A stamping method, system, intelligent terminal and storage medium for steel plate parts

Abstract

The present application relates to a stamping forming method, system, intelligent terminal and storage medium for steel plate parts, and relates to the field of automation technology. The method includes: placing a workpiece combination at the entrance of a conveyor heating device, where the workpiece combination includes at least two workpieces; in response to the workpiece combination leaving the conveyor heating device, correcting the relative positions and postures of each workpiece in the workpiece combination through a rectifying device, the rectifying device is arranged at the bottom of the workpiece combination, the rectifying device includes a stopper, and the rectifying device restricts the position of the workpiece by lifting the stopper upward; transferring the workpiece combination to a stamping device through a loading manipulator; stamping the workpiece combination to obtain a steel plate part product combination; and transferring the steel plate part product combination from the stamping device to a blanking conveyor device through an unloading manipulator. The present application has the effects of improving the intelligence of the production of steel plate part products 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:

[0007] A stamping method for a steel plate part, comprising:

[0008] 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;

[0009] 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;

[0010] The material combination is transferred to the stamping device by a loading robot;

[0011] Punching the material combination to obtain a steel plate product combination;

[0012] Transfer the steel plate product combination from the stamping device to the blanking conveying device through a blanking manipulator.

[0013] By adopting the above technical solution, a production line for fully automatically producing steel plate products is constructed using a conveying type heating device, a deviation rectifying device, a loading manipulator, a stamping device, a blanking manipulator, and a blanking conveying device, which not only improves the intelligence of steel plate product production but also improves the manufacturing efficiency of steel plate products.

[0014] Optionally, obtain the surface image of the steel plate product combination through a camera;

[0015] Utilize the surface image to identify the coolant residue amount of each steel plate product in the steel plate product combination;

[0016] When the coolant residue amount of the target steel plate product is greater than the coolant residue amount threshold, turn on the target blowing device on the blanking manipulator; control the target blowing device to remove the coolant on the target steel plate product; use the vacuum suction cup on the blanking manipulator to suck the target steel plate product;

[0017] When the coolant residue amount of the target steel plate product is less than the coolant residue amount threshold, use the vacuum suction cup on the blanking manipulator to suck the target steel plate product.

[0018] By adopting the above technical solution, before using the blanking manipulator to remove the target steel plate product, the residual coolant 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.

[0019] Optionally, obtain the coolant distribution on the target steel plate product through the surface image;

[0020] Perform a clustering operation on the coolant distribution to obtain a coolant clustering result, and the coolant clustering result includes several clustering clusters;

[0021] Obtain the geometric center of the coolant clustering result on the target steel plate product;

[0022] According to the position of the geometric center, obtain the target edge on the target steel plate product that is far from the geometric center;

[0023] Set a blowing direction from the target edge to the geometric center;

[0024] Control the target blowing device to blow air along the blowing direction.

[0025] 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.

[0026] Optionally, the blanking manipulator is close to the first side of the stamping device, and the second side of the stamping device is opposite to the first side;

[0027] When the output power of the target blowing device is less than the power threshold, obtain the target position of the target steel plate product in the stamping device;

[0028] When the number of products between the target position and the second side is less than the product quantity threshold, according to the target position, obtain the candidate steel plate product adjacent to and close to the second side of the target steel plate product, and determine the candidate blowing device corresponding to the candidate steel plate product; control the blanking manipulator to enter the stamping device from the first side until the candidate blowing device is aligned with the target steel plate product; control the candidate blowing device to remove the coolant on the target steel plate product;

[0029] When the number of products between the target position and the second side is greater than the product quantity threshold, control the blanking manipulator to enter the stamping device from the first side, and turn on other blowing devices on the loading manipulator except the target blowing device; when the distance between the other blowing device and the target steel plate product is less than the preset distance, control the other blowing device to blow air to the target steel plate product.

[0030] By adopting the above technical solution, when the output power of the target blowing device is insufficient, other blowing devices on the blanking manipulator are used to replace it, ensuring that the coolant on the target steel plate product can be removed in time and thoroughly.

[0031] Optionally, when there are at least two other blowing devices, control the i-th other blowing device to blow air in the first direction;

[0032] According to the relative position relationship between the coolant residue position on the target steel plate product and the first direction, obtain the rotation direction;

[0033] Update the first direction according to the rotation direction to obtain the second direction;

[0034] When the distance between the (i + 1)-th other blowing device and the target steel plate product is less than the preset distance, control the (i + 1)-th other blowing device to blow air in the second direction.

