Automatic shearing and stamping forming device and control method thereof

Abstract

The present invention discloses an automated shearing and stamping forming device and a control method thereof, which relates to the technical field of sheet metal stamping and forming. The equipment includes a processing table, wherein a lower mold body and a punching and shearing die set for shearing and stamping the sheet metal with the lower mold body are provided in the middle of the upper surface of the processing table. A hopper is provided at one end of the upper surface of the processing table for stacking the sheet metal to be sheared and stamped, and a conveying table is provided at the other end of the upper surface of the processing table for conveying the sheet metal that has been sheared and stamped. A gripping mechanism is provided on the processing table for gripping and transferring the sheet metal between the hopper, the lower mold body and the conveying table. The method disclosed in the present invention is based on an automated shearing and stamping forming device, and through the detection and perception of an infrared emitter and a first identification plate, a second identification plate and a third identification plate, the suction cup can be accurately positioned with the hopper, the lower mold body and the conveying table respectively, thereby ensuring the processing quality of the sheet metal shearing and stamping.

Description

Technical Field

[0001] The present invention relates to the technical field of plate stamping and forming, in particular to an automatic shearing and stamping forming device and a control method thereof. Background Art

[0002] Shearing and stamping forming technology mainly applies external force to metal plates, strips, pipes and profiles through presses and dies to cause plastic deformation or separation, thereby obtaining workpieces of the desired shape and size. This technology combines the two processing methods of shearing and stamping, and can efficiently realize the forming processing of metal materials. It is widely used in the fields of automobiles, aviation, home appliances, construction, etc., and is an indispensable part of modern manufacturing.

[0003] With the rapid development of the industrial field and the continuous advancement of computer technology, the number and types of workpieces that need to be processed are complicated. The traditional shearing and stamping processing method that uses manual loading and unloading has many disadvantages such as low efficiency and difficulty in monitoring and management. It is difficult to meet production requirements and quality control standards. In view of this, the present invention proposes an automated shearing and stamping forming device and its control method. Summary of the Invention

[0004] The purpose of the present invention is to provide an automated shearing and stamping forming device and a control method thereof, which combines integrated automated processing with intelligent monitoring and control, thereby improving the efficiency of sheet metal shearing and stamping processing, reducing labor costs, and ensuring the processing quality of sheet metal shearing and stamping.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] On the one hand, the present application provides an automated shearing and stamping forming device, including a processing table, a lower mold body and a punching and shearing mold group cooperating with the lower mold body to shear and stamp the plate are arranged in the middle of the upper surface of the processing table, a material bin is arranged at one end of the upper surface of the processing table for stacking the plates to be sheared and stamped, a conveying table is arranged at the other end of the upper surface of the processing table for conveying the plates that have been sheared and stamped, and a grabbing mechanism is arranged on the processing table for grabbing and transferring the plates between the material bin, the lower mold body and the conveying table.

[0007] Preferably, the punching and shearing die set includes a fixed arm fixed on the side of the upper surface of the processing table, a hydraulic arm is vertically installed on the top of the fixed arm, the telescopic end of the hydraulic arm is vertically downward and is installed with an upper die body, and the upper die body is vertically aligned with the lower die body.

[0008] Preferably, a first camera is installed on a side of the vertical section of the fixed arm facing the lower mold body, and the first camera is located above the lower mold body.

[0009] Preferably, the gripping mechanism includes a slide movably arranged on one side of the processing table, a vertical arm vertically fixed on the slide, and a horizontal arm horizontally arranged on the side of the vertical arm facing the processing table. A suction cup is installed at the bottom of the horizontal arm away from one end of the vertical arm for adsorbing the plate. A first driving mechanism for driving the slide to translate along the length direction of the processing table is provided on the processing table, and a second driving mechanism for driving the horizontal arm to rise and fall is provided on the vertical arm.

[0010] Preferably, the first driving mechanism includes fixed blocks fixed at both ends of the side walls of the processing table and a second screw rod rotatably installed between a pair of fixed blocks, the second screw rod threadedly passes through the slide, one of the fixed blocks is equipped with a third motor for driving the second screw rod to rotate, and a slide rod is also fixedly connected between the pair of fixed blocks, the slide rod and the second screw rod are distributed side by side, and the slide rod movably passes through the slide.

