CN113674285A - Intelligent shearing method for electrolytic/electrodeposited nickel plate - Google Patents
Intelligent shearing method for electrolytic/electrodeposited nickel plate Download PDFInfo
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Abstract
The invention provides an intelligent shearing method for an electrolytic/electrodeposited nickel plate. The method comprises the steps of carrying out intelligent shearing operation by adopting an intelligent shearing device composed of a vision system, an image processing and control system, a robot, a plate shearing machine and the like, and carrying out intelligent shearing on the electrolytic/electro-deposited nickel plate to remove lifting lugs and defective parts by adopting a mode that the vision system and the robot are matched with each other under the regulation and control of the image processing and control system. The intelligent nickel plate shearing method can effectively improve the production efficiency, further improve the automation and the intelligent degree of nickel plate shearing, and meanwhile, the method can automatically obtain the optimal shearing line to maximize the qualified nickel plate, realize the accurate shearing of the nickel plate, obviously reduce the loss of unqualified products, reduce the labor intensity and the potential safety hazard of manual shearing, and simultaneously solve the industrial problems.
Description
Technical Field
The invention relates to the technical field of shearing, in particular to an intelligent shearing method for an electrolytic/electrodeposited nickel plate.
Background
In the production process of the electrolytic nickel plate or the electrodeposited nickel plate, due to many factors such as the process flow, the process parameters, the subsequent treatment and the like, the surface of the nickel plate has defects such as air holes, nodules, inclusions, plate burning, cracks, watermarks, trademark loss or dislocation, oil stains, foot prints and the like, as shown in fig. 1. According to the national standard of electronickelling, the electronickelling with local pores on the plate surface, pimples and other surface quality which cannot reach the standard or with larger particles on the edge needs to be cut or trimmed. The current processing method is to mark lines on the nickel plate with chalk after the quality of the tester is judged, as shown in fig. 2-4, and then pile the lines to the side of the plate shearing machine. Because the positions of the defects of each nickel plate are different, the defect part of each nickel plate needs to be cut off, different positions and angles need to be placed under the upper shearing edge of the plate shearing machine, the maximum weight of each nickel plate reaches 120kg, based on the existing shearing device, 8-10 people groups of operators need to surround the plate shearing machine, and according to the scribing position of each nickel plate, the plates are lifted, sheared and stacked, the nickel plates with the surface quality which cannot reach the standard are sheared and trimmed, and then the grade reduction packaging treatment is carried out, so that a large amount of manpower and material resources are consumed.
Meanwhile, the traditional manual shearing mode has the technical defects of high equipment noise, high potential safety hazard, low production efficiency, high labor intensity, more labor fixation personnel and poor shearing precision. Therefore, an intelligent nickel plate shearing unit is needed to realize an intelligent shearing method for automatically detecting the defect part on the surface of the nickel plate and shearing the defect part.
The invention patent with publication number CN111203893A discloses an intelligent shearing robot. It includes imaging and feedback of the cut object and the environment. And through the analysis of the image, sending a control and cutting instruction to a motion control system of the robot, and controlling a cutting mechanism to cut. The system adopts a modular design and mainly comprises a motion control system, a man-machine interaction system and a shearing manipulator mechanical arm system. The motion control system selects an STM32 single chip microcomputer as a core device to realize a shearing manipulator motion control program, an image processing program, a data storage program and a response program; the key of the man-machine interaction system is a serial port for connecting the control system with the shearing manipulator control system, and the control of a man-machine control interface on the shearing manipulator can be realized by reading and writing information of the serial port for remote operation and monitoring; the mechanical arm system consists of all joint controllers of the mechanical arm, a power executing mechanism and a shearing end effector and is used for shearing a sheared object.
The invention patent with publication number CN111014798A discloses an automatic feeding, sorting and stacking production line and method of a plate shearing machine based on machine vision. The production line comprises a feeding turnover mechanism, a feeding manipulator transfer mechanism for sucking single plates from the feeding turnover mechanism, an automatic feeding machine for receiving the single plates sent by the feeding manipulator transfer mechanism, centering, positioning and clamping, and then carrying out automatic feeding and excess material propelling, a plate shearing machine for shearing the single plates into strip-shaped plates, a blanking conveying mechanism located below a discharge port of the plate shearing machine and used for receiving and taking the strip-shaped plates, a blanking manipulator transfer and sorting mechanism for grabbing the strip-shaped plates from the blanking conveying mechanism and sending the strip-shaped plates to a stacking mechanism, a stacking mechanism for receiving and stacking the strip-shaped plates transferred and sorted by the blanking manipulator, a visual identification mechanism for detecting the strip-shaped plates on the blanking conveying mechanism, and an automatic shearing, sorting and composing system.
