CN115533549B - Intelligent steel plate blanking system and method - Google Patents
Intelligent steel plate blanking system and method Download PDFInfo
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- CN115533549B CN115533549B CN202211253994.9A CN202211253994A CN115533549B CN 115533549 B CN115533549 B CN 115533549B CN 202211253994 A CN202211253994 A CN 202211253994A CN 115533549 B CN115533549 B CN 115533549B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 63
- 239000010959 steel Substances 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005520 cutting process Methods 0.000 claims abstract description 206
- 239000002699 waste material Substances 0.000 claims abstract description 52
- 238000005507 spraying Methods 0.000 claims abstract description 50
- 239000000872 buffer Substances 0.000 claims abstract description 36
- 238000004140 cleaning Methods 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 claims description 43
- 238000005259 measurement Methods 0.000 claims description 20
- 238000004519 manufacturing process Methods 0.000 claims description 19
- 230000008569 process Effects 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 14
- 238000012546 transfer Methods 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 13
- 239000002131 composite material Substances 0.000 claims description 10
- 230000007306 turnover Effects 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 9
- 238000003754 machining Methods 0.000 claims description 8
- 238000007599 discharging Methods 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000003139 buffering effect Effects 0.000 claims description 5
- 239000000284 extract Substances 0.000 claims description 5
- 150000001875 compounds Chemical class 0.000 claims description 4
- 238000003698 laser cutting Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010992 reflux Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000012160 loading buffer Substances 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
Abstract
The invention provides an intelligent steel plate blanking system and method, comprising a longitudinal conveying system, a feeding buffer station, a scribing and code spraying station, a straight-mouth cutting station, a waste cutting station, a groove and small-medium-small-piece sorting station, a middle-small-piece chamfering and tray matching station, a blanking buffer station, a large-piece sorting station, a large-piece groove cutting and chamfering station, a waste cleaning station, an AGV conveying system and a general control system; each station beat phase-match, the part circulation is smooth and easy, has avoided the cross operation to improve the overall efficiency of steel sheet unloading, reduced the excessive dependence of enterprise to the labour.
Description
Technical Field
The invention belongs to the field of industrial intelligence, and particularly relates to an intelligent steel plate blanking system and method.
Background
In the ship construction process, steel plate blanking is used as a preliminary link of shipyard sectional production, and the steel plate blanking comprises all links from marking, code spraying, cutting and blanking, scrap cutting, automatic part sorting, groove cutting, chamfering, material arrangement and tray allocation to scrap treatment. The part blanking workload is increased year by year, the original workshop equipment arrangement and management workflow is more and more unsmooth, the part blanking processing period is long, the tray is not matched timely, the parts are lost frequently, the equipment beat is unbalanced, the field utilization rate is low, the part sorting is difficult, the labor intensity of personnel is high, obvious potential safety hazards exist and the like, so that the work becomes a bottleneck in shipbuilding operation. Therefore, the development of a set of steel plate blanking system which is compact, reasonable, efficient and intelligent in layout has important significance in the aspects of shortening the shipbuilding period, improving the shipbuilding quality and precision, saving the production field, reducing the excessive dependence of enterprises on labor force and the like.
Chinese patent CN110202214 a, application No. 201910442856.7, applicant: the utility model discloses a "steel sheet cutting system" of the company's office reworking (Jiangsu) limited company, and the technical scheme of this patent is: comprising the following steps: the numerical control cutting machines comprise at least one group, and each group of numerical control cutting machines are respectively and independently used for cutting steel plates to obtain parts; the sorting stations comprise a plurality of sorting stations which are respectively arranged at the rear ends of each group of numerical control cutting machines, and each sorting station is respectively used for sorting the parts obtained after the numerical control cutting machines cut; the conveying line unit comprises driving wheels and supporting wheels which are arranged between the numerical control cutting machines and between the sorting stations at intervals, a plurality of trolley units are arranged on the driving wheels and the supporting wheels, and each trolley unit is also provided with a steel tray respectively; the driving wheel drives the trolley unit, and the trolley unit conveys the steel plate or the part loaded on the steel tray to a corresponding numerical control cutting machine or a sorting station; program control driving, set up near steel stock dump, it is equipped with the vacuum chuck hoist, be provided with the sucking disc on the vacuum chuck hoist, the sucking disc can be according to the board size adjustment switching quantity and the switching scope of steel plate, in order to hang the required steel sheet of cutting by steel stock dump to the corresponding steel stock tray in the transfer chain unit on … … the letter sorting station including: at least one pre-sorting station, two or more part sorting stations, and at least one flexible sorting station … …, the scrap and small parts … … are primarily sorted at the pre-sorting station.