[0035] By adopting the above technical solution, when other blowing devices blow air onto 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 dispersed, and the success rate of the vacuum chuck sucking the target steel plate product is improved.

[0036] Optionally, in response to the target workpiece in the workpiece combination leaving the conveyor heating device, obtain the current posture of the target workpiece and obtain the target posture of the target workpiece;

[0037] When the similarity between the current posture and the target posture is less than the similarity threshold, in the advancing direction of the target workpiece, lift a set of first limiters corresponding to the target posture, and the distance between the first limiters matches the size of the target workpiece;

[0038] When the distance between the target workpiece and the first limiter is less than the preset deviation correction distance, lift the second limiter located at the bottom of the target workpiece according to the current posture, and the second limiter is opposite to the position of the first limiter.

[0039] By adopting the above technical solution, when the target workpiece leaves the conveyor heating device, the posture of the target workpiece can be corrected by the deviation correction device, so that the loading manipulator can accurately pick up multiple workpieces at one time, and the manufacturing efficiency of the steel plate product is improved.

[0040] Optionally, when the target workpiece does not pass through the first limiter, obtain the relative angle between the target workpiece and the advancing direction;

[0041] When the relative angle is less than the relative angle threshold, determine the target first limiter in the first limiters according to the relative angle, and the target first limiter is located on the other side of the relative angle; lower the target first limiter; after the target workpiece passes through the target first limiter, lift the target first limiter;

[0042] When the relative angle is greater than the relative angle threshold, obtain the third limiter located at the bottom of the target workpiece; control the third limiter to lift at a preset speed and lift the second limiter.

[0043] By adopting the above technical solution, the posture of the target workpiece can be adjusted in time to ensure that the posture of the target workpiece meets the requirements, thereby improving the accuracy of the loading manipulator to grasp the workpiece and ensuring the manufacturing efficiency of the steel plate product.

[0044] In a second aspect, the present application provides a stamping and forming system for steel plate parts, adopting the following technical solution:

[0045] A stamping and forming system for steel plate parts, comprising:

[0046] An acquisition module, configured to acquire relative positions, the postures of each workpiece, surface images, a coolant residue amount threshold, a power threshold, a product quantity threshold, coolant residue positions, current postures, target postures, and a preset deviation correction distance;

[0047] A memory, configured to store programs of the stamping and forming methods for steel plate parts in any one of the above;

[0048] A processor, the programs in the memory can be loaded and executed by the processor and implement the stamping and forming methods for steel plate parts in any one of the above.

[0049] By adopting the above technical solutions, a production line for fully automatically producing steel plate part products is constructed using a conveyor heating device, a deviation correction device, a loading manipulator, a stamping device, an unloading manipulator, and an unloading conveyor device, which not only improves the intelligence of steel plate part product production but also improves the manufacturing efficiency of steel plate part products.

[0050] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solutions:

[0051] An intelligent terminal, comprising a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory, which is any one of the methods described above.

[0052] In a fourth aspect, the present application provides a computer storage medium, which can store corresponding programs and has the characteristics of facilitating the improvement of the intelligence of steel plate part product production and improving the manufacturing efficiency. The following technical solutions are adopted:

[0053] A computer-readable storage medium stores a computer program capable of being loaded and executed by the processor for any one of the stamping and forming methods of the above steel plate parts.

[0054] In summary, the present application includes at least one of the following beneficial technical effects:

[0055] 1. A production line for fully automatically producing steel plate part products is constructed using a conveyor heating device, a deviation correction device, a loading manipulator, a stamping device, an unloading manipulator, and an unloading conveyor device, which not only improves the intelligence of steel plate part product production but also improves the manufacturing efficiency of steel plate part products;

[0056] 2. Before using the unloading manipulator to remove the target steel plate part product, the residual coolant on the target steel plate part product will be removed to ensure that the vacuum suction cup can pick up the target steel plate part product and prevent the target steel plate part product from falling during the transfer process;

[0057] 3. When the target workpiece leaves the conveyor-type heating device, the posture of the target workpiece can be corrected by the deviation correction device, so that the loading manipulator can accurately pick up multiple workpieces at one time, improving the manufacturing efficiency of steel plate products. Brief Description of the Drawings

[0058] Figure 1 is a schematic diagram of a stamping forming device for steel plate parts provided by an embodiment of the present application.

[0059] Figure 2 is a schematic structural diagram of a deviation correction device provided by an embodiment of the present application.

[0060] Figure 3 is a schematic flow chart of a stamping forming method for steel plate parts provided by an embodiment of the present application.