[0011] Preferably, the second driving mechanism includes a guide groove vertically opened on the vertical arm, a slider slidably embedded in the guide groove, and a first screw rod vertically rotatably installed in the guide groove, the first screw rod thread passes through the slider, a second motor for driving the first screw rod to rotate is installed at the top of the vertical arm, and the horizontal arm is horizontally fixed on the slider.

[0012] Preferably, the silo is a shell arranged on the upper surface of the processing table, the top end surface and the bottom end surface of the shell are both penetrated, and a through groove capable of accommodating the horizontal arm is vertically opened on one side wall of the shell facing the vertical arm, and an ear plate connected to the processing table bolts is provided at the bottom of the side wall of the shell.

[0013] Preferably, the suction cup is rotatably installed at the bottom of the cross arm, a first motor for driving the suction cup to rotate is installed at the top of the cross arm, the rotation angle range of the suction cup is 0° to 360°, and a second camera is installed at the bottom of the cross arm near the suction cup.

[0014] Preferably, a first identification plate, a second identification plate and a third identification plate are respectively provided at positions on the upper surface of the processing table corresponding to the material bin, the lower mold body and the conveying table, and an infrared transmitter head capable of sensing the first identification plate, the second identification plate and the third identification plate is installed on the cross arm.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention sets a first driving mechanism and a second driving mechanism to drive the suction cup to move back and forth and up and down between the hopper, the lower mold body and the conveyor platform. The suction cup first moves to the top of the hopper and descends to adsorb the topmost sheet to be sheared and stamped in the hopper, and then moves horizontally to the lower mold body, and places the adsorbed sheet to be sheared and stamped on the lower mold body. The hydraulic arm is used to push the upper mold body downward to cooperate with the lower mold body to shear and stamp the sheet. The processed sheet is grabbed onto the conveyor platform by the lifting and translation of the suction cup, and is conveyed to the next process by the conveyor platform, and then a new sheet is grabbed for shearing and stamping processing, thereby realizing the integrated automated processing of grabbing, loading, stamping and unloading of the sheet, reducing labor costs and improving processing efficiency.

[0017] The present invention drives the suction cup to rotate within an angle range of 0° to 360° through a first motor, and can adjust the shearing and punching angle of the plate. It has high flexibility and can meet the multi-angle processing requirements of the plate.

[0018] On the other hand, the present application provides a control method for an automated shearing and stamping forming device, the method comprising:

[0019] After obtaining the instruction to end loading of the silo, the grabbing mechanism is driven by the third motor to move slowly to the right from the standby initial position, and when the first identification plate detects the infrared light emitted by the infrared transmitter, the operation of the third motor is stopped after a preset delay, and the center offset of the current grabbing mechanism is detected by the first identification plate. The center offset is the distance between the current lateral position of the grabbing mechanism and the center line of the first identification plate. At this time, the suction cup on the grabbing mechanism stays above the silo;

[0020] Correcting the trigger delay time corresponding to the second identification plate based on the center offset and the preset rightward movement speed of the gripping mechanism, thereby obtaining a second delay time;

[0021] After grabbing the plate, the gripping mechanism continues to move right based on the preset transport route, and when the second identification plate detects the infrared light emitted by the infrared transmitter head, the operation of the third motor is stopped after the second delay time. At this time, the plate on the gripping mechanism is located above the lower mold body, and the second camera is used to identify the angle between the edge line of the current plate and the marking line on the processing table. When the angle exceeds the first threshold range, the first motor is used to adjust it. After the adjustment is completed, the gripping mechanism puts down the plate and then moves to the second standby position.