However, the device or the method does not perform visual surface quality detection on each electrolytic/electro-deposited nickel plate according to different defects and positions of the defects, and does not adopt an intelligent shearing method for shearing the lifting lugs and the defective parts of the nickel plate by matching a robot vision system.
In view of the above, there is a need to design an improved intelligent shearing method for electrolytic/electrodeposited nickel sheets to solve the above problems.
Disclosure of Invention
The invention aims to provide an intelligent shearing method for an electrolytic/electrodeposited nickel plate.
In order to realize the aim, the invention provides an intelligent shearing method of an electrolytic/electrodeposited nickel plate, which is characterized by comprising the following steps: the intelligent cutting method comprises the following steps of adopting an intelligent cutting method consisting of a vision system, an image processing and control system, a robot, a plate shearing machine and the like, and carrying out intelligent cutting on a nickel plate in a mode of mutually matching the vision system and the robot under the regulation and control of the image processing and control system:
s1, detecting the surface quality of the visual system of the nickel plate to be sheared:
s11, placing the nickel plate to be sheared on a photographing station, installing a vision system right above the nickel plate, and regulating and controlling the robot through a control system so that the robot absorbs the nickel plate to be sheared and places the nickel plate to be sheared on the photographing station of the nickel plate;
s12, the vision system photographs the nickel plate to be cut on the photographing station right below the vision system and transmits the photographed nickel plate picture to the image processing system and the control system;
s13, the image processing and control system calculates through a visual image algorithm software module, identifies the locus of the chalk line drawn by the quality testing personnel, and generates a first cut line; or the operator marks a line on the nickel plate which is displayed on the human-computer interface of the image processing system and the control system and is subjected to the proportional display after the measurement by the vision system, so that a second shear line is generated; or the system compares the qualified image with the unqualified image for each pixel point through a large number of preset defect image databases and a pre-trained neural network model, thereby identifying the defective part, automatically generating a boundary of the qualified part and the unqualified part which reserve the maximum qualified size through the size and the position of the defect, using the boundary as a third shear line, and generating two or more third shear lines if the unqualified part is positioned at the two sides or the periphery of the nickel plate.
S2, shearing the lifting lug of the nickel plate by the cooperation of the vision system and the robot:
s21, the image processing and control system analyzes and calculates the nickel plate picture obtained by the vision system to automatically recognize the outline of the nickel plate and the nickel lug, and the position and the angle of the nickel plate at the photographing station;
s22, sending the position of the nickel lug of the nickel plate to a robot, and cutting the nickel lug along the nickel lug edge of the nickel plate or cutting the nickel lug away from the nickel lug edge by a small distance (generally less than or equal to 10mm) by the robot;
s3, shearing the defect part of the nickel plate by the aid of the visual system and the robot:
s31, the image processing and control system automatically calculates the offset displacement and the angle between the current position of the shearing line and the position of the shearing edge of the plate shearing machine according to the generated shearing line, calculates the suction center position of the robot, and forms a data packet to be sent to the robot;
s32, the robot sucks the nickel plate according to the calculated sucking center position according to the data packet sent by the control system, performs offset motion according to the calculated offset displacement and angle, and sends the corresponding shearing line on the nickel plate to the position below the shearing edge of the plate shearing machine at the preset shearing station;
and S33, feeding the nickel plate to an image processing and control system after the nickel plate is placed by the robot, and controlling the plate shearing machine to shear the defect part of the nickel plate by the image processing and control system.
And S34, if the nickel plate is identified by the vision system to have no defect part or defect part within the allowable value range, only the nickel ears need to be cut off.
And S4, sorting and stacking the qualified parts retained after shearing according to the size or shape after shearing.