[0061] Figure 4 is a schematic flow chart of a method for taking out a steel plate product provided by an embodiment of the present application.

[0062] Figure 5 is a schematic flow chart of a blowing method 1 of a target blowing device provided by an embodiment of the present application.

[0063] Figure 6 is a schematic flow chart of a blowing method 2 of a target blowing device provided by an embodiment of the present application.

[0064] Figure 7 is a schematic structural diagram of a stamping device provided by an embodiment of the present application.

[0065] Figure 8 is a schematic flow chart of a blowing method 3 of a target blowing device provided by an embodiment of the present application.

[0066] Fig. 9 is a schematic flow chart of a working method 1 of a deviation correction device provided by an embodiment of the present application.

[0067] Fig.10 is a schematic flow chart of a working method 2 of a deviation correction device provided by an embodiment of the present application.

[0068] Fig.11 is a schematic structural diagram of a stamping forming system for steel plate parts provided by an embodiment of the present application. Detailed Description of the Embodiments

[0069] In order to make the objectives, technical solutions and advantages of the present application clearer, the following further describes the present application in detail with reference to the accompanying Figures 1 to 11 drawings and embodiments. 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.

[0070] An embodiment of the present application discloses a stamping and forming device for steel plate parts. Refer to Figure 1 , the device includes: a conveyor heating device 1, a deviation rectifying device 2, a loading manipulator 3, a stamping device 4, an unloading manipulator 5, and an unloading conveyor device 6.

[0071] 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 the workpiece. When the workpiece moves together with the conveyor belt, the heating furnace can heat the workpiece. Further, an initial workpiece rack is provided at the first end of the conveyor heating device 1, and workpieces are placed on the initial workpiece rack. A deviation rectifying device 2 is provided at the second end of the conveyor heating device 1. Optionally, a workpiece combination including at least two workpieces is placed on the conveyor heating device 1 by a manipulator.

[0072] The deviation rectifying device 2 is used to adjust the relative positions and postures of each workpiece in the workpiece combination so that each workpiece in the workpiece combination meets a preset standard. Exemplarily, please refer to Figure 2 , the deviation rectifying device 2 includes a stopper 21. The deviation rectifying device 2 restricts the position of the workpiece 7 by lifting the stopper 21 upward so that each workpiece 7 meets the preset standard, so that the loading manipulator 3 can pick up multiple workpieces 7 at one time.

[0073] The loading manipulator 3 is used to transfer multiple workpieces from the deviation rectifying device 2 to the stamping device 4. Optionally, vacuum suction cups are installed on the loading manipulator 3.

[0074] The stamping device 4 is used to perform stamping processing on multiple workpieces simultaneously to obtain multiple steel plate part products. Optionally, the stamping device 4 includes a stamping die, a drive system, a control system, and a cooling system.

[0075] The unloading manipulator 3 is used to transfer multiple steel plate part products from the stamping device 4 to the unloading conveyor device 6. Optionally, vacuum suction cups are installed on the unloading manipulator 5.

[0076] The unloading conveyor device 6 is used to transfer the steel plate part products to the finished product stacking area. The unloading conveyor device 6 includes a conveyor belt.

[0077] An embodiment of the present application discloses a stamping and forming method for steel plate parts. Refer to Figure 3, the method includes:

[0078] Step S301: Place the workpiece combination at the inlet of the conveyor heating device. The workpiece combination includes at least two workpieces, and the conveyor heating device is used to heat the workpiece combination to a preset temperature.

[0079] Optionally, use a manipulator to place the workpiece combination at the inlet of the conveyor heating device.

[0080] The shapes of the individual components in the component combination can be the same or different. For example, one component in the component combination is cylindrical and the other component is cuboid.

[0081] Exemplarily, when the component combination moves in the conveyor heating device, the conveyor heating device heats the component combination to make the temperature of the component combination reach the preset temperature. Further, when the component combination moves in the conveyor heating device, it will pass through different temperature zones in the conveyor heating device.

[0082] Step S302: In response to the component combination leaving the conveyor heating device, correct the relative positions and the postures of each component in the component combination through a rectifying device. The rectifying device is arranged at the bottom of the component combination. The rectifying device includes a limiter, and the rectifying device restricts the position of the component by lifting the limiter upward.

[0083] Optionally, an infrared sensor is arranged at the outlet of the conveyor heating device, and whether the component combination leaves the conveyor heating device can be detected through the infrared sensor.