The technical disadvantage related to this patent is that: only the operations of cutting, scribing, code spraying and groove opening by the numerical control cutting machine are mentioned with no full disclosure of how the numerical control cutting machine can realize the operations; moreover, from the aspect of beat, the realization of multiple operations on one station can lead to mismatch with the production beat of each subsequent sorting station, the overall efficiency is lower, and the equipment utilization rate is not high.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides an intelligent steel plate blanking system and method, which are used for realizing the integrated and intelligent control of the whole process from marking, code spraying, part blanking, scrap cutting, automatic part dividing, groove cutting, chamfering and disc allocation to scrap treatment, thereby achieving the aims of improving the steel plate blanking efficiency and precision, improving the utilization rate of production fields and reducing the excessive dependence of enterprises on labor force.
An intelligent blanking system for steel plates comprises,
the longitudinal conveying system is driven by rollers and is used for carrying out longitudinal conveying circulation on the cutting tray loaded with the materials among stations;
the feeding buffer station is positioned at the front end of the system and comprises an empty cutting tray arranged on the longitudinal conveying system, and incoming steel plates are transported into the cutting tray for buffer storage by adopting intelligent travelling crane, so that the continuity of steel plate feeding is ensured;
the marking and code spraying station is connected with the feeding buffer station through a longitudinal conveying system and comprises a gantry marking and code spraying machine which spans the longitudinal conveying system and can move along a track, and the marking and code spraying machine is used for automatically marking and code spraying the steel plate;
the cutting station is connected with the marking and code spraying station through a longitudinal conveying system and comprises a gantry type numerical control cutting machine which spans the longitudinal conveying system and can move along a track, and the cutting station is used for automatically cutting and blanking the steel plate;
the waste cutting and beveling and small-medium-sized workpiece sorting station comprises a gantry type cutting and beveling and sorting robot which spans a longitudinal conveying system and can move along a rail, wherein the robot is used for placing the small-sized workpiece into a gantry for secondary beveling after cutting the waste generated by cutting, and then sorting the small-sized workpiece out and placing the small-sized workpiece onto a plate-chain type conveying belt on the side surface;
the middle and small piece chamfering and tray matching station comprises a gantry chamfering and tray matching robot which is longitudinally arranged and can move along a rail, and is used for sorting out the middle and small pieces to perform chamfering operation in cooperation with a cutting, chamfering and sorting robot, or picking up the middle and small pieces on a plate-chain type conveying belt for the second time to perform chamfering cutting and chamfering operation, or carrying out material arrangement and tray matching on finished products processed by the middle and small pieces;
the blanking buffer station is arranged in front of the large piece sorting station and is used for buffering the sorted materials of the middle and small pieces; the station also comprises a traversing lifting car which is used for traversing the cutting tray after the middle and small pieces are sorted to a large piece sorting station;
the large part sorting station is arranged in parallel with the scribing and code spraying station and the cutting station and comprises an intelligent travelling crane, and is used for sorting out large parts in the cut parts and placing the large parts on a large part groove cutting and chamfering station on the side surface of the large part sorting station or transferring processed large part finished products to a part three-dimensional warehouse or a large part storage area;
the large groove cutting and chamfering station comprises a large machining workbench which is fixedly arranged and a gantry type cutting and chamfering robot which spans the large machining workbench and can move along a track, and is used for performing groove cutting and chamfering operation on the sorted large parts;
the waste material cleaning station is connected with the large piece sorting station through a longitudinal conveying system and comprises a turnover mechanism and a waste material collecting tank arranged below blanking of the turnover mechanism, and is used for pouring cutting waste materials in the cutting tray into the waste material collecting tank;
the AGV conveying system is used for conveying the material trays with chamfering and tray matching stations;
and the overall control system is used for overall coordination of all the devices of the control system.
Further, the waste material clearance station accessible sideslip elevating car is connected with material loading buffer memory station transversely, can temporarily store the material loading steel sheet when idle, improves material loading efficiency.
Further, the marking ink-jet printer and the numerical control cutting machine are both provided with laser vision positioning systems; the cutting, chamfering and chamfering robot and the cutting, chamfering and chamfering robot are respectively provided with a composite vision system; the compound vision system comprises a 3D vision recognition positioning system, a 2D vision recognition positioning system and a laser vision measurement system.
Further, the cutting, chamfering and chamfering robot and the intelligent travelling crane are respectively provided with a character code scanning system or a two-dimensional code scanning system for identifying the scanning codes of the parts.
