Plate chamfering device

Abstract

The invention provides a plate chamfering device, and relates to the technical field of plate processing, the plate chamfering device comprises a feeding conveying mechanism and manipulator operating mechanisms arranged on two sides of the feeding conveying mechanism, the manipulator operating mechanisms comprise a manipulator operating assembly I and a manipulator operating assembly II, and a chamfering mechanism is arranged at the output end of the feeding conveying mechanism; a 3D visual scanner is arranged on the chamfering mechanism, and a discharging conveying mechanism is arranged at the plate output end of the chamfering mechanism. Through linkage of the feeding conveying mechanism, the manipulator operating mechanism and the chamfering mechanism, a plate is kept in a vertical posture in the whole machining process, cuttings are naturally separated under the action of gravity through vertical machining, the secondary pollution problem caused by horizontal machining is thoroughly eradicated, and meanwhile, the machining efficiency is improved. A 3D visual scanner on the chamfering mechanism can obtain the three-dimensional contour of the plate in real time, a data basis is provided for follow-up self-adaptive path planning, and the device has the innate flexibility for processing the complex special-shaped plate.

Description

Technical Field

[0001] This invention belongs to the field of sheet metal processing technology, and specifically relates to a sheet metal chamfering device. Background Technology

[0002] In the field of sheet metal processing, chamfering is a common finishing process used to remove burrs from the edges of sheet metal and create specific angles or rounded corners to meet assembly, safety, or aesthetic requirements. Traditional sheet metal chamfering devices are mainly horizontal platform type, where the sheet metal is placed flat on a worktable or conveyor line, and a fixed chamfering head or a moving chamfering device processes its edges. For example, the chamfering mechanism of the chamfering machine disclosed in prior art application number 202122644579.3 uses a horizontal platform type chamfering method. This chamfering method has the following limitations: First, horizontally placed boards require a large surface area, resulting in low space utilization. Second, chips and dust generated during mechanical chamfering are easily deposited on the surface of horizontally placed boards due to gravity, causing secondary pollution, seriously affecting the cleanliness of subsequent processes or products, and increasing cleaning costs. Finally, due to its fixed processing path, it is extremely unsuitable for non-standard straight edges or irregularly shaped boards with complex three-dimensional curved surfaces, lacking flexibility. Summary of the Invention

[0003] The present invention provides a plate chamfering device to solve at least one of the technical problems mentioned above.

[0004] To address the aforementioned technical problems, this invention discloses a sheet metal chamfering device, comprising a feeding conveying mechanism and robotic arm operating mechanisms disposed on both sides of the feeding conveying mechanism. The robotic arm operating mechanisms include a first robotic arm operating component and a second robotic arm operating component, which are used for squeezing, clamping, and adjusting the position of the sheet metal. A chamfering mechanism is provided at the output end of the feeding conveying mechanism for chamfering the sheet metal. A 3D vision scanner is provided on the chamfering mechanism for scanning the outline of the sheet metal to obtain three-dimensional point cloud data of the sheet metal. An output conveying mechanism is provided at the sheet metal output end of the chamfering mechanism, and the feeding conveying mechanism and the output conveying mechanism are used for feeding and discharging the sheet metal, respectively.

[0005] Preferably, both robotic arm operation component one and robotic arm operation component two include a robotic arm, a robotic arm moving track, and an adsorption and clamping component. The robotic arm moving track is fixedly connected to the ground in parallel with the feeding conveying mechanism and the discharging conveying mechanism. The robotic arm is mounted on the robotic arm mounting plate of the robotic arm moving track, and the adsorption and clamping component is rotatably connected to the working end of the robotic arm.

[0006] Preferably, the adsorption clamping assembly includes a clamping mounting frame and a suction cup mounting plate. The clamping mounting frame is rotatably connected to the working end of the robotic arm, and the suction cup mounting plate is fixedly connected to the clamping mounting frame. Two symmetrically arranged folding plate adjusting cylinders are mounted on the suction cup mounting plate. The output end of the folding plate adjusting cylinder is hinged to a clamping folding plate. A folding plate rotating shaft is rotatably connected to the suction cup mounting plate and passes through the clamping folding plate. Both the clamping folding plate and the suction cup mounting plate are provided with several suction cups, and the suction cups are connected to an external negative pressure generating device.

[0007] Preferably, both the feeding conveying mechanism and the discharging conveying mechanism include several sections of conveying lifting mounting frame, several electric conveying rollers rotatably connected to the conveying lifting mounting frame, and several evenly arranged plate conveying guide components; The sheet material conveying and guiding assembly includes two symmetrically arranged electric adjusting screws for the guide rollers. The electric adjusting screws for the guide rollers are rotatably connected to the conveying and lifting mounting frame. A movable nut is threaded onto the electric adjusting screw for the guide rollers. A fixed shaft is fixedly connected to the movable nut. A flexible guide roller is rotatably connected to the fixed shaft. The flexible guide roller vertically passes through the gap between two adjacent electric conveying rollers.

[0008] Preferably, the chamfering mechanism includes a mounting base plate and chamfering actuators symmetrically mounted on the mounting base plate. The chamfering actuators include a three-axis position adjustment base and a chamfering main unit. The three-axis position adjustment base is used to drive the chamfering main unit to move in the x, y and z directions, and the chamfering main unit is used to chamfer the sheet material. The three-axis position adjustment base includes a z-axis guide rail assembly, an x-axis guide rail assembly, and a y-axis guide rail assembly. The z-axis guide rail assembly is fixedly connected to the mounting base plate. The x-axis guide rail assembly slides up and down along the z-direction and is connected to the z-axis guide rail assembly. The y-axis guide rail assembly slides left and right along the x-direction and is connected to the x-axis guide rail assembly. The chamfering main unit slides back and forth along the y-direction and is connected to the y-axis guide rail assembly.

[0009] Preferably, the chamfering main unit includes a chamfering main unit slide plate, which is slidably connected to the y-axis guide rail assembly. A chamfering drive motor is installed on the chamfering main unit slide plate. A chamfering pulley one is fixedly connected to the output end of the chamfering drive motor. A tool storage box is fixedly connected to the chamfering main unit slide plate. A tool mounting shaft is rotatably connected to the tool storage box. A chamfering pulley two and a chamfering tool are respectively keyed to both ends of the tool mounting shaft. The chamfering tool is located inside the tool storage box. The chamfering pulley two and the chamfering pulley one are connected through the chamfering pulley. The tool storage box is equipped with a coolant nozzle, which is connected to an external coolant supply device. The tool storage box also has a chip suction port, which is connected to an external chip suction device. Inside the tool storage box, a tool cleaning brush and a cleaning brush control cylinder are hinged together. The working end of the cleaning brush control cylinder is slidably connected to the brush rod of the tool cleaning brush. The brush rod of the tool cleaning brush is connected to the inner wall of the tool storage box through a compression elastic element.