As a further improvement of the invention, the visual recognition board surface quality inspector chalk marking image algorithm is that the color of the chalk and the color of the nickel plate are distinguished for each pixel point through a pre-trained neural network model, so that the locus of the chalk line is recognized, and a straight line approaching the chalk line is found out through a linear fitting method to serve as a first shearing line.
As a further improvement of the invention, when the plate surface is subjected to defect judgment and marking without quality inspection personnel, a nickel plate picture is photographed by an industrial camera, the outline and the size of the plate surface are measured by a measurement function and are displayed on a man-machine interface of an image processing system and a control system in proportion, an operator can manually mark the displayed nickel plate picture, the actual position of the manual mark on the nickel plate is calculated by the system, and a straight line approaching the manual mark is found out by a linear fitting method to be used as a second shear line.
As a further improvement of the invention, when the plate surface is subjected to defect judgment and scribing without quality inspectors, the system compares qualified and unqualified images of each pixel point through a large number of preset defect image databases and a visual algorithm, thereby identifying a defective part, automatically generating a boundary of a qualified part and an unqualified part which reserve the maximum qualified size through the defect size and position as a third shear line, and generating two or more third shear lines if the unqualified part is positioned at two sides or the periphery of the nickel plate.
As a further improvement of the invention, the vision algorithm establishes a database by collecting a large number of nickel plate pictures, and performs machine vision deep learning, thereby automatically detecting the defect part of the plate surface quality of the nickel plate and generating a third shear line.
As a further improvement of the invention, the intelligent nickel plate shearing method is applied to shearing of metal and nonmetal materials such as copper plates, cobalt plates, aluminum plates, steel plates and the like.
As a further improvement of the invention, the intelligent shearing device can also be composed of a vision system, an image processing system and a control system, a robot and a metal and nonmetal processing machine;
the metal and nonmetal processing machine is one of a cutting machine, a grinding machine and the like.
As a further improvement of the present invention, the robot may also be composed of a servo linear mechanism, a servo rotary mechanism, and the like.
As a further improvement of the present invention, one or more cutting lines may be formed to cut off the defective portions in all directions.
The invention has the beneficial effects that:
1. the invention provides an intelligent shearing method for an electrolytic/electrodeposition nickel plate, which adopts a vision system to automatically recognize that quality testers on the nickel plate draw lines to generate shearing lines, or draw lines on nickel plate pictures displayed in proportion on a human-computer interface to generate shearing lines, or compare qualified and unqualified images of each pixel point through a vision algorithm by a large number of preset defect image databases, thereby recognizing the defective part, automatically generating a boundary line between the qualified part and the unqualified part which retains the maximum qualified size as the shearing line, and shearing the unqualified part along the generated shearing line by matching with a robot. The method can effectively improve the production efficiency and further improve the automation and intelligence of nickel plate shearing. The cutting path of the nickel plate is optimally and quickly determined by adopting a modern automatic technical means, so that the defects of low efficiency, high labor intensity, high loss, high safety risk and the like of manual cutting are overcome, the automatic and intelligent production of the whole production line is realized, and the production efficiency is obviously improved.
2. The invention provides an intelligent shearing method for an electrolytic/electrodeposited nickel plate, which obviously reduces the labor intensity of operators, realizes that 1 operator replaces 8-10 operators/team group of operators, reduces labor determinants, obviously reduces labor cost, reduces potential safety hazards of manual shearing, and solves industrial problems.
3. The invention provides an intelligent shearing method for an electrolytic/electrodeposited nickel plate, which overcomes the technical defects that the shearing position cannot be accurately grasped and accurate shearing cannot be realized and part of qualified nickel plates can be invisibly sheared into a degraded nickel plate because the shearing position is determined by a manual pushing plate in a manual shearing mode in the prior art.
Drawings
FIG. 1 is a summary of defects occurring in a part of the electrolytic/electrodeposition nickel plate production process flow.
FIG. 2 is a nickel plate for judging defects of quality testing personnel.
FIG. 3 is a nickel plate with no quality inspection personnel defect judgment and marking.
Fig. 4 shows a manual cutting method in the prior art.
FIG. 5 is a method for intelligently shearing an electrolytic/electrodeposited nickel plate provided by the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the aspects of the present invention are shown in the drawings, and other details not closely related to the present invention are omitted.
