Metal sheet automated cutting system and workstation

Abstract

The utility model provides an automated cutting system for metal sheets, including a feeding vision system, a feeding robot, a feeding gripper, a left cutting table, a left precision positioning vision system, a right cutting table, a right precision positioning vision system, a cutting robot, a cutting tool head, and a PLC control cabinet; the feeding vision system is arranged above the feeding station, the feeding gripper is arranged at the end of the working axis of the feeding robot, the feeding robot is arranged inside the feeding station, the left precision positioning vision system is arranged above the left cutting table, the right precision positioning vision system is arranged above the right cutting table, the cutting tool head is arranged at the end of the working axis of the cutting robot, the cutting robot is arranged between the left cutting table and the right cutting table, and the PLC control cabinet is used for automated control of the entire cutting system. The utility model automatically loads and unloads materials, has precise positioning, and can also use time differences to intersperse feeding and unloading between multiple cutting tables and grinding tables. From workpiece positioning to cutting and grinding, the entire process is intelligently operated by the machine, which greatly improves construction efficiency and cutting accuracy.

Description

Technical Field

[0001] The utility model relates to the technical field of metal plate groove cutting equipment. Background Art

[0002] In many heavy industries today, bevel cutting of metal plates requires manual lifting of heavy steel plates onto the cutting platform, manual marking on the steel plates, and use of a flame cutting torch to perform bevel cutting according to the marked lines. After cutting, the workpieces are manually unloaded to one side for grinding and bevel slag treatment. After grinding, the workpieces are stacked and discharged.

[0003] The shortcomings of the existing metal plate cutting and grinding process are: 1. Manual loading of heavy plates is very slow and unsafe; 2. Cutting with a flame cutting gun after manual marking is very slow and has poor accuracy; 3. The noise and dust generated during the cutting process have a great impact on the health of workers; 4. After cutting, grinding is required, which requires manual unloading again, and the efficiency is very low; and it is very dangerous to hang the workpiece during grinding, and the sparks during the grinding process can also hurt people; 5. After grinding, the workpiece needs to be manually hoisted into place for stacking, which is inefficient and not neat enough.

[0004] Therefore, it is necessary to improve construction efficiency and workers' safety. Utility Model Content

[0005] The purpose of the utility model is to address the above-mentioned deficiencies in the prior art and provide an automated metal plate cutting system with full-process intelligent operation to improve the efficiency and accuracy of metal plate cutting and grinding.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] A metal sheet automated cutting system comprises a feeding vision system, a feeding robot, a feeding gripper, a left cutting table, a left precision positioning vision system, a right cutting table, a right precision positioning vision system, a cutting robot, a cutting tool head and a PLC control cabinet; the feeding vision system is arranged above the feeding station, the feeding gripper is arranged at the end of the working axis of the feeding robot, the feeding robot is arranged at the inner side of the feeding station, the left precision positioning vision system is arranged above the left cutting table, the right precision positioning vision system is arranged above the right cutting table, the cutting tool head is arranged at the end of the working axis of the cutting robot, the cutting robot is arranged between the left cutting table and the right cutting table, and the PLC control cabinet is used for automated control of the entire cutting system.

[0008] Furthermore, the loading vision is a rough positioning 3D vision camera, which takes pictures of the workpiece at the loading station, identifies the image and relative position of the workpiece, and roughly locates the workpiece. The workpiece stacking height is set to 1000mm, the 3D camera installation height is 3000mm, the identifiable workpiece range is 2000x1500mm, the identified workpiece size is 600x400x30mm, and the recognition position accuracy is 2mm.

[0009] The loading robot uses a six-axis robotic arm. After the 3D visual camera of the loading vision locates the workpiece to be loaded, the loading gripper automatically loads the workpiece onto the left cutting table or the right cutting table in cooperation with the six-axis robotic arm. Furthermore, the six-axis robotic arm has a rated load of 180-360kg, a working radius of more than 2700mm, and a repeat positioning accuracy of ±0.2mm.

