A metal plate laser cutting and sorting device and method thereof

Abstract

The application discloses a metal plate laser cutting and sorting device and method, and belongs to the technical field of metal plate laser cutting and sorting.The device comprises the following steps: S1, a cutting and sorting device is arranged, which comprises a cutting and sorting base and a gantry motion system arranged above the base, wherein a lifting pin matrix for supporting the plate and adjusting the attitude of the part is arranged on the cutting and sorting base, a laser cutting head for performing cutting, an electromagnetic chuck gripper for grabbing the part and a visual recognition camera for recognizing the attitude are fixedly connected to a moving trolley of the gantry motion system, and the application realizes a gravity attitude induction mode through prospective evaluation of an attitude stability index, forms an inclined surface guiding stable sliding and a constraint synchronous descending mode, and synchronously supports the adaptive release of the unstable part, so that the core mechanism of realizing the controllable attitude of the part is realized, and it is ensured that the part can be parked in a predictable stable attitude after being separated.

Description

Technical Field

[0001] This invention relates to the field of laser cutting and sorting of metal sheets, specifically to a device and method for laser cutting and sorting of metal sheets. Background Technology

[0002] With the development and application of precision machining technology for sheet metal, laser cutting has been widely adopted as a highly efficient processing method. However, in existing laser cutting processes, once the part is completely separated from the mother plate, the posture of the cut part is often uncontrollable due to the complex effects of factors such as the part's geometry, the cutting sequence of micro-connection points, and gravity.

[0003] Existing cutting platforms only provide rigid support and cannot actively intervene in the dynamic behavior of parts at the moment of separation. This uncertainty in posture seriously affects the efficiency of subsequent automated sorting, because the sorting and gripping mechanism has difficulty accurately predicting and locating the final position and angle of the parts, and has to rely on complex vision systems for multiple identifications and adjustments, and even requires manual intervention, thereby reducing production efficiency and yield.

[0004] Traditional solutions fail to establish an effective, forward-looking risk assessment mechanism to quantify the instability risk of parts during separation, and also lack a flexible worktable capable of adaptively adjusting the support state based on this risk index. Therefore, the sorting process in existing technologies is inefficient, and the posture of the cut parts is difficult to guarantee a controllable and stable state, becoming a key bottleneck restricting the further realization of efficient, fully automated processes in metal sheet laser cutting production lines.

[0005] The information disclosed in the background section above is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a device and method for laser cutting and sorting metal sheets, so as to solve the problems mentioned in the background art.

[0007] The technical solution of the present invention includes: S1. A cutting and sorting device is set up, which includes a cutting and sorting base and a gantry motion system mounted on it. The cutting and sorting base is provided with a matrix of lifting pins for supporting the plate and adjusting the posture of the parts. The gantry motion system has a laser cutting head for performing cutting, an electromagnetic chuck gripper for gripping the parts, and a visual recognition camera for recognizing the posture fixed on the moving trolley. S2. For each individual part on the sheet metal, calculate its attitude stability index and plan the cutting path including the final release point. S3. Perform cutting and adaptive release, drive the laser cutting head to cut, and before cutting the final release point, select the release mode according to the attitude stability index: if the index is lower than the stability threshold, the gravity attitude induction mode is adopted, and the lifting pin matrix is ​​instructed to form an inclined surface before cutting the final release point; if the index is higher than the stability threshold, the constraint synchronous descent mode is adopted, and the lifting pin matrix is ​​instructed to descend synchronously as a whole after cutting the final release point. S4. Confirmation and grasping are performed by driving the visual recognition camera to photograph the separated parts to confirm their position and orientation, and then driving the electromagnetic chuck gripper to attract and transfer them.

[0008] Preferably, step S2 includes, prior to: reading a sheet metal processing file containing a nested layout of multiple parts, and automatically analyzing the geometry of each individual part to calculate its physical centroid, wherein the final release point is defined as the micro-connection point furthest from the physical centroid.

[0009] Preferably, the attitude stability index is calculated by comprehensively converting the rotational inertia, mass, and aspect ratio of the part's profile.

[0010] Preferably, in step S4, confirming its position and orientation includes comparing the actual outline of the part captured by the camera with the final orientation predicted based on the selected release mode to verify whether its position and angle are within the expected range.