[0022] After the sheet metal is stamped, the gripping mechanism transfers the stamped part to the conveying table based on the preset second transport route;

[0023] The second camera is used to identify the angle between the edge of the current plate and the marking line on the processing table, including:

[0024] An image feature extraction algorithm based on color class identifies the shape feature parameters of the plate edge line, and constructs a first feature curve based on the shape feature parameters; the feature parameters include but are not limited to protrusions on the plate surface or protrusions on the edge. By detecting such features, a processing number is retrieved from a preset database of plates to be processed, and the corresponding first identification line feature parameters are dispatched based on the processing number, thereby facilitating the identification line corresponding to the current plate shape on the processing table;

[0025] A color-based image feature extraction algorithm is used to identify multiple identification line segments on the processing table, and at least one reference identification line is screened out from the multiple identification line segments based on the shape feature parameters in the first feature curve; in the case that the plate partially blocks multiple identification line segments due to the deviation of the suction angle, the second identification line segments whose features are consistent with the corresponding first identification line feature parameters are screened out, and by fine-tuning the rotation amount of the suction cup left and right, it is detected in real time during the fine-tuning period whether an identification line segment that completely meets the first identification line feature parameters appears in the second camera. If so, the fine-tuning of the suction cup is stopped, and the identification line segment that completely meets the first identification line feature parameters is marked as the reference identification line.

[0026] Measuring an angle between the first characteristic curve and the reference identification line, and generating a rotation direction and a rotation amount corresponding to the first motor based on the angle and the rotation vector;

[0027] Based on the first identification line characteristic parameters in the reference identification line, at least two first key identification points are screened out in the reference identification line, and the corresponding second key identification points are found in the first characteristic curve; a first angle line is constructed based on the two first key identification points, a second angle line is constructed based on the two second key identification points, and the angle between the second angle line and the first angle line is calculated, thereby obtaining the angle between the first characteristic curve and the reference identification line.

[0028] Among them, the color-based image feature extraction algorithm identifies the edge of the plate, including:

[0029] Converting the current captured image into a first grayscale image, and filtering out noise in the first grayscale image through Gaussian filtering;

[0030] The Canny algorithm is used to detect the edge region in the first grayscale image, and the number of edge pixels corresponding to the edge region per unit length is calculated. If the number of edge pixels is greater than or equal to a first pixel threshold, the second camera is determined to be out of focus. At this time, the second camera refocuses and re-feeds back the captured image. The above steps are repeated until the number of edge pixels is less than the first pixel threshold. A first reference line is then constructed based on the edge region in the current first grayscale image.

[0031] The present invention can accurately position the suction cup and the hopper, the lower mold body and the conveyor platform respectively through the detection and perception of the infrared emitter and the first identification plate, the second identification plate and the third identification plate. Through the setting of the second camera, the image information of the grabbing, loading, stamping and unloading processes of the plate can be obtained in real time. The setting of the first camera can directly obtain the image information of the shearing and stamping process of the plate, which is beneficial to the intelligent monitoring and control of the integrated automated processing of the plate. The combination of integrated automated processing and intelligent monitoring and control not only improves the efficiency of the shearing and stamping processing of the plate, reduces labor costs, but also can ensure the processing quality of the shearing and stamping of the plate.

[0032] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 Schematic diagram of the structure of the punching and shearing module of the present invention;

[0035] Figure 3 It is a structural schematic diagram of the grabbing mechanism of the present invention;

[0036] Figure 4 It is a structural schematic diagram of the silo of the present invention;

[0037] Figure 5 For the present invention Figure 1 A in the enlarged view.

[0038] In the figure: 1. processing table; 2. lower mold body; 3. punching and shearing module; 4. hopper; 5. conveyor platform; 6. grabbing mechanism; 7. first driving mechanism; 8. first identification plate; 9. second identification plate; 10. third identification plate; 11. fixed arm; 12. hydraulic arm; 13. upper mold body; 14. first camera; 15. slide; 16. vertical arm; 17. slider; 18. horizontal arm; 19. suction cup; 20. first motor; 21. second camera; 22. infrared transmitter; 23. guide groove; 24. first screw rod; 25. second motor; 26. second screw rod; 27. slide rod; 28. housing; 29. ​​ear plate; 30. through groove; 31. fixed block; 32. third motor. DETAILED DESCRIPTION

[0039] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention. The following describes various embodiments of the present invention in detail with reference to the accompanying drawings.