In addition, it is also to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention provides an intelligent shearing device for an electrolytic/electrodeposited nickel plate, which comprises an image processing and controlling system, a visual system, a robot and a plate shearing machine, wherein the visual system is composed of a camera light source frame, a light source and an industrial camera which are integrally installed on the camera light source frame.
In this embodiment, the image processing and control system is provided with a human-computer interface, and a visual image algorithm and a visual algorithm for regulating and controlling the visual system and intelligently generating a cut line are compiled. The plate shearing machine comprises a shearing workbench and a shearing mechanism. The shearing workbench comprises a photographing station, a first shearing station and a second shearing station, wherein the photographing station is arranged corresponding to the vision system, and the first shearing station and the second shearing station are respectively used for shearing different nickel plate parts (nickel lugs and defect parts).
Example 1
Based on the above intelligent shearing apparatus for electrolytic/electrodeposited nickel plates, in embodiment 1 of the present invention, under the regulation and control of the image processing and control system, the vision system and the robot are matched with each other to intelligently shear the electrolytic/electrodeposited nickel plates, as shown in fig. 5, the intelligent shearing apparatus includes the following steps:
s1, detecting the surface quality of the visual system of the nickel plate to be sheared:
s11, placing the nickel plate to be sheared on a photographing station, installing a vision system right above the nickel plate, and regulating and controlling the robot through a control system so that the robot absorbs the nickel plate to be sheared and places the nickel plate to be sheared on the photographing station of the nickel plate;
s12, the vision system photographs the nickel plate to be cut on the photographing station right below the vision system and transmits the photographed nickel plate picture to the image processing system and the control system;
s13, the image processing and control system calculates through the visual image algorithm in the visual image algorithm software module, the concrete process is: through a pre-trained neural network model, distinguishing the color of chalk and the color of a nickel plate for each pixel point, so as to identify the track of a chalk line, and finding out a straight line approaching the chalk line by a linear fitting method to serve as a first shear line.
Or the operator marks a line on the nickel plate displayed on the human-computer interface of the image processing system and the control system and subjected to the proportional display measured by the vision system, so that a second cut line is generated.
Or the image processing and control system establishes a database by largely presetting a defect image database and largely collecting nickel plate images through a visual algorithm, machine vision deep learning is carried out, qualified and unqualified images are compared for each pixel point, so that a defect part is identified, then a boundary line of a qualified part and an unqualified part which reserve the maximum qualified size is automatically generated through the defect size and position to be used as a third shear line, and if the unqualified part is arranged on two sides or the periphery of the nickel plate, two or more third shear lines can be generated.
S2, shearing the lifting lug of the nickel plate by the cooperation of the vision system and the robot:
s21, the image processing and control system analyzes and calculates the nickel plate picture obtained by the vision system to automatically recognize the outline of the nickel plate and the nickel lug, and the position and the angle of the nickel plate at the photographing station;
s22, sending the position of the nickel lug of the nickel plate to the robot, and cutting off the nickel lug along the nickel lug edge of the nickel plate or a little distance (generally less than or equal to 10mm) away from the nickel lug edge by the robot by sucking the nickel plate.
S3, shearing the defect part of the nickel plate by the aid of the visual system and the robot:
s31, the image processing and control system automatically calculates the offset displacement and the angle between the current position of the shearing line and the position of the shearing edge of the plate shearing machine according to the generated shearing line, calculates the suction center position of the robot, and forms a data packet to be sent to the robot;
s32, the robot sucks the nickel plate according to the calculated sucking center position according to the data packet sent by the image processing and control system, performs offset motion according to the calculated offset displacement and angle, and sends the corresponding shearing line on the nickel plate to the position below the shearing edge of the plate shearing machine at the preset shearing station;
and S33, feeding the nickel plate to an image processing and control system after the nickel plate is placed by the robot, and controlling the plate shearing machine to shear the defect part of the nickel plate by the image processing and control system.
And S34, if the nickel plate is identified by the vision system to have no defect part or defect part within the allowable value range, only the nickel ears need to be cut off.
And S4, sorting and stacking the qualified parts retained after shearing according to the size or shape after shearing.