[0084] Optionally, a camera is arranged at the outlet of the conveyor heating device. Obtain the component image of the component combination through the camera. When it is detected that the area of the component combination in the component image is greater than the preset area, confirm that the component combination leaves the conveyor heating device.

[0085] The relative position is used to describe the positional relationship between different components in the same component combination. For example, component A is located on the left side of component B, and the shortest distance between component A and component B is 15 cm.

[0086] The posture of the component is used to describe the position and direction of the component relative to the preset reference coordinate system.

[0087] Step S303: Transfer the component combination to the stamping device through the loading manipulator.

[0088] A number of stamping dies are arranged on the stamping device, and the number of stamping dies is the same as the number of components in the component combination.

[0089] Optionally, a number of vacuum suction cups are installed on the loading manipulator, and the number of vacuum suction cups is the same as the number of components in the component combination. Exemplarily, move the loading manipulator above the component combination so that the vacuum suction cups on the loading manipulator are aligned with the components. Lower the loading manipulator so that the vacuum suction cups contact the components. Start the vacuum suction cups on the loading manipulator. At this time, the vacuum suction cups will lift the components. Move the loading manipulator to the stamping die of the stamping device so that the components are aligned with the stamping die. Lower the loading manipulator so that the components enter the stamping die. Turn off the vacuum suction cups and move the loading manipulator out of the loading device.

[0090] Step S304: Stamp the combined workpiece to obtain a combined steel plate workpiece product.

[0091] Stamp the combined workpiece, process each workpiece in the combined workpiece into a preset shape, and obtain a combined steel plate workpiece product.

[0092] Step S305: Use a blanking manipulator to transfer the combined steel plate workpiece product from the stamping device to the blanking conveying device.

[0093] Optionally, several vacuum suction cups are installed on the blanking manipulator, and the number of vacuum suction cups is the same as the number of workpieces in the combined workpiece.

[0094] By adopting the above technical solution, a production line for automatically producing steel plate workpiece products is constructed using a conveyor-type heating device, a rectifying device, a loading manipulator, a stamping device, a blanking manipulator, and a blanking conveying device, which not only improves the intelligence of the production of steel plate workpiece products but also improves the manufacturing efficiency of steel plate workpiece products.

[0095] In the following embodiments, when stamping workpieces, coolant is usually used for cooling. However, the coolant will remain on the surface of the stamped steel plate workpiece product, affecting the use of the vacuum suction cup of the blanking manipulator to pick up the steel plate workpiece product. To solve the foregoing problems, an embodiment of the present application discloses a method for taking out a steel plate workpiece product. Refer to Figure 4 , the method includes:

[0096] Step S401: Obtain a surface image of the combined steel plate workpiece product through a camera.

[0097] A camera is provided below the blanking manipulator, and the camera is aligned with the combined steel plate workpiece product. The surface image includes a steel plate workpiece product.

[0098] Step S402: Use the surface image to identify the coolant residue amount of each steel plate workpiece product in the combined steel plate workpiece product.

[0099] The coolant residue amount is used to describe the coverage area or volume of the coolant on the surface of the steel plate workpiece product.

[0100] Exemplarily, call an image recognition model to perform image recognition processing on the surface image to obtain the position distribution of the coolant on the steel plate workpiece product in the surface image. Calculate the coverage area of the coolant according to the position distribution. Calculate the ratio between the coverage area of the coolant and the surface area of the steel plate workpiece product to obtain the coolant residue amount.

[0101] Step S403: When the coolant residue amount of the target steel plate workpiece product is greater than the coolant residue amount threshold, turn on the target blowing device on the blanking manipulator.

[0102] A number of blowing devices are provided on the blanking manipulator, and the number of blowing devices is the same as the number of steel plate products in the steel plate product combination. The target blowing device is the blowing device on the blanking manipulator corresponding to the target steel plate product.

[0103] The coolant residue threshold is a preset empirical value. For example, the coolant residue threshold is 50%, that is, the coolant covers 50% of the area of the steel plate product.

[0104] When the coolant residue on the target steel plate product is greater than the coolant residue threshold, it indicates that there is too much coolant on the surface of the target steel plate product, which will affect the sealing effect of the vacuum chuck and cause the vacuum chuck to be unable to pick 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.

[0105] Step S404: Control the target blowing device to remove the coolant on the target steel plate product.

[0106] In an alternative embodiment, the air outlet of the target blowing device is aligned with the target steel plate product. The target blowing device is turned on. After the opening duration of the target blowing device reaches the preset opening duration, the target blowing device is turned off.

[0107] Step S405: Use the vacuum chuck on the blanking manipulator to pick up the target steel plate product.