[0040] Example 1:

[0041] See also Figures 1 to 5 , the present invention preferably provides a technical solution:

[0042] An automated shearing and stamping forming device comprises a processing table 1, a lower die body 2 and a punching and stamping die group 3 for shearing and stamping a plate in cooperation with the lower die body 2 are provided in the middle of the upper surface of the processing table 1, a hopper 4 is provided at one end of the upper surface of the processing table 1 for stacking plates to be sheared and stamped, a conveying platform 5 is provided at the other end of the upper surface of the processing table 1 for conveying plates that have been sheared and stamped, a grabbing mechanism 6 is provided on the processing table 1 for grabbing and transferring the plates between the hopper 4, the lower die body 2 and the conveying platform 5, so as to realize integrated continuous automated shearing and stamping processing of the plates.

[0043] Specifically, in this embodiment, the punching and shearing module 3 includes a fixed arm 11 fixed to the side of the upper surface of the processing table 1, and a hydraulic arm 12 is vertically installed on the top of the fixed arm 11. The telescopic end of the hydraulic arm 12 is vertically downward and is installed with an upper mold body 13. The upper mold body 13 is vertically aligned with the lower mold body 2. The gripping mechanism 6 includes a slide 15 movably arranged on one side of the processing table 1, a vertical arm 16 vertically fixed on the slide 15, and a horizontal arm 18 horizontally arranged on the side of the vertical arm 16 facing the processing table 1. A suction cup 19 is installed at the bottom of the horizontal arm 18 away from the end of the vertical arm 16 for adsorbing the plate. The processing table 1 is provided with a first driving mechanism 7 for driving the slide 15 to translate along the length direction of the processing table 1, and the vertical arm 16 is provided with a second driving mechanism for driving the horizontal arm 18 to rise and fall. By setting the first driving mechanism 7 and the second driving mechanism, the suction cup 19 is driven to translate and rise back and forth between the hopper 4, the lower mold body 2 and the conveying table 5, so as to absorb the plate. The disc 19 first moves to the top of the silo 4 and descends to absorb the top sheet to be sheared and stamped in the silo 4, and then moves horizontally to the lower mold body 2, and places the absorbed sheet to be sheared and stamped on the lower mold body 2. The hydraulic arm 12 is used to push the upper mold body 13 downward to cooperate with the lower mold body 2 to shear and stamp the sheet. The processed sheet is grabbed to the conveyor table 5 by the lifting and translation of the suction cup 19, and is transported to the next process by the conveyor table 5, and then a new sheet is grabbed for shearing and stamping, thereby realizing the integrated continuous automated processing of grabbing, loading, stamping and unloading of the sheet, reducing labor costs and improving processing efficiency.

[0044] In this embodiment, the first driving mechanism 7 includes a fixed block 31 fixed at both ends of the side wall of the processing table 1 and a second screw rod 26 rotatably installed between a pair of fixed blocks 31. The second screw rod 26 is threaded through the slide 15. One of the fixed blocks 31 is equipped with a third motor 32 for driving the second screw rod 26 to rotate. A slide rod 27 is also fixedly connected between the pair of fixed blocks 31. The slide rod 27 and the second screw rod 26 are distributed side by side, and the slide rod 27 movably passes through the slide 15. The third motor 32 is started to drive the second screw rod 26 to rotate. Under the guidance of the slide rod 27, the slide 15 is driven to move along one side of the processing table 1, which can drive the vertical arm 16, the horizontal arm 18 and the suction cup 19 to move back and forth between the hopper 4, the lower mold body 2 and the conveying platform 5.

[0045] In this embodiment, the second driving mechanism includes a guide groove 23 vertically opened on the vertical arm 16, a slider 17 slidably embedded in the guide groove 23, and a first screw rod 24 vertically rotatably installed in the guide groove 23. The first screw rod 24 is threaded through the slider 17. A second motor 25 for driving the first screw rod 24 to rotate is installed at the top of the vertical arm 16. The cross arm 18 is horizontally fixed on the slider 17. By starting the second motor 25 to drive the first screw rod 24 to rotate, the slider 17 can be driven to drive the cross arm 18 and the suction cup 19 to rise and fall.