[0010] Preferably, it also includes a storage plate mechanism, which includes an inclined storage plate frame. The upper surface of the inclined storage plate frame is designed to be inclined and the middle part is a hollow area. An electromagnetic pressing guide rail is fixedly connected to the upper surface of the inclined storage plate frame. An electromagnetic abutment pressing plate is slidably connected to the electromagnetic pressing guide rail. The electromagnetic abutment pressing plate is used to press the plates stacked vertically on the upper surface of the inclined storage plate frame.

[0011] Preferably, it also includes a chamfer quality diagnosis module, which includes: The acoustic signal acquisition submodule is used to acquire the original acoustic signal in real time during the chamfering process based on the sound acquisition device on the chamfering mechanism, and obtain the path length position of the current processing point along the contour of the plate, and synchronously associate the original acoustic signal with the path length position of the processing point. The deep feature extraction submodule is used to convert the original acoustic signal corresponding to each processing point into a time-frequency domain spectrum, extract the acoustic feature vector corresponding to each processing point, and construct a mapping dataset between the path length position of each processing point and the acoustic feature vector. The chamfering quality initial diagnosis submodule is used to judge the processing anomalies based on the mapping dataset of the path length position of each processing point and the voiceprint feature vector, and to determine the abnormal sections to be re-inspected in the current chamfering processing path based on the judgment results of the processing anomalies. The chamfering quality re-inspection submodule is used to acquire images of each abnormal section to be re-inspected based on the image acquisition device on the chamfering mechanism, and extract the morphological feature vector of each abnormal section to be re-inspected. The quality diagnosis decision control submodule is used to determine the representative acoustic feature vector of the abnormal section to be re-inspected based on the acoustic feature vector of each processing point in the abnormal section to be re-inspected. The representative acoustic feature vector of each abnormal section to be re-inspected is then concatenated with the morphological feature vector to form a joint diagnosis vector. Based on the joint diagnosis vector and the preset quality joint diagnosis classifier, the quality diagnosis result is determined and a response strategy is given. The chamfering mechanism is then controlled to operate based on the response strategy.

[0012] Preferably, the chamfer quality initial diagnosis submodule includes: The processing anomaly point determination unit is used to compare and analyze the real-time acoustic feature vector of each processing point with the acoustic quality feature vector benchmark library of the preset chamfer type, determine the chamfer quality status of each processing point in real time, and record the anomaly type, confidence level and path length position corresponding to the processing anomaly point when a processing anomaly point is found. The unit for determining abnormal sections to be re-inspected is used to analyze the path length position sequence corresponding to each processing abnormal point, integrate continuous or adjacent processing abnormal points on the chamfering processing path into an abnormal section, and count the length of each abnormal section. When the length of the abnormal section exceeds the preset discrimination length, the abnormal section is marked as an abnormal section to be re-inspected, and its starting path length position and ending path length position are output.

[0013] Preferably, it also includes a process twin simulation module, which includes: The twin model construction module is used to create a virtual model of the sheet metal chamfering device. The virtual model includes the geometric model, kinematic model, and dynamic model of the sheet metal chamfering device. The processing simulation module is used to simulate the beveling process of sheet metal in a virtual model of the sheet metal beveling device, and to generate a virtual processing path based on the three-dimensional point cloud data of the sheet metal obtained by the 3D vision scanner. The process parameter optimization module is used to optimize at least one parameter among the processing path, processing speed, and tool selection during the simulation process based on the virtual processing path, and send the optimized parameters to the chamfering mechanism and the robot operating mechanism to control the actual processing process.

[0014] Compared with the prior art, the present invention has the following beneficial effects: This invention creatively maintains the sheet metal in a vertical position throughout the entire processing process by linking the feeding and conveying mechanism, the robotic arm operating mechanism, and the chamfering mechanism. Vertical processing allows chips to detach naturally under gravity, completely eliminating the secondary pollution problem caused by horizontal processing. It is especially suitable for precision manufacturing with stringent cleanliness requirements. At the same time, the vertical position transforms the original planar occupation into three-dimensional space utilization, significantly reducing the equipment footprint and lowering factory space costs for the same production capacity. The 3D vision scanner integrated into the chamfering mechanism can acquire the three-dimensional contour of the sheet metal in real time, providing a data foundation for subsequent adaptive path planning, giving this device inherent flexibility in handling complex irregularly shaped sheets. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 A schematic diagram of the robotic arm operating mechanism of this invention; Figure 3 This is a schematic diagram of the robotic arm structure of the present invention; Figure 4 This is a schematic diagram of the adsorption and clamping component structure of the present invention; Figure 5 This is a schematic diagram of the conveyor lifting mounting frame structure of the present invention; Figure 6 This is a schematic diagram of the chamfering mechanism of the present invention; Figure 7 This is a schematic diagram of the chamfered execution main structure of the present invention; Figure 8 This is a schematic diagram of the chamfered main unit structure of the present invention; Figure 9 This is a schematic diagram of the internal structure of the tool storage box of the present invention; Figure 10 This is a schematic diagram of the storage plate mechanism of the present invention.

[0016] In the diagram: 1. Feeding and conveying mechanism; 2. Robotic arm operating mechanism; 20. Robotic arm operating component one; 21. Robotic arm operation component two; 22. Robotic arm; 23. Robotic arm moving track; 24. Adsorption gripping assembly; 240. Gripping mounting frame; 241. Suction cup mounting plate; 242. Folding plate pivot; 243. Gripping plate; 244. Folding plate adjusting cylinder; 245. Suction cup; 25. Robotic arm mounting plate; 3. Chamfering mechanism; 30. Mounting base plate; 31. Chamfering actuator; 32. Three-axis position adjusting base; 320. Z-axis guide rail assembly; 3200. Guide rail seat; 3201. Z-axis guide rail; 3202. Drive motor one; 3203. Adjusting pulley one; 3204. Position adjusting transmission belt; 321. X-axis guide rail assembly; 3210. X-axis guide rail mounting plate; 3211. X-axis guide rail; 3212. Drive motor two; 3213. Position adjusting screw; 322. Y-axis guide rail assembly; 3220. Y-axis guide rail mounting plate; 3221. Y-axis guide rail frame; 3222. Cylinder; 33. Chamfering Main unit; 330, chamfering main unit slide plate; 331, chamfering drive motor; 332, chamfering pulley one; 333, tool mounting shaft; 334, chamfering pulley two; 335, chamfering tool; 336, tool storage box; 337, chamfering pulley; 338, tool cleaning brush; 3380, compression elastic element; 339, cleaning brush control cylinder; 4, discharge conveying mechanism; 40, conveying lifting mounting frame; 41, electric conveying roller; 42, guide roller electric adjusting screw; 43, moving nut; 44, fixed shaft; 45, flexible guide roller; 5, sheet material; 6, 3D vision scanner; 7, storage plate mechanism; 70, inclined storage plate rack; 71, electromagnetic clamping guide rail; 72, electromagnetic abutment clamping plate. Detailed Implementation