Further, the chamfering and tray-matching robot comprises a backpack chamfering workbench arranged on the portal frame main body.
Further, the chamfering workbench is provided with double stations and can automatically turn over, so that double-sided automatic processing of workpieces is realized; the two workbench panels are in a hinge shape and can automatically turn around the rotating shaft; the workbench panel is in a horizontal state during processing; the workbench panel can be folded in half during overturning to realize the transfer of target parts; the workbench panel is provided with a plurality of electromagnets capable of changing positions and used for fixing diversified target parts.
The intelligent steel plate blanking method is characterized by comprising the following steps of:
s1, a general control system generates a process file, then a feeding instruction is sent to an intelligent crane, and the intelligent crane transfers a steel plate to be processed into an empty cutting tray of a feeding buffer station to wait for scribing and code spraying for feeding;
s2, when the marking and code spraying station enters an idle state, a feeding call is sent out, and the overall control system conveys materials of the feeding buffer station to the marking and code spraying station by controlling the longitudinal conveying system; the laser visual positioning system is used for positioning the steel plate to be processed; the overall control system automatically extracts scribing and code spraying information from the process file, automatically converts the scribing and code spraying information into machine scribing and code spraying instructions of an optimal path, and guides the scribing and code spraying integrated machine to conduct scribing and code spraying operation;
s3, when the cutting station enters an idle state, a feeding call is sent out, and the overall control system conveys the materials of the scribing and code spraying station to the cutting station by controlling the longitudinal conveying system; the overall control system automatically extracts cutting process information from a process file according to the result of automatic measurement and positioning of the steel plate by the laser vision positioning system, automatically plans a cutting path and guides the numerical control cutting machine to perform cutting operation;
s4, after cutting is completed, the cutting station sends a discharging request, and the overall control system controls the longitudinal conveying system to convey the materials of the cutting station to the blanking buffer station for buffering;
s5, when the waste cutting and beveling and sorting stations enter an idle state, a feeding request is sent out, and the overall control system controls the longitudinal conveying system to convey the materials of the blanking buffer stations to the waste cutting and beveling and sorting stations; the overall control system automatically judges cutting points, automatically plans cutting paths, guides the cutting and beveling robot to cut waste materials and perform beveling operation according to the result of automatic measurement and positioning of the steel plate by the laser vision positioning system;
s6, after the waste is cut off, the overall control system controls the cutting, beveling and sorting robot to sort out the middle and small pieces or to place the middle and small pieces on a lateral plate chain type conveying belt to wait for secondary sorting after the beveling operation according to the result uploaded by the 3D vision system identification positioning system; when the chamfering and tray matching robot is in an idle state, the chamfering and tray matching robot can participate in sorting operation of middle and small pieces and is placed on a plate-chain type conveying belt or directly placed on a chamfering workbench on the plate-chain type conveying belt; the overall control system automatically balances the beat of the production line, so that the efficiency is improved;
s7, after the middle and small pieces are all sorted, returning the cutting tray to a blanking buffer station through a longitudinal conveying system, and transferring the cutting tray to a large piece sorting station through a transverse conveying system; meanwhile, the overall control system controls the chamfering and tray matching robot to convey the parts on the plate-chain type conveying belt to a chamfering workbench for processing and material arrangement and tray matching according to the composite visual recognition, positioning and measurement results; the small pieces which do not need to be processed are directly processed into a material arranging and distributing disc; and then, the AGV transfers the material tray full of the finished product to a part three-dimensional warehouse.
S8, controlling the intelligent travelling crane to sequentially sort out large pieces in the cut parts by the production line overall control system, and placing the large pieces on a large piece groove cutting and chamfering station;
s9, controlling a groove cutting and chamfering robot by a general control system to cut and chamfer workpieces on a large groove cutting and chamfering station according to the composite visual identification, positioning and measurement results, and discharging the parts to a part three-dimensional warehouse or a large temporary storage area by an intelligent crane after finishing the groove cutting and chamfering operation;
s10, after all the large pieces are sorted, the overall control system controls the longitudinal conveying system to convey the cutting tray loaded with the waste to the waste cleaning station, the cutting waste is dumped into the waste collecting tank, then the cutting waste is manually lifted and cleaned or automatically conveyed to a designated place, and the transverse conveying system returns the empty tray to the feeding buffer station for the next cycle.
Further, each part is scanned and identified by adopting a character code scanning system or a two-dimensional code scanning system before sorting, so that the accuracy of automatic sorting is ensured.
Further, the process file is generated by docking the MES of the workshop manufacturing execution system and shipbuilding platform software; the MES system issues a production order to the overall control system; and the overall control system calculates the optimal feeding sequence according to the acquired production order and the process file.