[0046] In this embodiment, the hopper 4 is a shell 28 arranged on the upper surface of the processing table 1. The top and bottom end surfaces of the shell 28 are both penetrated. A through groove 30 that can accommodate the horizontal arm 18 is vertically opened on one side wall of the shell 28 facing the vertical arm 16. An ear plate 29 bolted to the processing table 1 is provided at the bottom of the side wall of the shell 28, which is conducive to stacking the sheets to be sheared and stamped and the grabbing operation of the sheets.

[0047] In a further embodiment, the suction cup 19 is rotatably installed at the bottom of the cross arm 18, and a first motor 20 for driving the suction cup 19 to rotate is installed on the top of the cross arm 18. The rotation angle range of the suction cup 19 is 0 to 360°. Through this structural method, starting the first motor 20 drives the suction cup 19 to rotate within the angle range of 0 to 360°, which can adjust the shearing and punching angle of the plate, has high flexibility, and can meet the multi-angle processing requirements of the plate.

[0048] In a further embodiment, a first camera 14 is installed on the side of the vertical section of the fixed arm 11 facing the lower mold body 2, and the first camera 14 is located above the lower mold body 2. The setting of the first camera 14 can directly obtain image information of the shearing and stamping process of the plate; a first identification plate 8, a second identification plate 9 and a third identification plate 10 are respectively provided at positions on the upper surface of the processing table 1 corresponding to the material bin 4, the lower mold body 2 and the conveying platform 5, and an infrared transmitter 22 that can sense the first identification plate 8, the second identification plate 9 and the third identification plate 10 is installed on the cross arm 18. Through the detection and perception of the infrared transmitter 22 and the first identification plate 8, the second identification plate 9 and the third identification plate 10, the suction cup 19 can be accurately positioned with the material bin 4, the lower mold body 2 and the conveying platform 5 respectively. A second camera 21 is installed at the bottom of the cross arm 18 near the suction cup 19, which can obtain image information of the grabbing, loading, stamping and unloading processes of the plate in real time, thereby enabling intelligent monitoring and control of the integrated automated processing of the plate.

[0049] When in use, the plates to be sheared and punched are neatly stacked and placed in the hopper 4, and the third motor 32 is started to drive the second screw rod 26 to rotate. Under the guidance of the slide rod 27, the slide 15 is driven to move along one side of the processing table 1, driving the vertical arm 16, the horizontal arm 18 and the suction cup 19 to move back and forth between the hopper 4, the lower mold body 2 and the conveying table 5, and the second motor 25 is started to drive the first screw rod 24 to rotate, driving the slide 17 to drive the horizontal arm 18 and the suction cup 19 to move up and down, thereby the suction cup 19 is first moved to the hopper 4, drives the suction cup 19 to descend. The suction cup 19 can be an electromagnetic suction cup. The suction cup 19 absorbs the top of the sheet to be sheared and stamped in the hopper 4, and then the suction cup 19 rises and moves horizontally to the lower die body 2. The suction cup 19 falls again and places the absorbed sheet to be sheared and stamped on the lower die body 2. The hydraulic arm 12 pushes the upper die body 13 downward to cooperate with the lower die body 2 to achieve the shearing and stamping processing of the sheet. The processed sheet is grabbed by the lifting and translation of the suction cup 19 and is transported to the conveyor table 5 by the conveyor table 5 to the next process. Then a new plate is grabbed for shearing and punching processing, thereby realizing the integrated automated processing of grabbing, loading, punching and unloading of the plate. Furthermore, by utilizing the detection and perception of the infrared transmitter 22 and the first identification plate 8, the second identification plate 9 and the third identification plate 10, the suction cup 19 and the hopper 4, the lower mold body 2 and the conveyor platform 5 can be accurately positioned respectively, wherein the identification plate is composed of a plurality of infrared receivers arranged in a straight line, and is not a single-point reception. Because the grabbing mechanism 6 will move by inertia when it stops, the single-point infrared reception control cannot meet the needs of precise control of the grabbing mechanism 6. Through the setting of the second camera 21, the image information of the grabbing, loading, punching and unloading process of the plate can be obtained in real time. The setting of the first camera 14 can directly obtain the image information of the shearing and punching process of the plate, which is beneficial to the intelligent monitoring and control of the integrated automated processing of the plate. The combination of integrated automated processing and intelligent monitoring and control not only improves the efficiency of plate shearing and punching processing, reduces labor costs, but also ensures the processing quality of plate shearing and punching.