[0017] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0018] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0019] The present invention provides the following embodiments. Example 1 This invention provides a plate chamfering device, such as... Figure 1-10 As shown, it includes a feeding conveying mechanism 1 and a robotic arm operating mechanism 2 disposed on both sides of the feeding conveying mechanism 1. The robotic arm operating mechanism 2 includes a robotic arm operating component 1 20 and a robotic arm operating component 21. The robotic arm operating component 1 20 and the robotic arm operating component 21 are used to squeeze, clamp and adjust the position of the sheet 5. The output end of the feeding conveying mechanism 1 is provided with a chamfering mechanism 3, which is used to chamfer the sheet 5. The chamfering mechanism 3 is provided with a 3D vision scanner 6, which is used to scan the outline of the sheet 5 to obtain the three-dimensional point cloud data of the sheet 5. The sheet output end of the chamfering mechanism 3 is provided with an output conveying mechanism 4. The feeding conveying mechanism 1 and the output conveying mechanism 4 are used to feed and discharge the sheet 5, respectively.

[0020] The working principle and beneficial effects of the above technical solution are as follows: During operation, the plate 5 to be chamfered is moved onto the feeding conveyor 1 by the robotic arm operating component 21. At this time, the plate 5 to be chamfered is in a vertical state. Then, the feeding conveyor 1 drives the plate 5 to be chamfered to move towards the chamfering mechanism 3. During the movement of the plate 5 to be chamfered towards the chamfering mechanism 3, the robotic arm operating component 21 follows the auxiliary plate 5 throughout the process. When the plate 5 to be chamfered moves to the output end of the feeding conveyor 1 before entering the chamfering mechanism 3, the robotic arm operating component 1 20 is activated, so that the working ends of the robotic arm operating component 1 20 and the robotic arm operating component 21 respectively squeeze and adhere to the two end faces of the plate 5 to be chamfered. Then, the robotic arm operating component... The first component 20 and the second robotic arm operating component 21 work together to lift the plate 5 to be chamfered and adjust its posture in the air. During this process, the 3D vision scanner 6 scans the outline of the plate 5 to be chamfered to obtain the three-dimensional point cloud data of the plate 5 to be chamfered. Then, based on the three-dimensional point cloud data, the processing path is planned for the plate 5 to be chamfered. Based on the processing path planning result, the robotic arm operating mechanism 2 is controlled to drive the plate 5 to be chamfered to adjust its posture and move its spatial position, so that the working end of the chamfering mechanism 3 is always in contact with the chamfered edge of the plate 5 to be chamfered during the chamfering process, until all the chamfered edges of the plate 5 to be chamfered are completed. Finally, the plate 5 is sent out by the robotic arm operating mechanism 2 in conjunction with the material discharge conveying mechanism 4. This invention creatively maintains the vertical orientation of the sheet metal 5 throughout the entire processing process by linking the feeding and conveying mechanism 1, the robotic arm operating mechanism 2, and the chamfering mechanism 3. Vertical processing allows chips to detach naturally under gravity, completely eliminating the secondary pollution problem caused by horizontal processing. At the same time, the vertical orientation transforms the original planar occupation into three-dimensional space utilization, significantly reducing the equipment footprint and lowering factory space costs under the same production capacity. The 3D vision scanner 6 integrated on the chamfering mechanism 3 can acquire the three-dimensional contour of the sheet metal 5 in real time, providing a data basis for subsequent adaptive path planning, giving this device the inherent flexibility to handle complex irregularly shaped sheet metal 5.

[0021] Example 2 Based on Embodiment 1, both the robotic arm operation component 1 20 and the robotic arm operation component 21 include a robotic arm 22, a robotic arm moving track 23, and an adsorption and clamping component 24. The robotic arm moving track 23 is fixedly connected to the ground in parallel with the feeding conveying mechanism 1 and the discharging conveying mechanism 4. The robotic arm 22 is mounted on the robotic arm mounting plate 25 of the robotic arm moving track 23, and the adsorption and clamping component 24 is rotatably connected to the working end of the robotic arm 22. The adsorption clamping assembly 24 includes a clamping mounting frame 240 and a suction cup mounting plate 241. The clamping mounting frame 240 is rotatably connected to the working end of the robotic arm 22. The suction cup mounting plate 241 is fixedly connected to the clamping mounting frame 240. Two symmetrically arranged folding plate adjusting cylinders 244 are mounted on the suction cup mounting plate 241. The output end of the folding plate adjusting cylinder 244 is hinged to a clamping folding plate 243. A folding plate rotating shaft 242 is rotatably connected to the suction cup mounting plate 241. The folding plate rotating shaft 242 passes through the clamping folding plate 243. Both the clamping folding plate 243 and the suction cup mounting plate 241 are provided with several suction cups 245. The suction cups 245 are connected to an external negative pressure generating device.

[0022] In this embodiment, each adsorption clamping component 24 may be provided with two clamping folds 243 that are symmetrically arranged on the left and right.

[0023] The working principle and beneficial effects of the above technical solution are as follows: the robotic arm 22 can drive the adsorption and clamping component 24 to adjust the spatial posture, thereby adjusting the spatial posture of the clamped, adsorbed or pressed plate 5. The adjustability of the spatial posture greatly facilitates the chamfering of irregular plate. The design of the robotic arm moving track 23 facilitates the auxiliary transportation of the plate to be processed 5 and the processed plate 5, ensuring the stability of the plate during transportation. When adsorbing a smooth plate 5, the robotic arm 22 controls the suction cup mounting plate 241 to abut against the surface of the plate 5. At this time, the suction cup 245 contacts the surface of the plate 5. Then, the external negative pressure generates the equipment to extract the air between the surface of the plate 5 and the suction cup 245, so that the plate 5 is adsorbed on the adsorption clamping component 24 under the action of negative pressure. Thus, the posture of the plate 5 can be adjusted. For the plate 5 with an uneven surface, two adsorption clamping components 24 work together to clamp the two sides of the plate 5. The positive pressure and friction ensure that the plate 5 will not fall due to gravity during the spatial posture adjustment process. The rotation state of the clamping folding plate 243 can be adjusted by extending and retracting the folding plate adjustment cylinder 244, thereby flexibly increasing the number of suction cups 245 based on the size of the plate surface area. For example, for a plate 5 with a relatively large surface area, the clamping folding plate 243 can be adjusted to be on the same plane as the suction cup mounting plate 241. At the same time, when the clamping folding plate 243 is bent, if the clamping folding plate 243 is on a plane perpendicular to the suction cup mounting plate 241, it is beneficial for the auxiliary handling of the plate 5.