The invention has the beneficial effects that:
(1) The invention adopts a reflux conveying arrangement mode to set a plurality of processing stations, realizes the integrated and intelligent control of the whole flow from marking, code spraying, straight-mouth blanking, waste cutting, automatic part sorting, groove cutting, chamfering, tray allocation and waste treatment, has reasonable and compact layout and improves the utilization rate of production fields; each station beat phase-match, the part circulation is smooth and easy, has avoided the cross operation to improve the overall efficiency of steel sheet unloading, reduced the excessive dependence of enterprise to the labour.
(2) According to the invention, the steel plate to be processed is placed in the cutting tray to carry out circulation conveying among working procedures, so that parts are not dropped and are not relatively shifted in the whole conveying process, the phenomena of parts and machining omission are avoided, the lifting times are reduced, the correction workload caused by steel plate deformation due to cutting heat is reduced, and the labor cost is greatly saved; in addition, the arrangement mode of reflux conveying realizes the recycling of the cutting tray and ensures the rationality of the production line.
(3) According to the invention, the cutting waste is cut off and conveyed in the cutting tray in the whole process, and is separated from the cutting tray until the final integral dumping, so that the thoroughness and accuracy of waste collection are ensured, the complicated operations of independently arranging stations and individually sorting and collecting are avoided, and the overall efficiency of the system is further improved.
(4) According to the invention, the backpack type cutting and chamfering workbench is arranged on the portal frame main body of the cutting chamfering and sorting tray matching robot, so that the cutting chamfering is finished in the production line, the space is saved, the groove cutting and chamfering processing procedures of the middle and small parts are not performed on the conveying line, the operation of materials is reduced to the maximum extent, and the overall production efficiency of the production line is improved.
(5) According to the invention, the intelligent recognition, positioning and measurement of the workpiece are realized by arranging the laser vision positioning system or the compound vision system at each station, and the machining accuracy of each working procedure is ensured, so that the blanking accuracy of the steel plate is improved as a whole; in addition, all sweep the sign indicating number discernment to each unloading part before the letter sorting, not only guaranteed the accuracy of part letter sorting, guaranteed the traceability of every part moreover, overall control system is connected with intelligent management platform MES system, has really accomplished intelligent control.
Drawings
FIG. 1 is a diagram of the overall structure of the present invention;
FIG. 2 is a top view of a feed buffer station and a scribing and code spraying station of the present invention;
FIG. 3 is a top view of a cutting station of the present invention;
FIG. 4 is a top view of the scrap cutting, beveling and middle and small piece sorting station and the middle and small piece sorting, tray matching and chamfering station of the present invention;
FIG. 5 is a detailed view of a scrap cutting, beveling and middle and small piece sorting station of the present invention;
FIG. 6 is a detail view of a small sorting tray and chamfering station according to the invention;
fig. 7 is a flow chart of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
The intelligent steel plate blanking system shown in fig. 1 comprises,
the overall control system is used for integrally coordinating all devices of the control system; before loading, a workshop manufacturing execution system MES is in butt joint with shipbuilding platform software (TRIBON/AM) to generate a process file; the MES system issues a production order to the overall control system;
the longitudinal conveying system 1 adopts a roller driving mode and is used for carrying out longitudinal conveying circulation on a cutting tray loaded with materials among stations;
the feeding buffer station 2 is positioned at the front end of the system and comprises an empty cutting tray arranged on the longitudinal conveying system 1, the process file of the overall control system calculates the optimal feeding sequence, then a feeding instruction is sent to the intelligent travelling crane, and the intelligent travelling crane transfers the steel plate to the cutting tray for buffer storage, so that the continuity of steel plate feeding is ensured;
the marking and code spraying station 3 is connected with the feeding buffer station through the longitudinal conveying system 1 and comprises a gantry marking and code spraying machine 12 which spans the longitudinal conveying system and can move along a track, and is used for automatically marking and code spraying the steel plate; the laser visual positioning system is used for positioning the steel plate to be processed, the overall control system is matched with the steel plate information according to the process file calculation process, an optimal machine scribing and code spraying path is generated, and scribing and code spraying are completed;