[0010] Furthermore, the loading gripper is an electromagnetic transfer gripper; further, the loading gripper includes a fixed frame, a connecting shaft, a first electrophoretic magnet, an electric cylinder, a guide rail, a slider and a second electrophoretic magnet, and the first electrophoretic magnet is fixed to the fixed frame through the connecting shaft; one end of the guide rail is fixed to the fixed frame, and the guide rail is parallel to the connecting shaft; the slider is arranged on the guide rail, and the second electrophoretic magnet is arranged on the front panel of the moving direction of the slider; the electric cylinder is arranged on the fixed frame, and the screw rod of the electric cylinder is connected to the rear panel of the slider.

[0011] The above-mentioned loading gripper is provided with two electro-permanent magnets, one fixed and the other liftable, and it is possible to select one electromagnet to grab the workpiece or two electromagnets to grab the workpiece simultaneously according to the size of the workpiece. Furthermore, the center distance between the first electrophoretic magnet and the second electrophoretic magnet is 500-1000mm, the dimensions are (100-200) x (100-200) mm, the rated load is 150-1000kg, and the high temperature resistance is 320°C. When the workpiece size is less than 700mm, one electromagnet is used for grabbing, and when the workpiece size is greater than 700mm, two electromagnets are used for grabbing simultaneously.

[0012] Another preferred solution is to arrange a first spring damping pad between the connecting shaft and the fixing frame, and to arrange a second spring damping pad between the second electrophoretic magnet and the slider.

[0013] The left precision positioning vision and right precision positioning vision are 3D vision cameras that accurately locate the position of the workpiece. They can generate edge information of the workpiece that has been loaded onto the cutting table, and give the cutting robot posture according to the drawing content to improve the cutting accuracy. Furthermore, the left precision positioning vision and right precision positioning vision have a workpiece positioning accuracy within 1mm. When installed above the cutting table support height of 1650mm, the maximum size of the workpiece that can be accurately positioned and identified is 1500x1200mm.

[0014] The left cutting table and the right cutting table are workpiece placement platforms. Further, the left cutting table and the right cutting table are both provided with a plurality of air exhaust ports at the lower part of the side wall for communicating with the dust removal system.

[0015] The cutting robot is a six-axis industrial robot, and further selected is a six-axis industrial robot with a rated load of 180kg, a working radius of more than 2700mm, and a repeated positioning accuracy of 0.02mm. After the left precision positioning vision or the right precision positioning vision accurately positions the workpiece in the cutting table, the cutting robot controls the cutting torch to cut the workpiece.

[0016] Furthermore, the cutting tool head may be a flame, plasma or laser cutting torch, etc.

[0017] Furthermore, it also includes a turning table, which is arranged on one side of the feeding robot and is used to turn the workpiece 180 degrees. When the feeding vision recognizes that the workpiece needs to be turned over before cutting, the feeding robot will load the workpiece onto the turning table, and after the turning table turns the workpiece, the feeding robot will place the workpiece on the right or left cutting table.

[0018] Furthermore, it also includes dust removal equipment, which includes a dust collector and an air duct. One end of the air duct is connected to the exhaust ports of the left cutting table and the right cutting table, and the other end of the air duct is connected to the dust collector. The dust collector performs centralized dust removal on the smoke and dust sucked in and then discharges them.

[0019] Furthermore, it also includes a grinding table, which is arranged on one side of the feeding robot. After the workpiece is cut, the feeding robot grabs the workpiece to the grinding table through the feeding gripper to grind the slag generated during cutting.

[0020] The metal sheet automatic cutting system described in this patent can be set up in parallel with multiple systems in actual use to form a metal sheet automatic cutting workstation.

[0021] The above-mentioned metal sheet automatic cutting system can further be provided with a safety fence 13 to isolate the construction area and ensure the safety of personnel.