[0024] Example 3 Based on Embodiment 1, both the feeding conveying mechanism 1 and the discharging conveying mechanism 4 include several sections of conveying lifting mounting frame 40, several electric conveying rollers 41 rotatably connected to the conveying lifting mounting frame 40, and several evenly arranged plate conveying guide components. The sheet material conveying and guiding assembly includes two symmetrically arranged electric adjusting screws 42 for the guide rollers. The electric adjusting screws 42 for the guide rollers are rotatably connected to the conveying lifting mounting frame 40. A movable nut 43 is threaded onto the electric adjusting screws 42 for the guide rollers. A fixed shaft 44 is fixedly connected to the movable nut 43. A flexible guide roller 45 is rotatably connected to the fixed shaft 44. The flexible guide roller 45 vertically passes through the gap between two adjacent electric conveying rollers 41.

[0025] The working principle and beneficial effects of the above technical solution are as follows: When the feeding conveying mechanism 1 and the discharging conveying mechanism 4 are working, the bottom surface of the plate 5 moves forward under the action of the rotating electric conveying roller 41. Rolling conveying can better ensure the integrity of the plate 5 to be processed surface and avoid damage to the processing surface compared with sliding conveying. During the conveying process, the plate 5 is located between two flexible guide rollers 45. During the conveying process of the plate 5, the flexible guide rollers 45 are always in contact with the two sides of the plate 5, forming a flexible lateral constraint on the plate 5 and ensuring the stability of the transmission of the plate 5. The plate 5 of different thicknesses can be adapted by adjusting the distance between the two flexible guide rollers 45. When adjusting the distance between the two flexible guide rollers 45, the electric adjusting screw 42 of the guide roller rotates and drives the moving nut 43 to move, thereby driving the fixed shaft 44 and the flexible guide roller 45 to adjust their positions.

[0026] Example 4 Based on Embodiment 1, the chamfering mechanism 3 includes a mounting base plate 30 and a chamfering execution body 31 symmetrically mounted on the mounting base plate 30. The chamfering execution body 31 includes a three-axis position adjustment base 32 and a chamfering host 33. The three-axis position adjustment base 32 is used to drive the chamfering host 33 to move in the x, y and z directions. The chamfering host 33 is used to chamfer the sheet 5. The three-axis position adjustment base 32 includes a z-axis guide rail assembly 320, an x-axis guide rail assembly 321, and a y-axis guide rail assembly 322. The z-axis guide rail assembly 320 is fixedly connected to the mounting base plate 30. The x-axis guide rail assembly 321 is slidably connected to the z-axis guide rail assembly 320 along the z-direction. The y-axis guide rail assembly 322 is slidably connected to the x-axis guide rail assembly 321 along the x-direction. The chamfering main unit 33 is slidably connected to the y-axis guide rail assembly 322 along the y-direction.

[0027] In this embodiment, the z-axis guide rail assembly 320, the x-axis guide rail assembly 321 and the y-axis guide rail assembly 322 can all be driven by belt, lead screw, cylinder or hydraulic cylinder. Preferred: The z-axis guide rail assembly 320 includes a guide rail base 3200, which is fixedly connected to the mounting base plate 30. Two symmetrically arranged z-axis guide rails 3201 are fixedly connected to the guide rail base 3200. A drive motor 3202 is mounted on the guide rail base 3200. An adjusting pulley 3203 is fixedly connected to the output end of the drive motor 3202. The adjusting pulley 3203 is connected to the adjusting pulley 3202 via a position adjusting transmission belt 3204. The adjusting pulley 3202 is rotatably connected to the guide rail base 3200. An x-axis guide rail assembly connecting block is fixedly connected to the position adjusting transmission belt 3204. The end of the x-axis guide rail assembly connecting block away from the position adjusting transmission belt 3204 is fixedly connected to the x-axis guide rail assembly 321. The x-axis guide rail assembly 321 includes an x-axis guide rail mounting plate 3210, which is slidably connected to the z-axis guide rail 3201 and fixedly connected to the x-axis guide rail assembly connecting block. Two symmetrically arranged x-axis guide rails 3211 are fixedly connected to the x-axis guide rail mounting plate 3210. A second drive motor 3212 is mounted on the x-axis guide rail mounting plate 3210. A position adjusting screw 3213 is fixedly connected to the output end of the second drive motor 3212. A position adjusting nut is threaded onto the position adjusting screw 3213 and fixedly connected to the y-axis guide rail assembly 322. The y-axis guide rail assembly 322 includes a y-axis guide rail mounting plate 3220, which is slidably connected to the x-axis guide rail 3211 and fixedly connected to the position adjusting nut. A y-axis guide rail bracket 3221 is fixedly connected to the y-axis guide rail mounting plate 3220. A cylinder 3222 is mounted on the y-axis guide rail bracket 3221. The output end of the cylinder 3222 is hinged to the chamfering host 33, which is slidably connected to the y-axis guide rail bracket 3221.

[0028] The working principle and beneficial effects of the above technical solution are as follows: During operation, the x-axis guide rail assembly 321 slides up and down along the z-axis and is connected to the z-axis guide rail assembly 320, the y-axis guide rail assembly 322 slides left and right along the x-axis and is connected to the x-axis guide rail assembly 321, and the chamfering host 33 slides back and forth along the y-axis and is connected to the y-axis guide rail assembly 322, thereby realizing the adjustment of the position of the chamfering host 33 in the x, y and z directions, thus adapting to the chamfering processing of different specifications of sheet metal 5; Specifically, the drive motor 3202 starts and drives the adjusting pulley 3203 to rotate, which in turn drives the position adjusting transmission belt 3204 to drive, thereby adjusting the x-axis guide rail assembly connecting block and the x-axis guide rail assembly 321 to slide up and down along the z-direction; The drive motor 3212 starts and drives the position adjusting screw 3213 to rotate, thereby moving the position adjusting nut to realize the left and right sliding of the y-axis guide rail assembly 322 in the x direction; The chamfering main unit 33 slides back and forth along the y direction by extending and retracting the cylinder 3222.