the cutting station 4 is connected with the marking and code spraying station 3 through the longitudinal conveying system 1 and comprises a gantry type numerical control cutting machine 13 which spans the longitudinal conveying system 1 and can move along a track, and is used for automatically cutting and blanking the steel plate; when the cutting station 4 enters an idle state, a feeding call is sent out, and the overall control system controls the longitudinal conveying system 1 to convey the material of the marking and code spraying station 3 to the cutting station 4, and automatically plans a cutting path according to the result of automatic measurement and positioning of the steel plate by the laser vision positioning system to guide the numerical control cutting machine to perform cutting operation;
the blanking buffer station 5 is arranged in front of the large piece sorting station 8 and is used for buffering the sorted materials of the middle and small pieces; the station also comprises a traversing lifting car which is used for traversing the cutting tray after the middle and small pieces are sorted to a large piece sorting station 8;
the waste cutting, beveling and small-medium-sized workpiece sorting station 6 comprises a gantry type cutting, beveling and sorting robot 14 which spans the longitudinal conveying system 1 and can move along a track, and is used for cutting waste generated by cutting, placing the small-sized workpiece on a gantry for secondary beveling, and sorting the small-sized workpiece out and placing the small-sized workpiece on a lateral plate-chain type conveying belt 11; when the scrap cutting and beveling and small and medium piece sorting station 6 enters an idle state, a feeding request is sent, and the overall control system controls the longitudinal conveying system 1 to convey the materials of the blanking buffer station 5 to the scrap cutting and beveling and medium and small piece sorting station 6; the overall control system automatically judges cutting points, automatically plans cutting paths and guides the cutting and groove sorting robot 14 to carry out waste cutting operation according to the result of automatic measurement and positioning of the steel plate by the laser vision measurement system; and calculating a scrap cutting path, namely collecting all edges of the scrap, cutting the outer contour left after the workpiece and the size of a solid part of the scrap after cutting, so that smooth transfer and collection of the scrap after cutting the scrap at the station are ensured.
The middle and small piece chamfering and tray matching station 7 comprises a gantry chamfering and tray matching robot 15 which is longitudinally arranged and can move along a rail, and is used for sorting out the middle and small pieces to perform chamfering operation in cooperation with a cutting, chamfering and sorting robot 14, or picking up the middle and small pieces on a plate-chain type conveying belt for the second time to perform chamfering cutting and chamfering operation, or carrying out material arrangement and tray matching on finished products processed by the middle and small pieces;
after the scrap is cut off, the overall control system controls the cutting, beveling and sorting robot 14 to sort out the middle and small parts according to the result uploaded by the 3D vision system identification positioning system, and the middle and small parts are placed on a plate chain type conveying belt on the side surface to wait for secondary sorting; when the chamfering and tray matching robot 15 is in an idle state, the chamfering and tray matching robot can participate in the sorting operation of middle and small pieces and is placed on the plate-chain type conveyor belt 11 or directly placed on a chamfering workbench 17 on the plate-chain type conveyor belt or the finished products processed by the chamfering and tray matching robot are processed to be processed into material and tray matching; after the middle and small pieces are all sorted, the cutting tray returns to the blanking buffer station 5 through the longitudinal conveying system 1 and then is transferred to the large piece sorting station 8 through the transverse conveying system; meanwhile, the overall control system controls the chamfering and matching disc robot 15 to convey the parts on the plate-chain type conveying belt to a chamfering workbench for processing and material arrangement and disc matching according to the composite visual recognition, positioning and measurement results; the small pieces which do not need to be processed are directly processed into a material arranging and distributing disc; and then, the AGV transfers the material tray full of the finished product to a part three-dimensional warehouse.
The large part sorting station 8 is arranged in parallel with the scribing and code spraying station and the cutting station and comprises an intelligent travelling crane, and is used for sorting out large parts in the cut parts and placing the large parts on a large part groove cutting and chamfering station on the side surface of the large part sorting station or transferring processed large part finished products to a part three-dimensional warehouse or a large part storage area;
the large groove cutting and chamfering station 9 comprises a large machining workbench which is fixedly arranged and a gantry type cutting and chamfering robot which spans the large machining workbench and can move along a track, and is used for performing groove cutting and chamfering operation on the sorted large parts;
the waste cleaning station 10 is connected with the large sorting station through a longitudinal conveying system and comprises a turnover mechanism and a waste collecting tank arranged below blanking of the turnover mechanism, and is used for dumping the cutting waste in the cutting tray into the waste collecting tank;
the numerical control cutting machine adopts an intelligent laser cutting machine, and the matching relation between the marking code spraying machine, the intelligent laser cutting machine, the cutting, groove and sorting robot, the chamfering and tray matching robot and the cutting and chamfering robot is 1:2:1:2:3.