[0022] Beneficial effects of the utility model:

[0023] The automated metal sheet cutting system provided by the utility model can automatically load and unload materials under 3D visual positioning, which not only eliminates the need for manual lifting and positioning of workpieces in the cutting and grinding sections, but can also use the time difference to intersperse feeding and unloading between multiple cutting tables and grinding tables. From workpiece positioning to cutting and grinding, the entire process is intelligently operated by the machine, which greatly improves construction efficiency and relieves workers from dangerous work.

[0024] At the same time, by using robots and visual positioning, the loading and unloading positions of workpieces will be more accurate, which can ensure the consistency of cut products, greatly improve the cutting accuracy of products, and increase grinding efficiency.

[0025] The following is an example of the specific implementation of the present invention in conjunction with the accompanying drawings: BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 An axonometric diagram of an automated metal sheet cutting system provided in an embodiment of the utility model.

[0027] Figure 2 A schematic plan view of an automated metal sheet cutting system provided in an embodiment of the utility model.

[0028] Figure 3 for Figure 1 A partial enlarged view of point A in the middle.

[0029] Figure 4 for Figure 1 A partial enlarged view of point B in the middle. DETAILED DESCRIPTION

[0030] The specific embodiments described herein are only used to explain the technical solution of this patent, rather than to limit the disclosed technical solution. It should also be noted that, for ease of description, only the parts related to the disclosed technical solution are shown in the drawings, rather than all structures.

[0031] Before discussing the exemplary embodiments in more detail, it should be mentioned that the structures of the device components and / or modules themselves mentioned in the embodiments, if not described in detail, are understandable to those skilled in the art based on the existing public technology or commercially available products.

[0032] refer to Figure 1 , Figure 2The present embodiment provides an automated metal sheet cutting system, including a feeding vision system 1, a feeding robot 2, a feeding gripper 3, a left cutting table 4, a left precision positioning vision system 5, a right cutting table 6, a right precision positioning vision system 7, a cutting robot 8, a cutting tool head 9, a turning table 10, a dust removal device 11, a grinding table 12, a safety fence 13 and a PLC control cabinet; the feeding vision system 1 is arranged above the feeding station, the feeding gripper 3 is arranged at the end of the working axis of the feeding robot 2, the feeding robot 2 is arranged on the inner side of the feeding station, the left precision positioning vision system 5 is arranged above the left cutting table 4, the right precision positioning vision system 7 is arranged above the right cutting table 6, and the cutting tool head 9 is arranged at the end of the working axis of the cutting robot 8. end, the cutting robot 8 is arranged between the left cutting table 4 and the right cutting table 6, and the turning table 10 is arranged on one side of the feeding robot 2; the dust removal equipment 11 includes a dust collector and an air duct, one end of the air duct is connected to the dust collector, and the other air inlet is connected to the exhaust port of the left cutting table 4 and the right cutting table 6 when in use; the grinding table 12 is arranged on one side of the feeding robot 2, the PLC control cabinet is used for the automatic control of the whole cutting system, and the safety fence 13 is arranged on the feeding vision 1, the feeding robot 2, the feeding gripper 3, the left cutting table 4, the left precision positioning vision 5, the right cutting table 6, the right precision positioning vision 7, the cutting robot 8, the cutting tool head 9, the turning table 10, the grinding table 12 and the periphery of the loading and unloading stations.

[0033] The loading vision 1 is a rough positioning 3D vision camera, which takes pictures of the workpiece at the loading station, identifies the image and relative position of the workpiece, and roughly locates the workpiece. The workpiece stacking height is set to 1000mm, the 3D camera installation height is 3000mm, the identifiable workpiece range is 2000x1500mm, the identified workpiece size is 600x400x30mm, and the recognition position accuracy is 2mm.

[0034] The loading robot automatically loads the workpiece. After the loading vision locates the loading workpiece, the loading robot drives the loading gripper to transfer the workpiece to the cutting table. When unloading, the workpiece is moved to the vicinity of the grinding table, and according to the workpiece contour trajectory of the precise positioning result, the workpiece to be polished is moved and rotated, and the workpiece is contacted with the grinding head of the grinding table to complete the grinding work. The loading robot 2 selects a six-axis robotic arm. After the 3D visual camera of the loading vision 1 locates the workpiece to be loaded, the loading gripper 3 automatically loads the workpiece to the left cutting table 4 or the right cutting table 6 with the cooperation of the six-axis robotic arm. For example, a six-axis robotic arm with a rated load of 250kg, a working radius of 2710mm, and a repeatability accuracy of ±0.2mm is selected.