[0029] Example 5 Based on embodiment 4, the chamfering main unit 33 includes a chamfering main unit slide plate 330, which is slidably connected to the y-axis guide rail assembly 322. A chamfering drive motor 331 is installed on the chamfering main unit slide plate 330. A chamfering pulley 332 is fixedly connected to the output end of the chamfering drive motor 331. A tool storage box 336 is fixedly connected to the chamfering main unit slide plate 330. A tool mounting shaft 333 is rotatably connected to the tool storage box 336. A chamfering pulley 334 and a chamfering tool 335 are keyed to both ends of the tool mounting shaft 333, respectively. The chamfering tool 335 is located inside the tool storage box 336. The chamfering pulley 334 and the chamfering pulley 332 are connected through a chamfering pulley 337. The tool storage box 336 is equipped with a coolant nozzle, which is connected to an external coolant supply device. The tool storage box 336 is also equipped with a chip suction port, which is connected to an external chip suction device. Inside the tool storage box 336, a tool cleaning brush 338 and a cleaning brush control cylinder 339 are hinged. The working end of the cleaning brush control cylinder 339 is slidably connected to the brush rod of the tool cleaning brush 338. The brush rod of the tool cleaning brush 338 is connected to the inner wall of the tool storage box 336 through a compression elastic element 3380.

[0030] The working principle and beneficial effects of the above technical solution are as follows: During operation, the chamfering drive motor 331 drives the chamfering pulley 332 to rotate, the chamfering pulley 332 drives the chamfering pulley 337 to drive the tool mounting shaft 333 to rotate, thereby driving the chamfering tool 335 to rotate. The chamfering tool 335 mills the surface of the plate 5 to be processed to achieve chamfering. During the processing, the coolant nozzle can spray coolant onto the chamfering tool 335. The extension and retraction of the cleaning brush control cylinder 339 can control the swing angle of the tool cleaning brush 338, thereby switching the working state of the tool cleaning brush 338 and meeting the cleaning needs of chamfering tools 335 of different specifications. The design of the chip suction port and the external chip suction equipment can realize the automatic cleaning of chips. Traditional chamfering processes suffer from persistent problems such as coolant splashing and scattering of chips, resulting in harsh working environments, manual tool cleaning, low efficiency, and safety hazards. This invention integrates the chamfering drive motor 331, transmission system, chamfering tool 335, coolant nozzle, and tool cleaning brush 338 into a sealed tool storage box 336. During processing, the generated chips are cleaned off by the tool cleaning brush 338 and then sucked out of the tool storage box 336 by an external chip suction device. The tool cleaning brush 338 can effectively remove sticky chips and dirt, maintaining the tool in optimal cutting condition.

[0031] Example 6 Based on Embodiment 1, it also includes a storage plate mechanism 7, which includes an inclined storage plate frame 70. The upper surface of the inclined storage plate frame 70 is designed to be inclined and the middle part is a hollow area. An electromagnetic pressing guide rail 71 is fixedly connected to the upper surface of the inclined storage plate frame 70. An electromagnetic abutment pressing plate 72 is slidably connected to the electromagnetic pressing guide rail 71. The electromagnetic abutment pressing plate 72 is used to press the plates 5 stacked vertically on the upper surface of the inclined storage plate frame 70.

[0032] The working principle and beneficial effects of the above technical solution are as follows: Traditional board stacking storage is prone to damage to board 5 due to stress deformation and friction during material handling, and the material status is not transparent. The inclined design of the upper surface of the inclined storage rack 70 and the design of the electromagnetic abutment pressing plate 72 of this invention can effectively ensure the stability of board 5 storage. The inclined angle makes the board 5 naturally stick to each other vertically under the action of gravity, reducing the stacking deformation of the board under the action of mutual pressure when placed horizontally. At the same time, the hollow design in the middle of the upper surface of the inclined storage rack 70 can minimize the scratches on the processing area of ​​the board 5 during storage because the large area of ​​the chamfered surface of the board 5 is in contact with the space.

[0033] Example 7 Based on Example 4, a chamfer quality diagnosis module is also included, which includes: The acoustic signal acquisition submodule is used to acquire the original acoustic signal in real time during the chamfering process based on the sound acquisition device on the chamfering mechanism 3, and obtain the path length position of the current processing point along the contour of the plate, and synchronously associate the original acoustic signal with the path length position of the processing point. The deep feature extraction submodule is used to convert the original acoustic signal corresponding to each processing point into a time-frequency domain spectrum, extract the acoustic feature vector corresponding to each processing point, and construct a mapping dataset between the path length position of each processing point and the acoustic feature vector. The chamfering quality initial diagnosis submodule is used to judge the processing anomalies based on the mapping dataset of the path length position of each processing point and the voiceprint feature vector, and to determine the abnormal sections to be re-inspected in the current chamfering processing path based on the judgment results of the processing anomalies. The chamfering quality re-inspection submodule is used to acquire images of each abnormal section to be re-inspected based on the image acquisition device on the chamfering mechanism 3, and extract the morphological feature vector of each abnormal section to be re-inspected. The quality diagnosis decision control submodule is used to determine the representative voiceprint feature vector of the abnormal section to be re-inspected based on the voiceprint feature vector of each processing point in the abnormal section to be re-inspected. The representative voiceprint feature vector of each abnormal section to be re-inspected is then concatenated with the morphological feature vector to form a joint diagnosis vector. Based on the joint diagnosis vector and the preset quality joint diagnosis classifier, the quality diagnosis result is determined and a response strategy is given. The chamfering mechanism 3 is then controlled to work based on the response strategy.

[0034] In this embodiment, acoustic emission sensors or high-frequency directional microphones are used to collect the original acoustic signals during the chamfering process.

[0035] In this embodiment, the original acoustic signal corresponding to each processing point is converted into a time-frequency domain spectrum. Specifically, the original acoustic signal corresponding to each processing point is subjected to noise reduction and normalization preprocessing, and a time-frequency spectrum is generated by short-time Fourier transform. In this time-frequency domain graph, the horizontal and vertical axes represent time and frequency, respectively.

[0036] In this embodiment, the voiceprint feature vector is formed by concatenating the following feature sub-vectors in a preset order: The time-domain statistical feature vector of the original acoustic signal includes the effective value, kurtosis, and impulse factor. The frequency domain structural feature vectors of the original acoustic signal spectrum include the spectral centroid, spectral variance, and the energy percentage of a selected frequency band (such as the band representing cutting chatter). The time-frequency domain spectral feature vector of the time-spectrum graph is obtained by performing secondary feature extraction on the time-spectrum graph, including but not limited to the first N-dimensional coefficients of the Mel frequency cepstral coefficients, which are used to characterize the texture and pattern of the sound.