The working principle of the invention is described in detail below:
during operation, the overall control system calculates the optimal feeding sequence according to the acquired production order and the process file, and sends a feeding instruction to the intelligent crane to transfer the steel plate to be processed into the empty cutting tray of the feeding caching station 2 for waiting for scribing and code spraying for feeding; when the marking and code spraying station 3 enters an idle state, a feeding call is sent out, the overall control system controls the longitudinal conveying system 1 to convey the material of the feeding buffer station 2 to the marking and code spraying station 3, the laser vision positioning system positions the steel plate to be processed, and the overall control system automatically extracts marking and code spraying information to generate an optimal path for code spraying and marking; when the cutting station 4 enters an idle state, a feeding call is sent out, the overall control system controls the longitudinal conveying system 1 to convey the material of the marking and code spraying station 3 to the cutting station 4, and the overall control system automatically plans a cutting path according to the result of automatic measurement and positioning of the steel plate by the laser vision positioning system to complete cutting operation; when cutting is completed, the cutting station 4 sends a discharging request, and the overall control system controls the longitudinal conveying system 1 to convey the materials of the cutting station 4 to the blanking buffer station 5 for buffer; when the waste cutting and beveling and sorting station 6 enters an idle state, a feeding request is sent out, and the overall control system controls the longitudinal conveying system 1 to convey the materials of the blanking buffer station 5 to the waste cutting and beveling and sorting station 6; the overall control system automatically judges cutting points, automatically plans cutting paths, and controls the cutting and beveling robot 14 to cut waste materials and perform beveling operation according to the result of automatic measurement and positioning of the steel plate by the laser vision positioning system; after the scrap is cut off, the overall control system controls the cutting, beveling and sorting robot 14 to sort out the middle and small parts according to the result uploaded by the 3D vision system identification positioning system, and the middle and small parts are placed on the lateral plate chain type conveying belt 11 to wait for secondary sorting; when the chamfering and tray matching robot 15 is in an idle state, the chamfering and tray matching robot can participate in sorting operation of middle and small pieces and is placed on the plate-chain type conveyor belt 11 or directly placed on a chamfering workbench 17 on the plate-chain type conveyor belt; after the middle and small pieces are all sorted, the cutting tray returns to the blanking buffer station 5 through the longitudinal conveying system and then is transferred to the large piece sorting station 8 through the transverse conveying system; meanwhile, the overall control system controls the chamfering and matching disc robot 15 to convey the parts on the plate-chain type conveying belt 11 to the chamfering workbench 15 for processing and material arrangement and disc matching according to the composite visual recognition, positioning and measurement results; the small pieces which do not need to be processed are directly processed into a material arranging and distributing disc; and then, the AGV transfers the material tray full of the finished product to a part three-dimensional warehouse. When large pieces are sorted, the production line overall control system controls the intelligent travelling crane to sequentially sort out the large pieces in the cut parts, and the large pieces are placed on the large piece groove cutting and chamfering station 9; the overall control system controls the cutting and chamfering robot to perform groove cutting and chamfering operation on the workpiece on the large groove cutting and chamfering station 9 according to the composite visual recognition, positioning and measurement results, and the intelligent travelling crane is used for discharging the parts to a part three-dimensional warehouse or a large temporary storage area after the groove cutting and chamfering operation is completed; after all the large pieces are sorted, the overall control system controls the longitudinal conveying system 1 to convey the cutting tray loaded with the waste to the waste cleaning station 10, the cutting waste is dumped into the waste collecting tank, then the cutting waste is manually lifted and cleaned or automatically conveyed to a designated place, and the transverse conveying system returns the empty tray to the feeding buffer station for the next cycle.
Example 2
The embodiment is optimized in the above embodiment, specifically:
the marking ink-jet printer 12 and the numerical control cutting machine 13 are both provided with a laser visual positioning system; when the marking ink jet printer 12 and the numerical control cutting machine 13 are in an idle state, the visual positioning system feeds information back to the overall control system, the overall control system feeds materials according to the feedback information, and the cutting, chamfering and sorting robot 14, the chamfering and matching disc robot 15 and the chamfering and chamfering robot are all provided with a composite visual system; the compound vision system comprises a 3D vision recognition positioning system, a 2D vision recognition positioning system and a laser vision measurement system.
Example 3
The present embodiment optimizes the cutting and chamfering and sorting robot 14, the chamfering and dishing robot 15, and the intelligent traveling crane based on the above embodiments, specifically:
the cutting, chamfering and sorting robot 14, the chamfering and matching disc robot 15 and the intelligent travelling crane are respectively provided with a character code scanning system or a two-dimensional code scanning system for identifying the scanning codes of the parts and ensuring the sorting accuracy.