[0035] refer to Figure 3The present embodiment provides an electromagnetic feeding gripper, comprising a fixed frame 301, a connecting shaft 302, a first electrophoretic magnet 303, an electric cylinder 304, a guide rail 305, a slider 306 and a second electrophoretic magnet 307, wherein the first electrophoretic magnet 303 is fixed to the fixed frame 301 via the connecting shaft 302; one end of the guide rail 305 is fixed to the fixed frame 301, and the guide rail 305 is parallel to the connecting shaft 302; the slider 306 is arranged on the guide rail 305, and the second electrophoretic magnet 307 is arranged on the front panel of the moving direction of the slider 306; the electric cylinder 304 is arranged on the fixed frame 301, and the lead screw of the electric cylinder 304 is connected to the rear panel of the slider 306.

[0036] Two permanent electromagnets are set on the feeding gripper, one is fixed and the other can be raised and lowered. According to the size of the workpiece, one electromagnet or two electromagnets are used to grab the workpiece at the same time. For example, two permanent electromagnets are selected with a center distance of 500mm, a size of 160x160mm, a rated load of 320kg, and a high temperature resistance of 300℃. When the workpiece size is less than 700mm, one electromagnet is used to grab it, and when the workpiece size is greater than 700mm, two electromagnets are used to grab it at the same time.

[0037] A preferred solution is to set a first spring shock absorber 308 between the connecting shaft 302 and the fixing frame 301, and a second spring shock absorber 309 between the second electrophoretic magnet 307 and the slider 306, which can buffer and stabilize external unstable stress impact when used to grab the workpiece for slag grinding.

[0038] The left cutting table 4 and the right cutting table 6 are both workpiece placement platforms. For example, a cutting table with an inner frame size of 2400x1200mm can meet the placement of most bevel cutting parts. More than two cutting tables are configured, for example, divided into a left cutting table 4 and a right cutting table 6. When the cutting robot 8 is cutting at the left station, the loading robot 2 can load the material at the right station. A plurality of exhaust ports are provided at the lower part of the side walls of the left cutting table 4 and the right cutting table 6, which are connected to the air duct 1101 of the dust removal equipment when in use.

[0039] The left precision positioning vision 5 and the right precision positioning vision 7 are 3D vision cameras that accurately locate the position of the workpiece. They generate edge information of the workpiece that has been loaded onto the cutting table, and give the cutting robot posture according to the drawing content to improve the cutting accuracy. The left precision positioning vision 5 and the right precision positioning vision 7 have a workpiece positioning accuracy within 1mm. When installed above the cutting table support height of 1650mm, the maximum size of the workpiece that can be accurately positioned and identified is 1500x1200mm.

[0040] The cutting robot 8 is a six-axis industrial robot. After the left precision positioning vision 5 or the right precision positioning vision 7 precisely positions the workpiece, the cutting robot 8 drives the tool head 9 such as a plasma cutting torch to cut the workpiece. For example, a six-axis industrial robot with a rated load of 180kg, a working radius of 2702mm, and a repeat positioning accuracy of 0.02mm can meet the needs of cutting workpieces in the cutting tables on both sides. The cutting tool head 9 can be a flame, plasma or laser cutting torch, etc.

[0041] The flip table 10 is arranged on one side of the loading robot 2 and is used to flip the workpiece 180°. When the loading vision 1 recognizes that the workpiece needs to be flipped before cutting, the loading robot 2 will load the workpiece onto the flip table 10. After the flip table 10 flips the workpiece, the loading robot 2 will place the workpiece onto 4 or the right cutting table 6.