[0108] 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 chuck on the blanking manipulator to pick up the target steel plate product is executed.

[0109] Step S406: When the coolant residue on the target steel plate product is less than the coolant residue threshold, use the vacuum chuck on the blanking manipulator to pick up the target steel plate product.

[0110] When the coolant residue on the target steel plate product is less than the coolant residue threshold, it indicates that there is less coolant on the surface of the target steel plate product, which will not affect the sealing effect of the vacuum chuck, and the vacuum chuck can pick up the target steel plate product normally.

[0111] By adopting the above technical solution, before using the blanking manipulator to remove the target steel plate product, the residual coolant on the target steel plate product will be removed to ensure that the vacuum chuck can pick up the target steel plate product and prevent the target steel plate product from falling during the transfer process.

[0112] In the following embodiments, when using the target blowing device to remove the coolant on the surface of the 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 embodiments of the present application disclose a blowing method for a target blowing device. Refer to Figure 5 , the method includes:

[0113] Step S501: Obtain the coolant distribution on the target steel plate product through the surface image.

[0114] The coolant distribution is used to describe the position of the coolant on the target steel plate product.

[0115] Exemplarily, call the image recognition model to perform image recognition processing on the surface image to obtain the coolant position on the target steel plate product. Generate the coolant distribution according to the coolant position.

[0116] Step S502: Perform a clustering operation on the coolant distribution to obtain a coolant clustering result, where the coolant clustering result includes several clustering clusters.

[0117] Optionally, the number of clustering clusters is one or more.

[0118] Exemplarily, read the coolant positions from the coolant distribution. For the target coolant position among the coolant positions, calculate the shortest distance between the target coolant position and other coolant positions. If the shortest distance is less than the preset shortest distance, classify the target coolant position and other coolant positions into the same clustering cluster.

[0119] Step S503: Obtain the geometric center of the coolant clustering result on the target steel plate product.

[0120] The geometric center is the center or the central point. Among them, the geometric center can be single or multiple.

[0121] Exemplarily, generate a fitting graph of the coolant clustering result, and the fitting graph is a circle or a rectangle. If the fitting graph is a circle, use the center of the fitting graph as the geometric center. If the fitting graph is a rectangle, use the central point of the fitting graph as the geometric center.

[0122] In some other embodiments, the coverage area of each clustering cluster is calculated. The coverage areas are sorted from largest to smallest to obtain a coverage area sorting. According to the coverage area sorting, the first clustering cluster ranked first in the coverage area sorting and the second clustering cluster ranked second in the coverage area sorting are taken out. The coverage area difference between the first coverage area corresponding to the first clustering cluster and the second coverage area corresponding to the second clustering cluster is calculated. In the case where 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 centroid of the first clustering cluster is taken out as the geometric center. In the case where 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 centroid of the first clustering cluster is taken out as the first geometric center, and the centroid of the second clustering cluster is removed as the second geometric center, and the third clustering cluster ranked third in the coverage area sorting is taken out for repeated operations. In other words, the a-th clustering cluster ranked a-th in the coverage area sorting and the (a + 1)-th clustering cluster ranked (a + 1)-th in the coverage area sorting are taken out, where a is a positive integer. The coverage area difference between the a-th coverage area corresponding to the a-th clustering cluster and the (a + 1)-th coverage area corresponding to the (a + 1)-th clustering cluster is calculated. The geometric center is determined according to the coverage area difference between the a-th coverage area and the (a + 1)-th coverage area and the ratio of the (a + 1)-th coverage area to the a-th coverage area.

[0123] Step S504: According to the position of the geometric center, obtain the target edge on the target steel plate product that is far from the geometric center.

[0124] Exemplarily, when the surface of the target steel plate product is rectangular, a pair of opposite sides on the target steel plate product are obtained. For example, a pair of sides are the length or width of the target steel plate product. According to the position of the geometric center, the target edge that is far from the geometric center is taken out from the pair of sides.

[0125] Step S505: Set the blowing direction from the target edge to the geometric center.

[0126] Exemplarily, take the midpoint of the target edge. Set the direction from the midpoint to the geometric center as the blowing direction.

[0127] Step S506: Control the target blowing device to blow air along the blowing direction.

[0128] When the target blowing device blows air 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 relatively closer opposite side, which not only shortens the time to remove the coolant, but also reduces the area passed by the coolant when the coolant leaves the target steel plate product, reducing the influence of the coolant.

[0129] Further, 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. The target blowing device is controlled to blow air in sequence according to the multiple blowing directions.