Example 4
The present embodiment optimizes the chamfering and dishing robot 15 based on the above embodiment, specifically:
the chamfering and tray matching robot 15 comprises a backpack chamfering workbench 17 arranged on a portal frame main body, wherein the chamfering workbench 17 is provided with double stations and can automatically turn over, so that double-sided automatic processing of workpieces is realized; the two workbench panels are in a hinge shape and can automatically turn around the rotating shaft; the workbench panel is in a horizontal state during processing; the workbench panel can be folded in half during overturning to realize the transfer of target parts; the workbench panel is provided with a plurality of electromagnets with changeable positions, and the electromagnets are used for fixing diversified target parts, and the positions of the electromagnets are randomly adjusted according to the shape and the size of the workpiece, so that flexible processing of the diversified workpieces is satisfied.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An intelligent blanking system for steel plates is characterized by comprising,
the longitudinal conveying system is driven by rollers and is used for carrying out longitudinal conveying circulation on the cutting tray loaded with the materials among stations;
the feeding buffer station is positioned at the front end of the intelligent steel plate discharging system and comprises an empty cutting tray arranged on the longitudinal conveying system, and incoming steel plates are transported into the cutting tray for buffer storage by adopting an intelligent travelling crane, so that the continuity of steel plate feeding is ensured;
the marking and code spraying station is connected with the feeding buffer station through a longitudinal conveying system and comprises a gantry marking and code spraying machine which spans the longitudinal conveying system and can move along a track, and the marking and code spraying machine is used for automatically marking and code spraying the steel plate;
the cutting station is connected with the marking and code spraying station through a longitudinal conveying system and comprises a gantry type numerical control cutting machine which spans the longitudinal conveying system and can move along a track, and the cutting station is used for automatically cutting and blanking a steel plate;
the waste cutting and beveling and small-medium-sized workpiece sorting station comprises a gantry type cutting and beveling and sorting robot which spans a longitudinal conveying system and can move along a rail, wherein the robot is used for placing the small-sized workpiece on a gantry for secondary beveling after cutting the waste generated by cutting, and then sorting the small-sized workpiece out and placing the small-sized workpiece on a plate-chain type conveying belt on the side surface;
the middle and small piece chamfering and tray matching station comprises a gantry chamfering and tray matching robot which is longitudinally arranged and can move along a rail, and is used for sorting out the middle and small pieces to perform chamfering operation in cooperation with a cutting, chamfering and sorting robot, or picking up the middle and small pieces on a plate-chain type conveying belt for the second time to perform chamfering cutting and chamfering operation, or carrying out material arrangement and tray matching on finished products processed by the middle and small pieces;
the blanking buffer station is arranged in front of the large piece sorting station and is used for buffering the sorted materials of the middle and small pieces; the station also comprises a traversing lifting car which is used for traversing the cutting tray after the middle and small pieces are sorted to a large piece sorting station;
the large part sorting station is arranged in parallel with the scribing and stacking station and the cutting station and comprises an intelligent travelling crane, and is used for sorting out large parts in the cut parts and placing the large parts on a large part groove cutting and chamfering station on the side surface of the large part sorting station, or transferring processed large part finished products to a part three-dimensional warehouse or a large part storage area;
the large groove cutting and chamfering station comprises a large machining workbench which is fixedly arranged and a gantry type cutting and chamfering robot which spans the large machining workbench and can move along a track, and is used for performing groove cutting and chamfering operation on the sorted large parts;
the waste material cleaning station is connected with the large piece sorting station through a longitudinal conveying system and comprises a turnover mechanism and a waste material collecting tank arranged below blanking of the turnover mechanism, and is used for dumping cutting waste materials in the cutting tray into the waste material collecting tank;
the AGV conveying system is used for transferring the cutting trays of the middle and small piece chamfering and tray matching stations;
the overall control system is used for integrally coordinately controlling all equipment of the intelligent steel plate blanking system;
the marking and ink-jet printer and the numerical control cutting machine are respectively provided with a laser visual positioning system; the cutting, chamfering and chamfering robot and the cutting, chamfering and chamfering robot are respectively provided with a composite vision system; the compound vision system comprises a 3D vision recognition positioning system, a 2D vision recognition positioning system and a laser vision measurement system;
the chamfering and tray matching robot comprises a backpack chamfering workbench arranged on a portal frame main body;
the chamfering workbench is provided with double stations and can automatically turn over, so that double-sided automatic processing of workpieces is realized; the two workbench panels are in a hinge shape and can automatically turn over around the rotating shaft; the workbench panel is in a horizontal state during processing; the workbench panel can be folded in half during overturning so as to realize the transfer of target parts; the workbench panel is provided with a plurality of electromagnets capable of changing positions and used for fixing diversified target parts.