[0042] The dust removal equipment 11 includes a dust collector and an air duct. One end of the air duct is connected to the exhaust ports of the left cutting table 4 and the right cutting table 6, and the other end of the air duct is connected to the dust collector. The dust collector performs centralized dust removal on the smoke and dust sucked in and then discharges them to prevent the smoke and dust from overflowing into the working environment.

[0043] The grinding table 12 is arranged on one side of the feeding robot 2. After the workpiece is cut, the feeding robot 2 grabs the workpiece to the grinding table through the feeding gripper 3 to grind the slag generated during cutting. After grinding, the feeding robot 2 unloads and stacks the workpiece, and then reloads it to another cutting table. This cycle is repeated until all the workpieces at the feeding position are cut.

[0044] The metal sheet automated cutting system provided in the above embodiment can set up multiple systems in parallel during actual use to form a metal sheet automated cutting workstation, thereby further increasing the cutting workload or cutting efficiency.

[0045] In order to isolate the construction area and ensure the safety of personnel, a safety fence is set up around the equipment.

[0046] The working process of the metal sheet automatic cutting system of the utility model is as follows:

[0047] S1: The sheets are manually stacked at the loading position. The loading vision system locates and identifies the workpiece, determines the position and image of the workpiece, and determines whether the workpiece needs to be turned over based on the image.

[0048] S2: If the workpiece needs to be turned over, the loading robot cooperates with the loading gripper to place the workpiece on the flipping machine first. After the flipping machine completes the 180° flip of the workpiece, the workpiece is placed on the right cutting table. If the workpiece does not need to be turned over, the loading robot cooperates with the loading gripper to directly grab the workpiece and place it on the right cutting table. The placement position is obtained by calculating the positional relationship between the center of gravity of the drawing and the support.

[0049] S3: Precision positioning visual photography is used to accurately locate the workpiece, the dust removal of the workstation (such as the right cutting table) is turned on, and the cutting robot cooperates with the cutting tool head to perform bevel cutting on the workpiece.

[0050] S4: Synchronous with S3, the loading robot cooperates with the loading gripper to load the next workpiece to be cut to another workstation (inside the left cutting table).

[0051] S5: After the workpiece in the right cutting table is cut, the cutting robot directly turns to the left cutting table to perform bevel cutting on the workpiece. The loading robot cooperates with the loading gripper to grab the cut workpiece in the right cutting table and take it to the grinding table to grind the workpiece.

[0052] S6: After S5 grinding is completed, the workpieces are unloaded and stacked, and then reloaded onto the right cutting table.

[0053] S7: The bevel of the workpiece on the synchronous left cutting table has been cut, and the cutting robot then moves to the right cutting table for cutting.

[0054] S8: The loading robot cooperates with the loading gripper to grab the cut workpiece on the left cutting table and take it to the grinding table to grind the workpiece.

[0055] S9: After S8 grinding is completed, the workpieces are stacked and then reloaded onto the left cutting table;

[0056] The cycle S1-S9 is repeated until all the workpieces at the loading position are cut, unloaded and stacked, and the unloaded and stacked workpieces are transferred as a whole before reloading.

[0057] The utility model uses a robot in conjunction with 3D vision to automatically load and unload materials. The loading and unloading positions are accurate, the loading and unloading time is greatly shortened, and the frequent manual loading and unloading operations are eliminated. At the same time, the configuration of precise positioning vision and double workbenches realizes the overlap of visual positioning time and cutting process time, greatly improving the equipment utilization rate.

[0058] The above is an example of the preferred implementation of the utility model, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the utility model. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A metal sheet automated cutting system, characterized in that: The invention comprises a feeding vision system (1), a feeding robot (2), a feeding gripper (3), a left cutting table (4), a left precision positioning vision system (5), a right cutting table (6), a right precision positioning vision system (7), a cutting robot (8), a cutting tool head (9) and a PLC control cabinet; the feeding vision system (1) is arranged above the feeding station, the feeding gripper (3) is arranged at the end of the working axis of the feeding robot (2), the feeding robot (2) is arranged inside the feeding station, the left precision positioning vision system (5) is arranged above the left cutting table (4), the right precision positioning vision system (7) is arranged above the right cutting table (6), the cutting tool head (9) is arranged at the end of the working axis of the cutting robot (8), the cutting robot (8) is arranged between the left cutting table (4) and the right cutting table (6), and the PLC control cabinet is used for automatic control of the whole cutting system.