[0050] Example 2:

[0051] This embodiment is based on embodiment 1 and is used to provide a control method for an automated shearing and stamping forming device, the method comprising:

[0052] Step S100, after obtaining the instruction to complete loading of the hopper 4, the grabbing mechanism 6 is driven by the third motor 32 to move slowly to the right from the initial standby position, and when the first identification plate 8 detects the infrared ray emitted by the infrared transmitter 22, the operation of the third motor 32 is stopped after a preset delay, and the center offset of the current grabbing mechanism 6 is detected by the first identification plate 8. The center offset is the distance between the lateral position of the current grabbing mechanism 6 and the center line of the first identification plate 8. At this time, the suction cup 19 on the grabbing mechanism 6 stays above the hopper 4, where the identification plate is composed of multiple straight-line arranged The infrared receiver is composed of an infrared receiver, not a single-point reception. The preset delay is used to overcome the inertial movement of the grabbing mechanism 6, that is, in order to make the grabbing mechanism 6 stay in the middle of the first identification plate 8 as much as possible, it is necessary to stop the operation of the third motor 32 in advance, rather than sending a stop command to the third motor 32 after the infrared receiver in the middle of the first identification plate 8 receives the infrared ray. The infrared receiver at the front end of the first identification plate 8 receives the infrared ray and then starts timing, and then stops after the preset delay. The initial preset delay is preset within the system operating parameters by the debugging personnel after multiple tests;

[0053] Step S200: Based on the center offset and the preset rightward movement speed of the grasping mechanism 6, the trigger delay time corresponding to the second identification plate 9 is corrected to obtain the second delay time. The center offset can be understood as the offset between the suction cup 19 and the ideal plate grasping point. Therefore, in order to make the plate grasped by the suction cup 19 as close as possible to the preset ideal position of the lower mold body 2, it is necessary to correct the unloading point of the suction cup 19 on the mold body 2 based on the offset between the suction cup 19 and the ideal plate grasping point, so that the plate can be placed on the mold body 2 in the ideal position as much as possible.

[0054] Step S300: After grabbing the plate, the gripping mechanism 6 continues to move right based on the preset transport route, and when the second identification plate 9 detects the infrared light emitted by the infrared emitter 22, the operation of the third motor 32 is stopped after the second delay time. At this time, the plate on the gripping mechanism 6 is located above the lower mold body 2, and the angle between the current plate edge line and the marking line on the processing table 1 is identified by the second camera 21. When the angle exceeds the first threshold range, the first motor 20 is used to adjust it. After the adjustment is completed, the gripping mechanism 6 puts down the plate and then moves to the second standby position.

[0055] Step S400: After the sheet metal is stamped, the gripping mechanism 6 transfers the stamped part to the conveying platform 5 based on the preset second transport route;

[0056] The specific implementation method of identifying the angle between the edge line of the current plate and the marking line on the processing table 1 by the second camera 21 in step S300 is:

[0057] Step S310: Identify the shape characteristic parameters of the plate edge using a color-based image feature extraction algorithm, and construct a first characteristic curve based on the shape characteristic parameters; the characteristic parameters include but are not limited to protrusions on the plate surface or protrusions on the edge. By detecting such features, a processing number is retrieved from a preset database of plates to be processed, and the corresponding first identification line characteristic parameters are dispatched based on the processing number, thereby facilitating identification of the identification line corresponding to the current plate shape on the processing table;

[0058] Step S320: Identify multiple identification line segments on the processing table 1 based on the color-based image feature extraction algorithm, and screen out at least one reference identification line from the multiple identification line segments based on the shape feature parameters in the first characteristic curve; that is, in a case where the plate partially blocks multiple identification line segments due to the suction angle deviation, screen out the second identification line segments whose features are consistent with the corresponding first identification line feature parameters, and by fine-tuning the rotation amount of the suction cup 19 left and right, detect in real time during the fine-tuning period whether a identification line segment that completely meets the first identification line feature parameters appears in the second camera 21; if so, stop fine-tuning the suction cup 19, and mark the identification line segment that completely meets the first identification line feature parameters as the reference identification line;