It should be noted that, as those skilled in the art will understand, the method for intelligently cutting the nickel plate by using the vision system in cooperation with the robot in the present invention is not limited to the intelligent cutting of the nickel plate, and may be extended to other metal non-metal materials such as copper plate, cobalt plate, aluminum plate, etc. In addition, the intelligent nickel plate shearing method by matching the vision system with the robot is not limited to a plate shearing machine, and can be expanded to other metal and nonmetal processing machines such as a cutting machine, a grinding machine and the like.
In conclusion, the invention provides an intelligent shearing method for an electrolytic/electrodeposited nickel plate. The method adopts an intelligent shearing method which comprises a vision system, an image processing system and a control system, a robot, a clamp, a plate shearing machine and the like, and under the regulation and control of the control system, the lifting lugs and defective parts of the nickel plate are intelligently sheared in a way that the vision system and the robot are mutually matched. The invention adopts a vision system to automatically identify the outline and the nickel lug position of the nickel plate, and automatically identifies the defect judgment and marking of quality testing personnel on the surface of the nickel plate to generate a shear line; or the picture is transmitted to a human-computer interface, and a cutting line is generated by manually marking on a nickel plate displayed on the human-computer interface according to the size proportion; or the system compares the qualified image with the unqualified image of each pixel point through a large number of preset defect image databases and a pre-trained neural network model so as to identify the defective part, and automatically generates a boundary line of the qualified part and the unqualified part which reserve the maximum qualified size through the size and the position of the defect to serve as the shear line; sending the shearing line data to a robot, placing the nickel plate below a shearing edge of a plate shearing machine along the shearing line by the robot, and shearing off the defective part; if the nickel plate is identified by the vision system to have no defect part or defect part within the allowable value range, only the nickel ears need to be cut off. The qualified parts reserved after shearing can be classified and stacked according to the size or shape of the sheared parts. The intelligent nickel plate shearing method can effectively improve the production efficiency, further improve the automation and the intelligent degree of nickel plate shearing, and meanwhile, the method can automatically obtain the optimal shearing line to maximize the qualified nickel plate, realize the accurate shearing of the nickel plate, obviously reduce the loss of unqualified products, reduce the labor intensity, obviously reduce the manual labor intensity and the potential safety hazard of manual shearing, and simultaneously solve the industrial problems
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (10)
1. An intelligent shearing method for an electrolytic/electrodeposited nickel plate is characterized by comprising the following steps: the intelligent shearing method of the electrolytic/electrodeposited nickel plate adopts an intelligent shearing device consisting of a vision system, an image processing and controlling system, a robot and a plate shearing machine to carry out intelligent shearing operation; under the regulation and control of the image processing and control system, the intelligent shearing of the electrolytic nickel plate or the electrodeposited nickel plate is carried out by adopting a mode that the vision system is matched with the robot, and the intelligent shearing method comprises the following steps:
s1, visual system surface quality detection of the nickel plate to be sheared:
s11, placing the nickel plate to be sheared on a photographing station arranged on the plate shearing machine, installing a vision system right above the nickel plate, and regulating and controlling the robot through an image processing and control system so that the robot absorbs the nickel plate to be sheared and places the nickel plate to the photographing station;
s12, the vision system photographs the nickel plate to be cut on the photographing station right below the vision system and transmits the photographed nickel plate picture to the image processing and control system;
s13, the image processing and control system calculates through a visual image algorithm, identifies the track of the chalk line drawn by the quality testing personnel, and generates a first cutting line; or marking on the nickel plate which is displayed on the human-computer interface of the image processing and control system and is subjected to proportion display after measurement by the vision system by an operator, thereby generating a second shear line; or the image processing and control system compares the qualified image with the unqualified image for each pixel point through a large number of preset defect image databases and intelligent identification and calculation, so that a defective part is identified, a boundary line between a qualified part and an unqualified part which reserve the maximum qualified size is automatically generated through the size and the position of the defect and is used as a third shear line, and if the unqualified part is positioned at two sides or the periphery of the nickel plate, two or more third shear lines can be generated;
s2, shearing the nickel ears of the nickel plate by the cooperation of the vision system and the robot:
s21, analyzing and calculating the outlines of the nickel plate and the nickel lug and the position and the angle of the nickel plate at the photographing station by the image processing and control system through the nickel plate picture obtained by the vision system;
s22, sending the position of the nickel lug of the nickel plate to a robot, and cutting the nickel plate along the nickel lug edge of the nickel plate or a little distance away from the nickel lug edge by the robot to cut off the nickel lug;
s3, shearing the defect part of the nickel plate by the aid of the visual system and the robot:
s31, the image processing and control system automatically calculates the offset displacement and the angle between the current position of the shearing line and the position of the shearing edge of the plate shearing machine according to the generated shearing line, calculates the suction center position of the robot, forms a data packet and sends the data packet to the robot;
s32, the robot sucks the nickel plate according to the calculated sucking center position according to the data packet sent by the image processing and control system, performs offset motion according to the calculated offset displacement and angle, and sends the corresponding shearing line on the nickel plate to the lower part of the shearing edge of the plate shearing machine at the preset shearing station;
s33, feeding the nickel plate to an image processing and control system after the nickel plate is placed by the robot, and controlling a plate shearing machine to shear the defect part of the nickel plate by the image processing and control system;
s34, if the nickel plate is identified by the vision system to be free of defect parts or defect parts in the allowable value range, only the nickel ears need to be cut off;
and S4, sorting and stacking the qualified parts retained after shearing according to the size or shape after shearing.