[0130] 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.

[0131] In the following embodiments, when using the blowing device to remove the coolant on the steel plate product, it is required that the output power of the blowing device can reach a certain amount to obtain better results. However, in actual scenarios, the output power of the blowing device may be insufficient. For example, the blowing device is aging or the blowing device fails, resulting in difficulty in removing the coolant by the blowing device. To solve the foregoing problems, the embodiments of the present application disclose a second blowing method for a target blowing device. Refer to Figure 6 , the method includes:

[0132] Step S601: When the output power of the target blowing device is less than the power threshold, obtain the target position of the target steel plate product in the stamping device.

[0133] The blanking manipulator is close to the first side of the stamping device, and the second side of the stamping device is opposite to the first side.

[0134] The power threshold is a preset empirical value. For example, the power threshold is the rated power of the target blowing device.

[0135] Optionally, the steel plate products in the stamping device are arranged between the first side and the second side, 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 of the figure as the first side and the left side of the figure as the second side, then the serial number of the steel plate product 701 in the stamping device is 2.

[0136] Step S602: When the number of products between the target position and the second side is less than the product quantity threshold, obtain the candidate steel plate product adjacent to and close to the second side of the target steel plate product according to the target position, and determine the candidate blowing device corresponding to the candidate steel plate product.

[0137] The product quantity threshold is a preset empirical value. For example, the product quantity threshold is 2.

[0138] Exemplarily, please refer to Figure 7, if the steel plate product 701 is the target steel plate product, and both the steel plate product 702 and the steel plate product 703 are adjacent to the steel plate product 701. Among them, the steel plate product 702 is closer to the second side, so the steel plate product 702 is the candidate steel plate product.

[0139] Step S603: Control the blanking manipulator to enter the stamping device from the first side until the candidate blowing device is aligned with the target steel plate product.

[0140] Exemplarily, according to the length from the target steel plate product to the first side and the position of the candidate blowing device on the blanking manipulator, set the entry length of the blanking manipulator entering the stamping device from the first side so that the candidate blowing device is aligned with the target steel plate product.

[0141] Step S604: Control the candidate blowing device to remove the coolant on the target steel plate product.

[0142] Exemplarily, after the candidate blowing device is aligned with the target steel plate product, keep the blanking manipulator stationary. Turn on the candidate blowing device to make the candidate blowing device blow air towards the target steel plate product, thereby removing the coolant on the target steel plate product through the candidate blowing device.

[0143] Step S605: When the number of products between the target position and the second side is greater than the product quantity threshold, control the blanking manipulator to enter the stamping device from the first side and turn on other blowing devices on the loading manipulator except the target blowing device.

[0144] When the number of products between the target position and the second side is greater than the product quantity threshold, the blanking manipulator enters the stamping device from the first side until the blowing devices are aligned with the steel plate products one by one. There will be the number of product blowing devices passing over the target steel plate product. Also, because the number of products is greater than the product quantity threshold, during the movement of the blanking manipulator, there will be a sufficient number of blowing devices passing over the target steel plate product, which can ensure that the coolant on the target steel plate product can be removed relatively completely.

[0145] Step S606: When the distance between other blowing devices and the target steel plate product is less than the preset distance, control other blowing devices to blow air towards the target steel plate product.

[0146] The preset distance is a preset empirical value. The specific value of the preset distance can be adjusted according to actual requirements.

[0147] By adopting the above technical solution, when the output power of the target blowing device is insufficient, other blowing devices on the blanking manipulator are used to replace it, ensuring that the coolant on the target steel plate product can be removed timely and thoroughly.

[0148] In the following embodiments, when other blowing devices blow air on the target steel plate product, 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, Embodiment of the present application discloses a third blowing method for a target blowing device. Refer to Figure 8 , the method includes:

[0149] Step S801: When there are at least two other blowing devices, control the i-th other blowing device to blow air in the first direction.

[0150] The first direction can be Figure 5 the blowing direction shown in the illustrated embodiment, or other directions.

[0151] Exemplarily, when the distance between the i-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 air in the first direction.

[0152] Step S802: Obtain the rotation direction according to the relative position relationship between the coolant residue position on the target steel plate product and the first direction.

[0153] The rotation direction is clockwise or counterclockwise.

[0154] In some embodiments, when the distance between the i-th other blowing device and the target steel plate product is greater than the preset distance, stop the i-th other blowing device from blowing air on the target steel plate product. Obtain a temporary surface image of the target steel plate product through a camera. Determine the coolant residue position on the target steel plate product through the surface image. Obtain the rotation direction according to the relative position relationship between the first direction and the coolant residue position.