[0059] Step S330, measure the angle between the first characteristic curve and the reference identification line, and generate the rotation direction and rotation amount corresponding to the first motor 20 based on the angle and the rotation vector; that is, based on the first identification line characteristic parameters in the reference identification line, select at least two first key identification points in the reference identification line, and find the corresponding second key identification point in the first characteristic curve; construct a first angle line based on the two first key identification points, construct a second angle line based on the two second key identification points, and calculate the angle between the second angle line and the first angle line, thereby obtaining the angle between the first characteristic curve and the reference identification line.

[0060] Secondly, the color-based image feature extraction algorithm identifies the edge of the plate, including:

[0061] Converting the current captured image into a first grayscale image, and filtering out noise in the first grayscale image through Gaussian filtering;

[0062] The edge area in the first grayscale image is detected using the Canny algorithm, and the number of edge pixels corresponding to the edge area per unit length is calculated. If the number of edge pixels is greater than or equal to the first pixel threshold, it is determined that the second camera 21 is currently out of focus. At this time, the second camera 21 refocuses and re-feeds back the captured image. The above steps are then repeated until the number of edge pixels is less than the first pixel threshold. A first reference line is then constructed based on the edge area in the current first grayscale image.

[0063] In the present invention, unless otherwise expressly specified or limited, the terms "install," "connect," "connect," "fix," and the like should be understood in a broad sense. For example, they may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. There are various methods for removable installation, such as plug-in and snap-fit ​​connections, or bolt connections.

[0064] The above is a clear and complete description of the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention. In addition, all the connection / connection relationships mentioned in the text do not refer to the direct connection of components, but refer to the fact that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation.

[0065] The specific description of the present invention in the above embodiments is only used to further illustrate the present invention and cannot be understood as limiting the scope of protection of the present invention. Technical engineers in this field may make some non-essential improvements and adjustments to the present invention based on the contents of the above invention, which fall within the scope of protection of the present invention.

Claims

1. A control method for an automated shearing and punching forming device, applicable to the automated shearing and punching forming device, comprising a processing table (1), wherein a lower die body (2) and a punching and shearing die set (3) cooperating with the lower die body (2) for shearing and punching a plate are provided in the middle of the upper surface of the processing table (1), a material bin (4) is provided at one end of the upper surface of the processing table (1), a conveying table (5) is provided at the other end of the upper surface of the processing table (1), a grabbing mechanism (6) is provided on the processing table (1), and the grabbing mechanism (6) is driven by a third motor (3) provided at the end of the processing table (1) 2) to move, the grasping mechanism (6) comprises a slide (15) movably arranged on one side of the processing table (1), a vertical arm (16) vertically fixed on the slide (15), and a horizontal arm (18) horizontally arranged on the side of the vertical arm (16) facing the processing table (1), a suction cup (19) is installed at the bottom of the horizontal arm (18) away from the end of the vertical arm (16), a first motor (20) for driving the suction cup (19) to rotate is installed at the top of the horizontal arm (18), and a second camera (21) is installed at the bottom of the horizontal arm (18) near the suction cup (19); Secondly, a first identification plate (8), a second identification plate (9) and a third identification plate (10) are respectively provided on the upper surface of the processing table (1) at positions corresponding to the material bin (4), the lower mold body (2) and the conveying table (5), and an infrared emitting head (22) capable of sensing the first identification plate (8), the second identification plate (9) and the third identification plate (10) is installed on the cross arm (18), characterized in that: The method comprises: After receiving the instruction of the end of loading of the hopper (4), the grabbing mechanism (6) is driven by the third motor (32) to move slowly to the right from the initial standby position, and when the infrared ray emitted by the infrared ray emitter (22) is detected by the first identification plate (8), the operation of the third motor (32) is stopped after a preset delay, and the center offset of the current grabbing mechanism (6) is detected by the first identification plate (8). The center offset is the distance between the lateral position of the current grabbing mechanism (6) and the center line of the first identification plate (8). At this time, the grabbing mechanism (6) is The suction cup (19) on the mechanism (6) stays above the hopper (4); based on the center offset and the preset rightward movement speed of the grasping mechanism (6), the trigger delay time corresponding to the second identification plate (9) is corrected, thereby obtaining a second delay time; after grasping the plate, the grasping mechanism (6) continues to move right based on the preset transportation route, and when the second identification plate (9) detects the infrared ray emitted by the infrared ray transmitter (22), the operation of the third motor (32) is stopped after the second delay time, and at this time the plate on the grasping mechanism (6) is located on the lower mold body ( 2) above, and identifies the angle between the current plate edge line and the identification line on the processing table (1) through the second camera (21), and adjusts the angle through the first motor (20) when the angle exceeds the first threshold range, and after the adjustment is completed, the gripping mechanism (6) puts down the plate and then moves to the second standby position; after the plate stamping is completed, the gripping mechanism (6) transfers the stamped part to the conveying table (5) based on the preset second transportation route; wherein, identifying the angle between the current plate edge line and the identification line on the processing table (1) through the second camera (21) includes: identifying the shape feature parameters of the plate edge line based on the color-based image feature extraction algorithm, and constructing a first feature curve based on the shape feature parameters; identifying multiple identification line segments on the processing table (1) based on the color-based image feature extraction algorithm, and screening at least one reference identification line from the multiple identification line segments based on the shape feature parameters in the first feature curve; measuring the angle between the first feature curve and the reference identification line, and generating the rotation direction and rotation amount corresponding to the first motor (20) based on the angle and the rotation vector.