[0011] Preferably, the laser cutting head and the electromagnetic chuck gripper are each integrated with an independent ball screw linear module to achieve independent vertical lifting.

[0012] Preferably, the moving trolley ensures that the visual recognition camera, the laser cutting head, and the electromagnetic chuck gripper have a fixed spatial displacement relationship.

[0013] A laser cutting and sorting device for metal sheets includes: A cutting and sorting base is provided with a matrix of lifting pins; The gantry motion system is mounted above the cutting and sorting base and includes a movable trolley that can move in a horizontal plane. The laser cutting head is mounted on the mobile trolley; An electromagnetic chuck gripper is mounted side-by-side with the laser cutting head on the movable trolley. A visual recognition camera is fixed to the movable trolley; The controller executes the configuration.

[0014] Preferably, the lifting pin matrix is ​​composed of a large number of independently controlled pneumatic lifting pins arranged in an array.

[0015] Preferably, the laser cutting head and the electromagnetic chuck gripper are each integrated with a ball screw linear module driven by a servo motor, for independent vertical lifting.

[0016] This invention provides an improved device and method for laser cutting and sorting of metal sheets, which has the following improvements and advantages compared with the prior art: 1. Through the forward-looking assessment of the attitude stability index, a gravity attitude induction mode was realized, forming a tilted surface-guided stable sliding and constraint synchronous descent mode, which synchronously supports the adaptive release of easily unstable parts. This mechanism is the core of achieving controllable part attitude and ensures that the parts can stop in a predictable stable attitude after separation. 2. The entire process from cutting and posture control to sorting is automated. The visual recognition camera confirms the final posture of the parts, providing reliable data for the precise gripping of the electromagnetic chuck. Compared with traditional decentralized operations or manual intervention, this method effectively improves production efficiency and yield. 3. The fixed displacement relationship of this invention can be used as a system parameter after calibration. When the camera is positioned at the coordinates of the part, the controller only needs to perform simple coordinate addition and subtraction operations based on the pre-stored displacement vector, without the need for complex coordinate system transformation. This greatly simplifies the control algorithm, reduces calculation errors, and ensures high speed and high precision from recognition to execution. Attached Figure Description

[0017] The present invention will be further explained below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall structure of the device; Figure 2 This is a schematic diagram of the gantry motion system; Figure 3 This is a structural diagram of a laser cutting head, an electromagnetic chuck gripper, and a visual recognition camera; Figure 4 This is a schematic diagram of the process flow of the method of the present invention.

[0018] In the diagram: 100, cutting and sorting base; 110, lifting pin matrix; 120, waste collection trough; 200, gantry motion system; 210, laser cutting head; 220, electromagnetic chuck gripper; 230, visual recognition camera. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments. Example

[0020] Please see Figure 1-4This invention provides a method for laser cutting and sorting of metal sheets, comprising: S1. A cutting and sorting device is set up, which includes a cutting and sorting base 100 and a gantry motion system 200 mounted on it. The cutting and sorting base 100 is provided with a lifting pin matrix 110 for supporting the plate and adjusting the posture of the parts. The gantry motion system 200 has a laser cutting head 210 for performing cutting, an electromagnetic chuck gripper 220 for gripping the parts, and a visual recognition camera 230 for recognizing the posture fixed on the moving trolley. S2. For each individual part on the sheet metal, calculate its attitude stability index and plan the cutting path including the final release point. S3. Perform cutting and adaptive release, drive the laser cutting head 210 to cut, and select the release mode according to the attitude stability index before cutting the final release point: if the index is lower than the stability threshold, the gravity attitude induction mode is adopted, and the lifting pin matrix 110 is instructed to form an inclined surface before cutting the final release point; if the index is higher than the stability threshold, the constraint synchronous descent mode is adopted, and the lifting pin matrix 110 is instructed to descend synchronously as a whole after cutting the final release point. S4. Confirmation and gripping are performed by driving the vision recognition camera 230 to photograph the separated parts to confirm their position and orientation, and then driving the electromagnetic chuck gripper 220 to attract and transfer them.