[0037] In this embodiment, the current chamfering processing path is the chamfering processing path along the contour of the plate, that is, the robot arm operating mechanism 2 drives the plate 5 to move so that the edge to be processed of the plate 5 passes through the spatial movement trajectory of the tool end of the fixed chamfering mechanism 3 in sequence. This trajectory is generally consistent with the physical contour of the plate 5.

[0038] In this embodiment, based on the voiceprint feature vector of each processing point in the abnormal section to be re-inspected, the representative voiceprint feature vector of the abnormal section to be re-inspected is determined, specifically including: The voiceprint feature vectors of all abnormal processing points in the abnormal section to be re-inspected are statistically calculated, and their arithmetic mean vector or median vector is used as the representative voiceprint feature vector of the abnormal section to be re-inspected.

[0039] In this embodiment, the morphological feature vector includes: Geometric contour feature sub-vector: Obtain the chamfered edge curve of the abnormal segment to be re-inspected through sub-pixel edge detection, and obtain its deviation value from the theoretical contour; Surface texture feature sub-vectors: Perform gray-level co-occurrence matrix analysis or local binary pattern analysis on the image of the abnormal section to be re-inspected to extract texture feature values ​​that characterize surface roughness and the presence or absence of vibration marks; Defect Identification Feature Sub-vector: Using image segmentation technology to identify and quantify the area and shape factors of defects such as attachments and cracks in the abnormal section to be re-inspected.

[0040] In this embodiment, representative voiceprint feature vectors and morphological feature vectors of the abnormal segment to be re-examined are fused to form a joint diagnostic vector, specifically including: The representative voiceprint feature vector and morphological feature vector of the abnormal segment to be re-examined are combined into a higher-dimensional joint diagnostic vector by vector concatenation.

[0041] In this embodiment, the preset quality joint diagnostic classifier is a model trained through supervised learning. Specifically, a large amount of historical case data is collected, and each case contains a joint diagnostic vector of known root causes and adjustment strategies. The root cause corresponds to the quality diagnostic result, and the adjustment strategy corresponds to the response strategy. Using these joint diagnostic vectors of known root causes as the dataset, classification algorithms such as support vector machines, random forests, or neural networks are trained and validated until the model can accurately map from the joint diagnostic vectors to the root causes.

[0042] In this embodiment, based on the joint diagnostic vector and a preset quality joint diagnostic classifier, the quality diagnostic result is determined and a response strategy is provided, specifically including: The joint diagnostic vector is input into the trained classifier, which outputs the quality diagnostic results and corresponding strategies. The quality diagnostic results and corresponding strategies are in a one-to-one correspondence. Specifically: If the quality diagnosis result is that the chamfer quality is qualified, there is no corresponding response strategy; The corresponding response strategy for quality diagnosis results indicating tool wear or chipping is: immediately stop the machine and replace the tool; The quality diagnosis result indicates that the board itself has defects. The corresponding response strategy is to mark the corresponding board 5 as a defective product and recommend checking the board pretreatment process. If the quality diagnosis result is insufficient cooling or excessive feed rate, the corresponding countermeasures are: in the next chamfering process, reduce the feed rate or increase the coolant flow rate; The quality diagnosis result indicates that the tool is stuck with chips. The corresponding strategy is to clean the tool and continue to observe.

[0043] The working principle and beneficial effects of the above technical solution are as follows: The quality monitoring of existing technologies mostly relies on manual visual inspection or contact measurement after processing, which is not only inefficient and prone to missed detection, but also completely unable to intervene in real time during the processing. The present invention first collects and analyzes the sound characteristics of the chamfering process in real time through the acoustic signal acquisition submodule, and realizes online initial diagnosis and positioning of chamfering quality using a non-contact and interference-free method. At the same time, the present invention designs a chamfering quality re-inspection submodule. When the initial diagnosis determines that there are continuous or adjacent abnormal points that constitute an abnormal section to be re-inspected, the high-precision image acquisition device is automatically triggered to take local pictures of the specific section and extract the morphological feature vector for quantitative analysis. This invention creatively combines the real-time and global nature of sound signals with the accuracy and intuitiveness of image signals, significantly improving the reliability and confidence of diagnostic results, effectively avoiding misjudgments from a single sensor, making the final fault root cause judgment more accurate, and the formulated response strategies more reasonable and efficient, fundamentally solving the passivity and one-sidedness of traditional offline sampling inspection.

[0044] Example 8 Based on Example 7, the chamfer quality initial diagnosis submodule includes: The processing anomaly point determination unit is used to compare and analyze the real-time acoustic feature vector of each processing point with the acoustic quality feature vector benchmark library of the preset chamfer type, determine the chamfer quality status of each processing point in real time, and record the anomaly type, confidence level and path length position corresponding to the processing anomaly point when a processing anomaly point is found. The unit for determining abnormal sections to be re-inspected is used to analyze the path length position sequence corresponding to each processing abnormal point, integrate continuous or adjacent processing abnormal points on the chamfering processing path into an abnormal section, and count the length of each abnormal section. When the length of the abnormal section exceeds the preset discrimination length, the abnormal section is marked as an abnormal section to be re-inspected, and its starting path length position and ending path length position are output.

[0045] In this embodiment, the acoustic quality feature vector benchmark library for the preset chamfer type is established in the following way: Under laboratory conditions, using pre-defined chamfering tools and standard sheet metal, different process parameters were set to artificially create "excellent," "qualified," "systematic abnormalities in chamfer geometry" (manifested as inconsistent chamfer width, angle deviation from the set value, and possibly accompanied by regular vibration marks or tearing burrs on the chamfer surface), "local geometric damage to the chamfer edge" (manifested as irregular notches, material peeling, micro-cracks, or the presence of non-metallic inclusions on the chamfer edge, resulting in discontinuous chamfer lines), "deterioration of chamfer surface quality" (manifested as significantly increased chamfer surface roughness, discoloration, and other signs of thermal damage, but the basic geometric dimensions of the chamfer may still be within tolerance), and "variable abnormalities in chamfer surface." For chamfer samples with various known chamfer quality states, such as "mechanical defects" (manifested as extruded material nodules or discontinuous, irregular scratches on the chamfer surface, and possible abrupt deviations in geometric dimensions), acoustic signals and path length positions are simultaneously collected during the processing of each sample. Acoustic feature vectors are extracted, and cluster analysis is performed on the feature vectors of samples with the same chamfer type, process state, and chamfer quality state. The cluster centers are calculated and used as the benchmark feature vectors for the corresponding chamfer type, process state, and chamfer quality state, and stored in the benchmark library. The benchmark feature vectors of various chamfer types, process states, and chamfer quality states are stored to form a benchmark library of acoustic quality feature vectors for the preset chamfer type.