[0155] In other embodiments, the rotation direction is a preset direction.

[0156] Step S803: Update the first direction according to the rotation direction to obtain the second direction.

[0157] In some embodiments, update the first direction according to the rotation direction so that the second direction passes through the above-mentioned coolant residue position.

[0158] In other embodiments, if the rotation direction is a preset direction, rotate a preset angle according to the rotation direction to obtain the second direction.

[0159] Step S804: When the distance between the (i + 1)-th other blowing device and the target steel plate product is less than the preset distance, control the (i + 1)-th other blowing device to blow air in the second direction.

[0160] Further, when the distance between the (i + 1)-th other blowing device and the target steel plate product is less than a preset distance, a temporary surface image of the target steel plate product is obtained in real time. The position change of the coolant on the surface of the target steel plate product is obtained 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 where the coolant is located.

[0161] By adopting the above technical solution, when the other blowing device blows air on the target steel plate product, the air outlet direction of the other blowing device can be controlled, so that the coolant on the target steel plate product can be fully dispersed, and the success rate of the vacuum suction cup sucking the target steel plate product is improved.

[0162] In the following embodiments, after the workpiece combination leaves the conveyor heating device, it is necessary to adjust the posture and relative position of each workpiece to ensure that multiple workpieces can be recognized and grasped by the loading manipulator. Embodiment of the present application discloses a working method of a rectifying device. Refer to Fig. 9 , the method includes:

[0163] Step S901: In response to the target workpiece in the workpiece combination leaving the conveyor heating device, obtain the current posture of the target workpiece and obtain the target posture of the target workpiece.

[0164] The target workpiece is any one of the workpieces in the workpiece combination. The target posture refers to the posture in which the workpiece can be recognized and sucked by the loading manipulator.

[0165] Optionally, a camera is provided at the outlet of the conveyor heating device. The target workpiece image of the target workpiece is obtained through the camera. When it is detected that the area of the target workpiece in the target workpiece image is greater than a preset area, it is confirmed that the target workpiece has left the conveyor heating device. The current posture of the target workpiece is obtained through the target workpiece image.

[0166] Step S902: When the similarity between the current posture and the target posture is less than the similarity threshold, a group of first limiters corresponding to the target posture are lifted in the forward direction of the target workpiece, and the distance between the first limiters matches the size of the target workpiece.

[0167] The similarity threshold is a preset empirical value.

[0168] A group of first limiters includes two first limiters, and the two first limiters are parallel to each other.

[0169] Exemplarily, the limiters are arranged in the forward direction. According to the current posture of the target workpiece, the position information of the target workpiece on the rectifying device is obtained. According to the position information, the positions of the two straight lines closest to the target workpiece are obtained, and the positions of the two straight lines are consistent with the arrangement positions of the limiters in the forward direction. The first limiters are determined at the positions of the two straight lines.

[0170] In some embodiments, when the target workpiece is rectangular in the forward direction, the side parallel to the forward direction is taken as the length of the target workpiece, and the side perpendicular to the forward direction is taken as the width of the target workpiece. The distance between the two first limiters is greater than the width of the target workpiece, and the difference between the distance between the two first limiters and the width of the target workpiece is less than a preset width difference.

[0171] Step S903: When the distance between the target workpiece and the first limiter is less than a preset deviation correction distance, the second limiter located at the bottom of the target workpiece is lifted according to the current posture, and the positions of the second limiter and the first limiter are opposite to each other.

[0172] The preset deviation correction distance is a preset empirical value. The preset deviation correction distance is positively correlated with the moving speed of the workpiece on the deviation correction device.

[0173] The first limiter and the second limiter are located on the same straight line.

[0174] Exemplarily, the second limiter located at the bottom of the target workpiece is determined according to the current posture. The second limiter is lifted. At this time, the target workpiece can be limited between the second limiters by lifting the second limiter. Also, because the first limiter and the second limiter are located on the same straight line, the target workpiece can pass between the first limiters, thereby realizing the position limitation of the target workpiece, so that the loading manipulator can accurately grasp the workpiece.

[0175] By adopting the above technical solution, when the target workpiece leaves the conveyor heating device, the posture of the target workpiece can be corrected by the deviation correction device, so that the loading manipulator can accurately pick up multiple workpieces at one time, improving the manufacturing efficiency of the steel plate products.

