close to a first side of the punching device, and a second side of the punching device is opposite to the first side; The method further comprises: When the output power of the target blowing device is less than a power threshold, obtaining a target position of the target steel plate product in the stamping device; In the case where the number of products between the target position and the second side is less than a product number threshold, according to the target position, a candidate steel plate product adjacent to the target steel plate product and close to the second side is obtained, and a candidate blowing device corresponding to the candidate steel plate product is determined; the unloading robot is controlled to enter the stamping device from the first side until the candidate blowing device is aligned with the target steel plate product; and the candidate blowing device is controlled to remove the coolant on the target steel plate product; When the number of products between the target position and the second side is greater than the product number threshold, the unloading robot is controlled to enter the stamping device from the first side, and other blowing devices on the loading robot except the target blowing device are turned on; when the distance between the other blowing device and the target steel plate product is less than a preset distance, the other blowing devices are controlled to blow toward the target steel plate product.

3. The stamping forming method of a steel plate according to claim 2, characterized in that: The method further comprises: When there are at least two other blowing devices, controlling the i-th other blowing device to blow air in a first direction; Obtaining a rotation direction according to a relative position relationship between a coolant residual position on the target steel plate product and the first direction; Update the first direction according to the rotation direction to obtain a second direction; When the distance between the (i+1)th other blowing device and the target steel plate product is less than a preset distance, the (i+1)th other blowing device is controlled to blow along the second direction.

4. The stamping forming method of a steel plate according to claim 1, characterized in that: The method further comprises: In response to a target material in the material assembly leaving the conveyor heating device, obtaining a current posture of the target material and obtaining a target posture of the target material; When the similarity between the current posture and the target posture is less than a similarity threshold, a group of first stoppers corresponding to the target posture are lifted in the forward direction of the target material, and the distance between the first stoppers matches the size of the target material; When the distance between the target material and the first stopper is less than the preset deviation correction distance, the second stopper located at the bottom of the target material is lifted according to the current posture, and the second stopper is opposite to the first stopper.

5. The stamping forming method of a steel plate according to claim 4, characterized in that: The method further comprises: When the target material does not pass through the first stopper, obtaining a relative angle between the target material and the advancing direction; When the relative angle is less than the relative angle threshold, determine a target first stopper among the first stoppers according to the relative angle, and the target first stopper is located on the other side of the relative angle; lower the target first stopper; and after the target material passes through the target first stopper, raise the target first stopper; When the relative angle is greater than the relative angle threshold, a third stopper located at the bottom of the target material is acquired; the third stopper is controlled to be lifted at a preset speed, and the second stopper is lifted.

6. A stamping forming system for steel plate parts, characterized in that: The system comprises: An acquisition module is used to acquire the relative position, the posture of each material, the surface image, the coolant residual threshold, the power threshold, the product quantity threshold, the coolant residual position, the current posture, the target posture, and the preset correction distance; A memory for storing a program of a stamping forming method for a steel plate part according to any one of claims 1 to 5; The program in the memory can be loaded and executed by the processor to implement the stamping forming method of the steel sheet part as described in any one of claims 1 to 5.

7. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 5.

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