[0021] This invention provides a method for laser cutting and sorting of metal sheets, aiming to solve the problems of uncontrollable part posture and low sorting efficiency after laser cutting in the prior art. The method utilizes an integrated cutting and sorting device, the core of which lies in the coordinated operation of the cutting and sorting base 100 and the gantry motion system 200. The lifting pin matrix 110 transforms the traditional cutting platform from merely providing rigid support into a flexible worktable capable of actively adjusting the part posture. The laser cutting head 210, electromagnetic chuck gripper 220, and visual recognition camera 230 integrated on the gantry motion system 200 constitute a multi-task execution unit.

[0022] This method proactively assesses the risk of instability when a part separates from the motherboard by pre-calculating its attitude stability index. Based on this risk index, it intelligently selects between two release modes: for parts with good stability, an inclined surface is constructed using a matrix of lifting pins 110, allowing gravity to induce a predictable slide—this is the gravity-induced attitude mode. The formation of the inclined surface is not arbitrary but calculated by the controller based on the part's center of mass and geometry. The direction of inclination is typically set towards a region with a wide, stable support surface within the part's contour to guide the part to tilt in that direction, ultimately stopping in a stable posture. The angle of inclination is set sufficient to overcome the static friction between the pins and the part, but not enough to cause the part to roll or slide too quickly. In this way, it is ensured that the part adjusts its attitude along a preset, controllable trajectory under the influence of gravity.

[0023] The tilt angle and direction are calculated based on the positional relationship between the physical center of mass of the part and the boundary of its support profile. The purpose is to minimize the distance of the part's center of mass projected onto the outside of the support surface, while ensuring that the tilt direction points to the widest side of the part's profile, so as to guide the part to slide in the most stable posture. For unstable parts that are prone to flipping, the lifting pin matrix 110 provides synchronous descent support to ensure stability during separation; this is the constrained synchronous descent mode. This adaptive release process is the core of achieving controllable part posture. After separation, the visual recognition camera 230 confirms the final state of the part, providing reliable position information for the electromagnetic chuck gripper 220 to accurately grasp it. This achieves full automation from cutting and posture control to sorting. Compared with traditional decentralized operations or manual intervention, this method effectively improves production efficiency and yield.

[0024] The steps of S2 include: reading the sheet metal processing file containing a nested layout of multiple parts, and automatically analyzing the geometry of each individual part to calculate its physical centroid, wherein the final release point is defined as the micro-connection point farthest from the physical centroid.

[0025] This invention refines the cutting path planning method, starting with a precise analysis of the physical properties of the parts. A controller, such as a Siemens SIMATIC S7-1500 series PLC, reads a sheet metal processing file containing the nested layout of the parts, such as a DXF or DWG format file. For each individual part, the algorithm invoked by the controller analyzes its closed geometric contour and calculates its precise physical centroid through integration. The purpose of calculating the physical centroid is to provide a reference point for all subsequent dynamic behavior analyses, as any rotation or overturning of the part occurs around its centroid. After determining the centroid, the method defines the final release point as the micro-connection point on the contour furthest from this physical centroid. The intention of this definition is that when this point is cut, the overturning moment generated by the part due to gravity or minor disturbances during the cutting process will be the greatest, meaning this point is the key control point most likely to cause attitude instability during the entire separation process. By using the most dangerous point as the core element of path planning and risk assessment, the subsequent adaptive release strategy becomes more targeted and effective.

[0026] In the presence of multiple micro-connection points, the controller's path planning not only defines the final release point but also optimizes the cutting sequence of the remaining micro-connection points. A typical strategy is that the laser cutting head 210 prioritizes cutting the micro-connection points closer to the physical centroid of the part, gradually advancing outwards, and finally cutting the final release point furthest from the centroid. This inside-out cutting sequence can maintain the connection stability of the part to the greatest extent before it is completely released, avoiding premature instability caused by cutting off key peripheral support points too early.

[0027] The attitude stability index is calculated by comprehensively converting three physical quantities: the moment of inertia, mass, and aspect ratio of the part's shape.