2. The intelligent steel plate blanking system of claim 1, wherein the waste material cleaning station is transversely connected with the feeding buffer station through a transverse moving lifting vehicle, and can temporarily store the feeding steel plate when idle, so that the feeding efficiency is improved.
3. The intelligent steel plate blanking system of claim 2, wherein the cutting, chamfering and sorting robot, the cutting chamfering and chamfering robot and the intelligent crane are respectively provided with a character code scanning system or a two-dimensional code scanning system for identifying the scanning code of the parts.
4. A blanking method using the intelligent steel plate blanking system as set forth in claim 3, comprising the steps of:
s1, a general control system generates a process file, then a feeding instruction is sent to an intelligent crane, and the intelligent crane transfers a steel plate to be processed into an empty cutting tray of a feeding buffer station to wait for scribing and code spraying for feeding;
s2, when the marking and code spraying station enters an idle state, a feeding call is sent out, and the overall control system conveys materials of the feeding buffer station to the marking and code spraying station by controlling the longitudinal conveying system; the laser visual positioning system is used for positioning the steel plate to be processed; the overall control system automatically extracts scribing and code spraying information from the process file, automatically converts the scribing and code spraying information into machine scribing and code spraying instructions of an optimal path, and guides a scribing and code spraying machine to conduct scribing and code spraying operation;
s3, when the cutting station enters an idle state, a feeding call is sent out, and the overall control system conveys the materials of the scribing and code spraying station to the cutting station by controlling the longitudinal conveying system; the overall control system automatically extracts cutting process information from a process file according to the result of automatic measurement and positioning of the steel plate by the laser vision positioning system, automatically plans a cutting path and guides the numerical control cutting machine to perform cutting operation;
s4, after cutting is completed, the cutting station sends a discharging request, and the overall control system controls the longitudinal conveying system to convey the materials of the cutting station to the blanking buffer station for buffering;
s5, when the waste cutting and beveling and small and medium sorting stations enter an idle state, a feeding request is sent out, and the overall control system controls the longitudinal conveying system to convey the materials of the blanking buffer station to the waste cutting and beveling and medium and small sorting stations; the overall control system automatically judges cutting points, automatically plans cutting paths, and guides the cutting and beveling small and medium sorting robots to cut waste materials and perform beveling operation according to the result of automatic measurement and positioning of the steel plate by the laser vision positioning system;
s6, after the waste is cut off, the overall control system controls the cutting, beveling and sorting robot to sort out the middle and small pieces or operate the beveling according to the uploading result of the 3D visual identification positioning system, and then the middle and small pieces are placed on a plate chain type conveying belt on the side surface to wait for secondary sorting; when the chamfering and tray matching robot is in an idle state, the chamfering and tray matching robot can participate in sorting operation of middle and small pieces and is placed on a plate chain type conveying belt or directly placed on a chamfering workbench; the overall control system automatically balances the beat of the production line, so that the efficiency is improved;
s7, after the middle and small pieces are all sorted, returning the cutting tray to a blanking buffer station through a longitudinal conveying system, and transferring the cutting tray to a large piece sorting station through a transverse conveying system; meanwhile, the overall control system controls the chamfering and tray matching robot to convey the parts on the plate-chain type conveying belt to a chamfering workbench for processing and material arrangement and tray matching according to the recognition, positioning and measurement results of the composite vision system; the small pieces which do not need to be processed are directly processed into a material arranging and distributing disc; then, the AGV transfers the material tray fully loaded with the finished product to a part three-dimensional warehouse;
s8, controlling the intelligent travelling crane to sequentially sort out large pieces in the cut parts by the overall control system, and placing the large pieces on a large piece groove cutting and chamfering station;
s9, controlling a groove cutting and chamfering robot by a general control system to cut and chamfer workpieces on a large groove cutting and chamfering station according to the recognition, positioning and measurement results of the composite vision system, and discharging the parts to a part three-dimensional warehouse or a large temporary storage area by an intelligent crane after finishing the groove cutting and chamfering operation;
s10, after all the large pieces are sorted, the overall control system controls the longitudinal conveying system to convey the cutting tray loaded with the waste to the waste cleaning station, the cutting waste is dumped into the waste collecting tank, then the cutting tray is manually lifted and cleaned or automatically conveyed to a designated place, and the transverse conveying system returns the empty cutting tray to the feeding buffer station for the next cycle.
5. The blanking method of claim 4, wherein each part is scanned and identified by a character code scanning system or a two-dimensional code scanning system before sorting, so that the accuracy of automatic sorting is ensured.
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