2. The intelligent shearing method for the electrolytic/electrolytic nickel plate according to claim 1, characterized in that: when there is a chalk line drawn by the quality inspector on the nickel plate to be cut, in step S13, the specific calculation process of the visual image algorithm is as follows: through a pre-trained neural network model, distinguishing the color of chalk and the color of a nickel plate for each pixel point, so as to identify the track of a chalk line, and finding out a straight line approaching the chalk line by a linear fitting method to serve as a first shear line.
3. The intelligent shearing method for the electrolytic/electrolytic nickel plate according to claim 1, characterized in that: when there is no chalk line drawn by the quality inspector on the nickel plate, the image processing and control system may display the picture of the nickel plate on the human-machine interface in a size scale measured by the vision system, and the operator draws a line on the human-machine interface, thereby generating a second cut line in step S13.
4. The intelligent shearing method for the electrolytic/electrolytic nickel plate according to claim 1, characterized in that: in step S13, the intelligent identification and calculation process includes: the image processing and control system compiles a visual algorithm, intelligently identifies the surface profile of the nickel plate and various surface defects through a large number of preset defect picture databases through the visual algorithm, calculates to obtain a defect area and a boundary line thereof, and generates a third shear line which distinguishes qualified and unqualified areas of the nickel plate and ensures the maximization of the qualified areas of the nickel plate.
5. The intelligent shearing method for the electrolytic/electrolytic nickel plate according to claim 4, characterized in that: the vision algorithm establishes a database by collecting a large number of nickel plate pictures, and machine vision deep learning is carried out, so that the quality defect part of the nickel plate surface is automatically detected, and a third shear line is generated.
6. The intelligent shearing method for the electrolytic/electrolytic nickel plate according to claim 1, characterized in that: the visual system comprises a camera light source frame, a light source and an industrial camera, wherein the light source and the industrial camera are integrally arranged on the camera light source frame; the working process of the visual system is as follows: firstly, a light source and an industrial camera are arranged on a camera light source frame; and then, the industrial camera shoots the nickel plate placed on the shooting station to obtain a nickel plate photo, and the nickel plate photo is transmitted to an image processing and control system to be analyzed and calculated to obtain a shear line.
7. The intelligent shearing method for the electrolytic/electrolytic nickel plate according to claim 1, characterized in that: the intelligent nickel plate shearing method can be applied to shearing of copper plates, cobalt plates, aluminum plates, steel plates and non-metallic materials.
8. The intelligent shearing method for the electrolytic/electrolytic nickel plate according to claim 1, characterized in that: the intelligent shearing device can also be composed of an image processing and control system, a vision system, a robot and a metal and nonmetal processing machine;
the metal and nonmetal processing machine is one of a cutting machine and a grinding machine.
9. The intelligent shearing method for the electrolytic/electrolytic nickel plate according to claim 1, characterized in that: the robot is one or two combinations of a servo linear mechanism and a servo rotating mechanism.
10. The intelligent shearing method for the electrolytic/electrolytic nickel plate according to claim 1, characterized in that: in step S13, one or more shear lines may be formed to shear off the unqualified parts in all directions.
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