2. The control method of an automated shearing and stamping forming device according to claim 1, characterized in that: The punching and shearing die set (3) comprises a fixed arm (11) fixed to the side of the upper surface of the processing table (1), a hydraulic arm (12) is vertically mounted on the top of the fixed arm (11), the telescopic end of the hydraulic arm (12) is vertically downward and is mounted with an upper die body (13), and the upper die body (13) is vertically aligned with the lower die body (2).

3. The control method of an automated shearing and stamping forming device according to claim 2, characterized in that: A first camera (14) is installed on a side of the vertical section of the fixed arm (11) facing the lower mold body (2), and the first camera (14) is located above the lower mold body (2).

4. The control method of an automated shearing and stamping forming device according to claim 1, characterized in that: The processing table (1) is provided with a first driving mechanism (7) for driving the slide (15) to translate along the length direction of the processing table (1), and the vertical arm (16) is provided with a second driving mechanism for driving the horizontal arm (18) to rise and fall.

5. The control method of the automated shearing and stamping forming device according to claim 4, characterized in that: The first driving mechanism (7) includes fixed blocks (31) fixed at both ends of the side walls of the processing table (1) and a second screw rod (26) rotatably mounted between a pair of fixed blocks (31), wherein the second screw rod (26) is threadedly passed through the slide seat (15), and a third motor (32) for driving the second screw rod (26) to rotate is mounted on one of the fixed blocks (31), and a slide rod (27) is fixedly connected between the pair of fixed blocks (31), wherein the slide rod (27) and the second screw rod (26) are arranged side by side, and the slide rod (27) movably passes through the slide seat (15).

6. The control method of the automated shearing and punching forming device according to claim 4, characterized in that: The second driving mechanism comprises a guide groove (23) vertically provided on the vertical arm (16), a slider (17) slidably embedded in the guide groove (23), and a first screw rod (24) vertically rotatably installed in the guide groove (23), wherein the first screw rod (24) is threadedly passed through the slider (17), a second motor (25) for driving the first screw rod (24) to rotate is installed at the top end of the vertical arm (16), and the horizontal arm (18) is horizontally fixed on the slider (17).

7. The control method of an automated shearing and punching forming device according to claim 4, characterized in that: The hopper (4) is a shell (28) arranged on the upper surface of the processing table (1), and the top end surface and the bottom end surface of the shell (28) are both penetrated. A through groove (30) capable of accommodating the horizontal arm (18) to pass through is vertically opened on a side wall of the shell (28) facing the vertical arm (16), and an ear plate (29) connected to the processing table (1) by bolts is provided at the bottom of the side wall of the shell (28).

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