2. The metal sheet automated cutting system according to claim 1, characterized in that: The feeding vision (1) is a coarse positioning 3D vision camera with a recognition position accuracy of 2mm.

3. The metal sheet automated cutting system according to claim 1, characterized in that: The loading robot (2) is a six-axis robotic arm with a rated load of 180-360kg, a working radius of more than 2700mm, and a repeated positioning accuracy of ±0.2mm.

4. The metal sheet automated cutting system according to claim 1, characterized in that: The loading gripper (3) comprises a fixed frame (301), a connecting shaft (302), a first electrophoretic magnet (303), an electric cylinder (304), a guide rail (305), a slider (306) and a second electrophoretic magnet (307), wherein the first electrophoretic magnet (303) is fixed to the fixed frame (301) via the connecting shaft (302); one end of the guide rail (305) is fixed to the fixed frame (301), and the guide rail (305) is parallel to the connecting shaft (302); the slider (306) is arranged on the guide rail (305), and the second electrophoretic magnet (307) is arranged on the front panel of the slider (306) in the moving direction; the electric cylinder (304) is arranged on the fixed frame (301), and the lead screw of the electric cylinder (304) is connected to the rear panel of the slider (306).

5. The metal sheet automated cutting system according to claim 4, characterized in that: The center distance between the first electrophoresis magnet and the second electrophoresis magnet is 500-1000 mm, the size is (100-200) x (100-200) mm, the rated load is 150-1000 kg, and the high temperature resistance is 320°C.

6. The metal sheet automated cutting system according to claim 4, characterized in that: A first spring shock-absorbing pad (308) is provided between the connecting shaft (302) and the fixing frame (301), and a second spring shock-absorbing pad (309) is provided between the second electrophoresis magnet (307) and the sliding block (306).

7. The metal sheet automated cutting system according to claim 1, characterized in that: The left precise positioning vision (5) and the right precise positioning vision (7) are 3D vision cameras, and the positioning accuracy is within 1 mm.

8. The metal sheet automated cutting system according to claim 1, characterized in that: The lower parts of the left cutting table (4) and the right cutting table (6) are both provided with a plurality of air exhaust ports for connecting with the dust removal system.

9. The metal sheet automated cutting system according to claim 1, characterized in that: The cutting robot (8) is a six-axis industrial robot with a rated load of more than 180 kg, a working radius of more than 2700 mm, and a repeated positioning accuracy of less than 0.02 mm.

10. The metal sheet automated cutting system according to claim 1, characterized in that: The cutting tool head (9) is a flame, plasma or laser cutting torch.

11. The metal sheet automated cutting system according to any one of claims 1 to 10, characterized in that: It also comprises a turning table (10) which is arranged on one side of the loading robot (2) and is used to turn the workpiece 180 degrees.

12. The metal sheet automated cutting system according to any one of claims 1 to 10, characterized in that: It also includes dust removal equipment (11), which includes a dust collector and an air duct, one end of the air duct is connected to the air exhaust ports of the left cutting table (4) and the right cutting table (6), and the other end of the air duct is connected to the dust collector.

13. The metal sheet automated cutting system according to any one of claims 1 to 10, characterized in that: It also includes a grinding table (12) which is arranged on one side of the feeding robot (2).

14. A metal sheet automated cutting workstation, characterized in that: A plurality of automated metal sheet cutting systems as described in any one of claims 1-10, or a plurality of automated metal sheet cutting systems as described in any one of claims 11, 12, and 13 are provided.

15. The metal sheet automated cutting workstation according to claim 14, characterized in that: A safety fence (13) is provided to isolate the construction area.

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