[0028] Attitude stability index is a quantitative risk value with area dimension. The higher the index value, the more likely the part is to flip or tilt at the moment of separation, and vice versa. The calculation of the attitude stability index in this embodiment of the invention is a quantitative prediction of the dynamic behavior during part separation; The comprehensive conversion logic must ensure that the ratio between the index value and the potential overturning moment and the anti-overturning moment of the part remains consistent, so that it can accurately reflect the difficulty of the part overturning under the action of gravity at the moment of separation. After calculating the physical centroid of the part, the controller will obtain three key physical quantities from the machining file based on its geometry and material density. The input sources for this calculation process include: part geometric profile data obtained from sheet metal processing files, used to calculate moment of inertia and aspect ratio, and sheet metal material density information, used to calculate mass; Logical steps breakdown: Step 1: Based on the part's geometry and material density, the controller integrally calculates the part's mass M and its moment of inertia within the plane of the sheet metal, about the axis of minimum inertia passing through its center of mass. ; Step 2: Calculate the longitudinal and transverse dimensions of the part's outline. The ratio of the longest dimension to the shortest dimension; Step 3: Determine the minimum moment of inertia of the plane. The aspect ratio A, as a factor increasing the risk of instability, will affect the quality. As a factor for maintaining stability, the attitude stability index is obtained through comprehensive calculation using a pre-defined logical model. For example, S can be derived from the formula The simplified derivation yields the following result; The attitude stability index is the final output of the process. This will then serve as the direct input for selecting the release mode in step S3; Firstly, there is the moment of inertia, which reflects the part's ability to resist rotational motion. The greater the moment of inertia, the less likely the part is to be rotated by external torque, but once it starts rotating, it is also more difficult to stop. Secondly, there is the mass of the part. The greater the mass, the more obvious its own gravity effect, which helps to maintain the stability of its posture during separation. Thirdly, there is the aspect ratio of the outline, which is the ratio of the longest dimension to the shortest dimension of the part. A part with a high aspect ratio, such as a long and thin strip, is obviously more likely to flip or tilt during separation than a nearly square part. The controller uses a preset logic model to comprehensively calculate these three physical quantities. The pre-set logical model is designed to quantitatively characterize the ability of a part to resist the overturning moment under gravity when it loses the last support point of the mother plate. Logical structure: It uses rotational inertia and aspect ratio as measures of potential overturning energy, and mass as a measure of gravitational stabilization energy; the model calculates the probability of instability by establishing an abstract structure of energy ratio relationships. The physical relationship represented: This model abstractly simulates the competition between the instability torque generated by the small disturbance caused by cutting vibration and gravitational imbalance at the moment of separation of the parts and the overturning torque of the parts themselves. This conversion process is not a simple weighted summation, but rather uses the moment of inertia and aspect ratio as factors that increase the risk of instability, while using mass as a factor that maintains stability, and calculates a single exponential value with area dimensions.

[0029] To make the calculation process of this index clearer, a feasible calculation logic example is as follows: The controller can determine the minimum moment of inertia of the part in the plane of the sheet metal. Multiplying the aspect ratio of the part's shape yields the base risk value, which reflects the part's inherent tendency to flip due to its shape. Then, this base risk value is divided by the part's mass. In this logic, mass serves as the denominator, reflecting its role in stabilizing the posture. That is, the greater the mass of the part, the stronger its resistance to flipping, and the lower the final calculated posture stability index value.

[0030] This attitude stability index intuitively reflects the risk level of attitude change of the part after the final release point is cut off, providing a direct basis for decision-making on which release mode to choose.

[0031] The stability threshold is not a fixed absolute value; it can be adjusted according to the thickness of the sheet metal being processed, the type of material, and the requirements for the posture of the sorted parts.

[0032] The threshold is set by experimentally calibrating several typical parts to obtain the index value under critical instability. The initial setting value is usually fine-tuned within the range of 0.5 to 1.5 to achieve a balance between efficiency and stability. The stability threshold is set by theoretical calculation and experimental calibration of the critical instability state of specific materials, thicknesses and part geometries. The controller triggers the decision logic to select the gravity attitude induction mode or the constraint synchronous descent mode by accurately comparing the real-time calculated attitude stability index with this threshold. In practical applications, this threshold can be determined by conducting experiments on several typical parts, such as parts with high aspect ratios and irregular contours, to calibrate the exponential critical point at which their attitude instability occurs, thereby obtaining an initial set value. In addition, this threshold can also be used as an open parameter, allowing operators to fine-tune it in the control system according to the actual production situation in order to achieve a balance between sorting efficiency and attitude stability.