[0176] The embodiment of the present application discloses a second working method of a deviation correction device. Refer to Fig.10 , this method includes:

[0177] Step S1001: When the target workpiece has not passed through the first limiter, obtain the relative angle between the target workpiece and the forward direction.

[0178] The relative angle refers to the angle between the preset axis of the target workpiece and the forward direction. Optionally, when the target workpiece is a cuboid, the preset axis is the length on the target workpiece.

[0179] Step S1002: When the relative angle is less than the relative angle threshold, determine the target first limiter in the first limiters according to the relative angle, and the target first limiter is located on the other side of the relative angle.

[0180] The relative angle threshold is a preset empirical value. Relevant personnel can adjust the specific value of the relative angle threshold according to requirements.

[0181] Exemplarily, when the relative angle is less than the relative angle threshold, the limiter close to the target workpiece is determined as the target first limiter in the first limiter.

[0182] Step S1003: Lower the target first limiter.

[0183] Exemplarily, lower the target first limiter so that the height of the target first limiter is lower than the lowest end of the target workpiece. At this time, the target first limiter will not affect the movement of the target workpiece.

[0184] Step S1004: After the target workpiece passes through the target first limiter, lift the target first limiter.

[0185] After the target workpiece passes through the target first limiter, lift the target first limiter, which can limit the position of the target workpiece to ensure that the target workpiece can be restricted between the two first limiters.

[0186] Step S1005: When the relative angle is greater than the relative angle threshold, obtain the third limiter located at the bottom of the target workpiece.

[0187] Exemplarily, when the relative angle is greater than the relative angle threshold, obtain the physical image including the target workpiece through the camera. Determine the coordinates of the target workpiece on the rectifying device according to the physical image. Based on the foregoing coordinates, determine the third limiter located at the bottom of the target workpiece.

[0188] Step S1006: Control the third limiter to lift at a preset speed and lift the second limiter.

[0189] The preset speed is a preset empirical value, and relevant personnel can adjust the specific value of the preset speed according to actual needs.

[0190] By adopting the above technical solutions, the posture of the target workpiece can be adjusted in time to ensure that the posture of the target workpiece meets the requirements, thereby improving the accuracy of the feeding manipulator to grasp the workpiece and ensuring the manufacturing efficiency of the steel plate parts product.

[0191] Based on the same inventive concept, an embodiment of the present application provides a stamping and forming system for steel plate parts. Please refer to Fig.11 , the system includes:

[0192] An acquisition module 1101, configured to acquire relative positions, the posture of each workpiece, surface images, coolant residue amount thresholds, power thresholds, product quantity thresholds, coolant residue positions, current postures, target postures, and preset rectifying distances;

[0193] A memory 1102, configured to store the program of the stamping and forming method for steel plate parts in any one of the above.

[0194] The processor 1103, and the program in the memory can be loaded and executed by the processor to implement the stamping forming method of the steel plate part in any one of the above.

[0195] By adopting the above technical solution, a production line for automatically producing steel plate parts products is constructed by using a conveying heating device, a deviation rectifying device, a loading manipulator, a stamping device, an unloading manipulator and an unloading conveying device, which not only improves the intelligence of the production of steel plate parts products, but also improves the manufacturing efficiency of steel plate parts products.

[0196] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above division of each functional module is used as an example for illustration. In actual applications, the above functions can be allocated 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 processes of the systems, devices and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0197] The embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded and executed by a processor to implement the stamping forming method of a steel plate part.

[0198] Computer storage media include, for example, various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0199] Based on the same inventive concept, the embodiment of the present application provides an intelligent terminal, including a memory and a processor, and a computer program that can be loaded and executed by the processor to implement the stamping forming method of a steel plate part is stored on the memory.

[0200] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above division of each functional module is used as an example for illustration. In actual applications, the above functions can be allocated 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 processes of the systems, devices and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0201] The above are all the preferred embodiments of this application, and do not limit the protection scope of this application accordingly. Any feature disclosed in this specification (including the abstract and drawings), unless specifically described, can be replaced by other equivalent or similar-purpose alternative features. That is, unless specifically described, 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 a coolant remaining threshold, turn on the target blowing device on the unloading robot; control the target blowing device to remove the coolant on the target steel plate product; use the vacuum suction cup on the unloading robot to suck up the target steel plate product; 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 by a unloading robot; wherein the unloading 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.

2. The stamping forming method of a steel plate according to claim 1, 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.

3. 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.

4. The stamping forming method of a steel plate according to claim 3, 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.

5. 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 4; 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 4.

6. 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 execute the method according to any one of claims 1 to 4.

7. 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 4.

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