[0046] In this embodiment, the abnormal processing point is the processing point in which the chamfer quality status is judged to be systematically abnormal in chamfer geometry, local geometric damage to the chamfer edge, deterioration of chamfer surface quality, or random defects appear on the chamfer surface.

[0047] In this embodiment, the anomaly types include: systematic anomalies in chamfer geometry, local geometric damage to the chamfer edge, deterioration of the chamfer surface quality, and random defects on the chamfer surface. Each anomaly type corresponds one-to-one with a predefined anomaly category in the acoustic quality feature vector benchmark library for the preset chamfer type. The confidence level represents the reliability of the current anomaly type judgment and can be the similarity between the acoustic signature feature vector of the abnormal processing point and the benchmark feature vectors in the acoustic quality feature vector benchmark library for the corresponding chamfer type, process state, and chamfer quality state. Among them, the abnormality type of systematic abnormality in chamfer geometry usually corresponds to the quality diagnosis result of tool wear or chipping; the abnormality type of local geometric damage to the chamfer edge usually corresponds to the quality diagnosis result of defects in the sheet metal itself; the abnormality type of deterioration in chamfer surface quality usually corresponds to the quality diagnosis result of insufficient cooling or excessive feed rate; the abnormality type of random defects on the chamfer surface usually corresponds to the quality diagnosis result of tool chip adhesion. The specific quality diagnosis result needs to be further re-inspected and confirmed.

[0048] In this embodiment, consecutive or adjacent abnormal points on the chamfering machining path are integrated into an abnormal segment, specifically including: All processing anomalies are sorted in ascending order according to their path length. The sorted sequence is traversed. If the positional interval between two adjacent anomalies is less than or equal to the preset aggregation tolerance distance, they are considered to be continuous or adjacent points, belonging to the same continuous anomaly segment.

[0049] The working principle and beneficial effects of the above technical solution are as follows: The abnormality point determination unit determines the abnormality type, confidence level, and path length position corresponding to each abnormality point. Then, the abnormal section to be re-inspected determination unit integrates continuous or adjacent abnormality points on the chamfering processing path into an abnormal section and counts the length of each abnormal section. When the length of the abnormal section exceeds the preset discrimination length, the abnormal section is marked as an abnormal section to be re-inspected. This eliminates the influence of some discrete abnormality points on the diagnostic results, thereby effectively reducing the workload of the subsequent chamfering quality re-inspection sub-module and improving the working efficiency of the chamfering quality diagnosis module.

[0050] Example 9 Based on Example 1, a process twin simulation module is also included, which includes: The twin model construction module is used to create a virtual model of the sheet metal chamfering device. The virtual model includes the geometric model, kinematic model, and dynamic model of the sheet metal chamfering device. The processing simulation module is used to simulate the chamfering process of sheet 5 in the virtual model of the sheet chamfering device, and generate a virtual processing path based on the three-dimensional point cloud data of sheet 5 obtained by the 3D vision scanner 6. The process parameter optimization module is used to optimize at least one parameter among the processing path, processing speed, and tool selection during the simulation process based on the virtual processing path, and send the optimized parameters to the chamfering mechanism 3 and the robot operating mechanism 2 to control the actual processing process.

[0051] In this embodiment, the geometric model accurately reflects the shape and size of each mechanical structure of the sheet metal chamfering device, the kinematic model describes the motion relationship and constraints of each moving part of the sheet metal chamfering device, and the dynamic model simulates the various physical interactions in the chamfering process.

[0052] The working principle and beneficial effects of the above technical solution are as follows: First, the precise three-dimensional data of the material to be processed is acquired through the 3D vision scanner 6, and then the entire process is simulated and processed in a digital twin virtual environment. The simulation process can expose potential process risks such as tool path interference, cutting chatter, and excessive material deformation in advance, and automatically optimize robust processing parameters; This invention transforms the traditional experience-based trial-and-error process into a predictable and optimizable digital simulation, significantly reducing or even eliminating material waste, tool wear, and time costs associated with physical trial cutting.

[0053] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A plate chamfering device, characterized in that: The system includes a feeding conveying mechanism (1) and a robotic arm operating mechanism (2) set on both sides of the feeding conveying mechanism (1). The robotic arm operating mechanism (2) includes a robotic arm operating component one (20) and a robotic arm operating component two (21). The robotic arm operating component one (20) and the robotic arm operating component two (21) are used to squeeze, clamp and adjust the position of the plate (5). The output end of the feeding conveying mechanism (1) is provided with a chamfering mechanism (3). The chamfering mechanism (3) is used to chamfer the plate (5). The chamfering mechanism (3) is provided with a 3D vision scanner (6). The 3D vision scanner (6) is used to scan the outline of the plate (5) to obtain the three-dimensional point cloud data of the plate (5). The plate output end of the chamfering mechanism (3) is provided with a discharge conveying mechanism (4). The feeding conveying mechanism (1) and the discharge conveying mechanism (4) are used to feed and discharge the plate (5) respectively.

2. The plate chamfering device according to claim 1, characterized in that: Both the robotic arm operation component one (20) and the robotic arm operation component two (21) include a robotic arm (22), a robotic arm moving track (23), and an adsorption clamping component (24). The robotic arm moving track (23) is fixedly connected to the ground in parallel with the feeding conveying mechanism (1) and the discharging conveying mechanism (4). The robotic arm (22) is mounted on the robotic arm mounting plate (25) of the robotic arm moving track (23). The adsorption clamping component (24) is rotatably connected to the working end of the robotic arm (22).

3. The plate chamfering device according to claim 2, characterized in that: The adsorption clamping assembly (24) includes a clamping mounting frame (240) and a suction cup mounting plate (241). The clamping mounting frame (240) is rotatably connected to the working end of the robotic arm (22). The suction cup mounting plate (241) is fixedly connected to the clamping mounting frame (240). Two symmetrically arranged folding plate adjusting cylinders (244) are installed on the suction cup mounting plate (241). The output end of the folding plate adjusting cylinder (244) is hinged to a clamping folding plate (243). A folding plate rotating shaft (242) is rotatably connected to the suction cup mounting plate (241). The folding plate rotating shaft (242) passes through the clamping folding plate (243). Both the clamping folding plate (243) and the suction cup mounting plate (241) are provided with several suction cups (245). The suction cups (245) are connected to an external negative pressure generating device.