[0033] In step S4, the position and orientation are confirmed, including comparing the actual outline of the part captured by the camera with the final orientation predicted based on the selected release mode, to verify whether its position and angle are within the expected range.

[0034] In this embodiment of the invention, the step of confirming the position and attitude is a verification and positioning process. After the part is separated from the mother plate through gravity attitude induction mode or constraint synchronous descent mode, the visual recognition camera 230 fixed on the moving trolley, such as the SICK Inspector P6xx series smart camera, moves to directly above the part and takes an image; the visual processing algorithm inside the controller analyzes the image and accurately identifies the actual contour, position coordinates and rotation angle of the part on the lifting pin matrix 110 through edge detection and contour matching technologies; at the same time, the controller generates a predicted final attitude based on the release mode previously selected for the part. The logic for generating the predicted final attitude is as follows: If the constrained synchronous descent mode is used, the predicted attitude is the horizontal attitude of the part at its original position, with only the Z-axis height decreasing; if the gravity attitude induction mode is used, the predicted attitude is the final planar position and rotation angle of the part after it has been stably stopped on the inclined surface, calculated by the controller based on the set tilt angle and direction, as well as the geometry and center of mass of the part. For example, if the constrained synchronous descent mode is used, the predicted attitude is a horizontal attitude that is exactly the same as the original position, except that the height of the Z-axis is reduced; if the gravity attitude induction mode is used, the predicted attitude will be a stable attitude that is tilted in a specific direction; by comparing the actual attitude captured by the camera with this predicted attitude, the success of the release process can be verified. The predicted final attitude is based on the calculation results of the center of mass and tilt angle, obtained through two-dimensional geometric projection. It represents the ideal projected profile and rotation angle of the part on the horizontal plane when it reaches the minimum potential energy under the action of gravity. This comparison not only confirmed the identity of the part, but more importantly, it provided the part's current precise spatial pose information, laying the data foundation for the electromagnetic chuck gripper 220 to perform collision-free and high-success-rate gripping operations.

[0035] The laser cutting head 210 and the electromagnetic chuck gripper 220 each integrate an independent ball screw linear module to achieve independent vertical lifting.

[0036] The ball screw linear module is driven by a servo motor to achieve high-precision vertical positioning and highly responsive independent lifting. The structural configuration of the laser cutting head 210 and the electromagnetic chuck gripper 220 in this embodiment of the invention embodies the design concept of functional independence and motion decoupling. Although the laser cutting head 210 and the electromagnetic chuck gripper 220 are installed side by side on the same moving trolley of the gantry motion system 200 to ensure synchronous movement in the horizontal plane, they each integrate an independent ball screw linear module in the vertical direction. Each module is driven by an independent power mechanism, such as a servo motor. This design allows their vertical lifting movements to be completely independent and without interference. For example, when the laser cutting head 210 descends to its working focal length for cutting, the electromagnetic chuck gripper 220 can remain at a higher, safer position. When the part is cut and the gripper needs to descend for adsorption, the laser cutting head 210 can first rise to a safe height, or move to the next position to prepare for cutting while the gripper is working. This independence of vertical movement allows for more optimized timing of the cutting and gripping actions, reducing waiting time and thus improving the overall production efficiency of the device.

[0037] The moving trolley ensures that the visual recognition camera 230, the laser cutting head 210, and the electromagnetic chuck gripper 220 have a fixed spatial displacement relationship.

[0038] The installation method of the visual recognition camera 230 in this embodiment of the invention is to simplify the coordinate system transformation and improve the positioning efficiency. The visual recognition camera 230 is fixedly installed on the same moving trolley that carries the laser cutting head 210 and the electromagnetic chuck gripper 220. Since these three components are rigidly connected to the same moving body, the relative spatial displacement relationship between the center point of the camera's field of view, the tool center point of the laser head, the tool center point of the gripper, and the center of the chuck is fixed. This fixed spatial displacement relationship can be accurately calibrated during equipment debugging and stored in the controller as a system parameter. The purpose of this preset displacement vector is to unify and transform the coordinate systems of the center points of the three tools: visual recognition camera 230, laser cutting head 210, and electromagnetic chuck gripper 220. Logical structure: It is a fixed set of three-dimensional coordinate differences; the displacement vector is defined as the fixed spatial distance on the X, Y, and Z axes between the tool center point of the laser cutting head 210 or the electromagnetic chuck gripper 220 and the tool center point of the vision recognition camera 230. Data stream: When the camera locates the part ( After obtaining the coordinates, the controller directly uses simple vector addition, for example... It calculates the target motion coordinates of the laser head or gripper, greatly simplifying the motion control algorithm; In practical applications, once the visual recognition camera 230 locates the coordinates of a part, the controller no longer needs to perform complex coordinate system transformations. It simply needs to perform coordinate addition and subtraction based on the pre-stored displacement vector to instantly calculate the precise target position that the laser head or gripper should move to. This greatly simplifies the control algorithm and effectively reduces the accumulated errors caused by motion and calculation, ensuring high speed and high precision from recognition to execution.

[0039] It is precisely because of this physical constraint of fixed displacement relationship that a high-speed, high-precision, and error-reducing direct mapping between visual positioning and tool execution coordinates can be achieved.

[0040] The waste collection trough 120 is located below the lifting pin matrix 110 and is used to collect metal dust, slag and all tiny waste that cannot be identified and transferred by the electromagnetic chuck gripper 220 during the cutting process. Its bottom is designed with an inclined slide and is connected to a negative pressure dust collection system to ensure automatic cleaning and discharge of cutting waste. Example

[0041] Please see Figure 1-3 A laser cutting and sorting device for metal sheets, comprising: A cutting and sorting base 100 is provided with a lifting pin matrix 110; The gantry motion system 200 is mounted above the cutting and sorting base 100 and includes a movable trolley that can move in a horizontal plane. Laser cutting head 210, mounted on a mobile trolley; An electromagnetic chuck gripper 220 is mounted side-by-side with a laser cutting head 210 on a mobile trolley. Visual recognition camera 230, fixed to a mobile trolley; The controller executes the configuration.

[0042] This invention provides a laser cutting and sorting device for metal sheets, which is a highly integrated automated system that integrates cutting, posture adjustment, identification, and handling functions. The device is based on a cutting and sorting base 100, above which a lifting pin matrix 110 serves not only as a support surface for the sheet metal but also as a key component for guiding the posture of parts and providing stable support. A gantry motion system 200, mounted above the base, is the main execution unit of the device, with its moving trolley capable of rapid and precise movement within a horizontal two-dimensional plane. The moving trolley carries three core functional units: a laser cutting head 210 for material removal, an electromagnetic chuck gripper 220 for part transfer, and a visual recognition camera 230 for status perception. The coordinated operation of these three units is uniformly scheduled by a high-performance controller, such as a PLC or industrial PC. The controller runs the aforementioned cutting and sorting method, receiving processing files, calculating and planning paths, determining the release mode based on a stability index, and precisely controlling the linkage between the gantry system and the pin matrix, ultimately achieving full automation from the orderly sorting of entire sheet metal to individual parts.

[0043] The lifting pin matrix 110 is composed of a large number of independently controlled pneumatic lifting pins arranged in an array.

[0044] The specific structure of the lifting pin matrix 110 is described in this embodiment of the invention. The matrix is ​​composed of a large number of independent lifting pins arranged in an array; the lifting action of each pin is driven by an independent power mechanism, such as using a miniature cylinder to achieve pneumatic lifting, and its action is controlled by a solenoid valve; this independent control is the key to realizing its function. The controller can control different combinations of solenoid valves to make the pins in any shape area rise or fall. To ensure the formation of a precisely tilted surface, each pneumatic lifting pin is equipped with an adjustable mechanical limit block at the end of a miniature cylinder. The controller determines the final rising height of the pin through a preset combination of limit positions, thereby constructing a macroscopically precise and stable tilted support surface. When all the pins rise to the same height, they together form a flat support platform to stably support the entire sheet before cutting. When executing the gravity attitude induction mode, the controller can instruct a portion of the pins below a specific part profile to descend, thereby forming a precisely tilted surface on a macroscopic scale to guide the part to slide down stably. This modular and programmable support method provides a flexible and fast-response solution for the attitude control of the part after cutting.