4. The plate chamfering device according to claim 1, characterized in that: Both the feeding conveying mechanism (1) and the discharging conveying mechanism (4) include several sections of conveying lifting mounting frame (40), several electric conveying rollers (41) rotatably connected to the conveying lifting mounting frame (40), and several evenly arranged plate conveying guide components; The sheet material conveying guide assembly includes two symmetrically arranged electric adjustment screws (42) for guide rollers. The electric adjustment screws (42) for guide rollers are rotatably connected to the conveying lifting mounting frame (40). A movable nut (43) is threaded onto the electric adjustment screws (42) for guide rollers. A fixed shaft (44) is fixedly connected to the movable nut (43). A flexible guide roller (45) is rotatably connected to the fixed shaft (44). The flexible guide roller (45) vertically passes through the gap between two adjacent electric conveying rollers (41).

5. A plate chamfering device according to claim 1, characterized in that: The chamfering mechanism (3) includes a mounting base plate (30) and a chamfering actuator (31) symmetrically mounted on the mounting base plate (30). The chamfering actuator (31) includes a three-axis position adjustment base (32) and a chamfering host (33). The three-axis position adjustment base (32) is used to drive the chamfering host (33) to move in the x, y and z directions. The chamfering host (33) is used to chamfer the sheet metal (5). The three-axis position adjustment base (32) includes a z-axis guide rail assembly (320), an x-axis guide rail assembly (321), and a y-axis guide rail assembly (322). The z-axis guide rail assembly (320) is fixedly connected to the mounting base plate (30). The x-axis guide rail assembly (321) is slidably connected to the z-axis guide rail assembly (320) along the z-direction. The y-axis guide rail assembly (322) is slidably connected to the x-axis guide rail assembly (321) along the x-direction. The chamfering main unit (33) is slidably connected to the y-axis guide rail assembly (322) along the y-direction.

6. A plate chamfering device according to claim 5, characterized in that: The chamfering main unit (33) includes a chamfering main unit slide plate (330), which is slidably connected to the y-axis guide rail assembly (322). A chamfering drive motor (331) is installed on the chamfering main unit slide plate (330). A chamfering pulley one (332) is fixedly connected to the output end of the chamfering drive motor (331). A tool storage box (336) is fixedly connected to the chamfering main unit slide plate (330). A tool mounting shaft (333) is rotatably connected to the tool storage box (336). A chamfering pulley two (334) and a chamfering tool (335) are keyed to both ends of the tool mounting shaft (333). The chamfering tool (335) is located inside the tool storage box (336). The chamfering pulley two (334) and the chamfering pulley one (332) are connected through a chamfering pulley (337). The tool storage box (336) is equipped with a coolant nozzle, which is connected to an external coolant supply device. The tool storage box (336) is also equipped with a chip suction port, which is connected to an external chip suction device. The tool storage box (336) is hinged to a tool cleaning brush (338) and a cleaning brush control cylinder (339). The working end of the cleaning brush control cylinder (339) is slidably connected to the brush rod of the tool cleaning brush (338). The brush rod of the tool cleaning brush (338) is connected to the inner wall of the tool storage box (336) through a compression elastic element (3380).

7. A plate chamfering device according to claim 1, characterized in that: It also includes a storage plate mechanism (7), which includes an inclined storage plate frame (70). The upper surface of the inclined storage plate frame (70) is inclined and the middle part is a hollow area. An electromagnetic pressing guide rail (71) is fixedly connected to the upper surface of the inclined storage plate frame (70). An electromagnetic abutment pressing plate (72) is slidably connected to the electromagnetic pressing guide rail (71). The electromagnetic abutment pressing plate (72) is used to press the plates (5) stacked vertically on the upper surface of the inclined storage plate frame (70).

8. A plate chamfering device according to claim 5, characterized in that: It also includes a chamfer quality diagnostic module, which includes: The acoustic signal acquisition submodule is used to acquire the original acoustic signal during the chamfering process in real time based on the sound acquisition device on the chamfering mechanism (3), and obtain the path length position of the current processing point along the outline of the plate, and synchronously associate the original acoustic signal with the path length position of the processing point. The deep feature extraction submodule is used to convert the original acoustic signal corresponding to each processing point into a time-frequency domain spectrum, extract the acoustic feature vector corresponding to each processing point, and construct a mapping dataset between the path length position of each processing point and the acoustic feature vector. The chamfering quality initial diagnosis submodule is used to judge the processing anomalies based on the mapping dataset of the path length position of each processing point and the voiceprint feature vector, and to determine the abnormal sections to be re-inspected in the current chamfering processing path based on the judgment results of the processing anomalies. The chamfering quality re-inspection submodule is used to acquire images of each abnormal section to be re-inspected based on the image acquisition device on the chamfering mechanism (3), and extract the morphological feature vector of each abnormal section to be re-inspected. The quality diagnosis decision control submodule is used to determine the representative voiceprint feature vector of the abnormal section to be re-inspected based on the voiceprint feature vector of each processing point of the abnormal section to be re-inspected, and to splice the representative voiceprint feature vector of each abnormal section to be re-inspected with the morphological feature vector to form a joint diagnosis vector. Based on the joint diagnosis vector and the preset quality joint diagnosis classifier, the quality diagnosis result is determined and a response strategy is given. Based on the response strategy, the chamfering mechanism (3) is controlled to work.

9. A plate chamfering device according to claim 8, characterized in that: The chamfer quality initial diagnosis submodule includes: The processing anomaly point determination unit is used to compare and analyze the real-time acoustic feature vector of each processing point with the acoustic quality feature vector benchmark library of the preset chamfer type, determine the chamfer quality status of each processing point in real time, and record the anomaly type, confidence level and path length position corresponding to the processing anomaly point when a processing anomaly point is found. The unit for determining abnormal sections to be re-inspected is used to analyze the path length position sequence corresponding to each processing abnormal point, integrate continuous or adjacent processing abnormal points on the chamfering processing path into an abnormal section, and count the length of each abnormal section. When the length of the abnormal section exceeds the preset discrimination length, the abnormal section is marked as an abnormal section to be re-inspected, and its starting path length position and ending path length position are output.

10. A plate chamfering device according to claim 1, characterized in that: It also includes a process twin simulation module, which includes: The twin model construction module is used to create a virtual model of the sheet metal chamfering device. The virtual model includes the geometric model, kinematic model, and dynamic model of the sheet metal chamfering device. The processing simulation module is used to simulate the chamfering process of the plate (5) in the virtual model of the plate chamfering device, and generate a virtual processing path based on the three-dimensional point cloud data of the plate (5) obtained by the 3D vision scanner (6); The process parameter optimization module is used to optimize at least one parameter among the processing path, processing speed, and tool selection during the simulation process based on the virtual processing path, and sends the optimized parameters to the chamfering mechanism (3) and the robot operation mechanism (2) to control the actual processing process.

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