[0045] The laser cutting head 210 and the electromagnetic chuck gripper 220 each integrate a ball screw linear module driven by a servo motor to achieve independent vertical lifting.

[0046] This invention further clarifies the implementation method of the vertical lifting mechanism of the laser cutting head 210 and the electromagnetic chuck gripper 220. To achieve high-precision, high-response vertical positioning, both integrate a ball screw linear module driven by a servo motor. The servo motor, such as the Siemens SIMOTICS S-1FK7 series, serves as the power source, providing precise angle and speed control and ensuring accurate command execution through closed-loop feedback. The rotational motion of the servo motor is transmitted to the ball screw via a coupling, which efficiently converts the rotational motion into linear motion, driving the connected laser head or gripper to perform smooth vertical lifting. A ball screw is chosen instead of a conventional screw because its rolling friction characteristics provide higher transmission efficiency and positioning accuracy. This combination of a servo motor and a ball screw not only ensures that the laser cutting head 210 can accurately maintain its focal length with the surface of the material during cutting, but also ensures that the electromagnetic chuck gripper 220 can gently contact and adsorb parts at a controllable speed, avoiding impact and displacement, and providing hardware assurance for the high-performance operation of the entire system.

[0047] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for laser cutting and sorting of metal sheets, characterized in that, include: S1. A cutting and sorting device is set up, which includes a cutting and sorting base (100) and a gantry motion system (200) mounted on it. The cutting and sorting base (100) is provided with a lifting pin matrix (110) for supporting the plate and adjusting the posture of the parts. The gantry motion system (200) has a laser cutting head (210) for performing cutting, an electromagnetic chuck gripper (220) for gripping the parts, and a visual recognition camera (230) for recognizing the posture fixed on the moving trolley. S2. For each individual part on the sheet metal, calculate its attitude stability index and plan the cutting path including the final release point. S3. Perform cutting and adaptive release, drive the laser cutting head (210) to cut, and before cutting the final release point, select the release mode according to the attitude stability index: if the index is lower than the stability threshold, the gravity attitude induction mode is adopted, and the lifting pin matrix (110) is instructed to form an inclined surface before cutting the final release point; if the index is higher than the stability threshold, the constraint synchronous descent mode is adopted, and the lifting pin matrix (110) is instructed to descend synchronously as a whole after cutting the final release point. S4. Confirmation and grasping are performed by driving the visual recognition camera (230) to photograph the separated parts to confirm their position and orientation, and then driving the electromagnetic chuck gripper (220) to attract and transfer them. The steps of S2 include: reading a sheet metal processing file containing a nested layout of multiple parts, and automatically analyzing the geometry of each individual part to calculate its physical centroid, wherein the final release point is defined as the micro-connection point farthest from the physical centroid; The attitude stability index is calculated by comprehensively converting the three physical quantities of the part: its moment of inertia, mass, and aspect ratio. In step S4, confirming its position and orientation includes comparing the actual outline of the part captured by the visual recognition camera (230) with the final orientation predicted based on the selected release mode to verify whether its position and angle are within the expected range. The laser cutting head (210) and the electromagnetic chuck gripper (220) each integrate an independent ball screw linear module to achieve independent vertical lifting. The moving trolley ensures that the visual recognition camera (230) has a fixed spatial displacement relationship with the tool center point of the laser cutting head (210) and the electromagnetic chuck gripper (220); A cutting and sorting base (100) is provided with a lifting pin matrix (110). The gantry motion system (200) is mounted above the cutting and sorting base (100) and includes a movable trolley that can move in the horizontal plane; Laser cutting head (210) is mounted on the moving trolley; An electromagnetic chuck gripper (220) is mounted side-by-side with the laser cutting head (210) on the movable trolley; A visual recognition camera (230) is fixed to the movable trolley; It also includes a controller for performing configuration; The lifting pin matrix (110) is composed of independently controlled pneumatic lifting pins arranged in an array. The laser cutting head (210) and the electromagnetic chuck gripper (220) each integrate a ball screw linear module driven by a servo motor to achieve independent vertical lifting.

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