CN221184836U - Metal plate double-sided grain removing device - Google Patents

Abstract

The utility model discloses a metal plate double-sided grain removing device which comprises a metal plate conveying mechanism, a grain-binding identification mechanism, a grain-binding milling mechanism and a control module, wherein the metal plate conveying mechanism comprises a front conveying component, a back conveying component and a turnover component arranged between the front conveying component and the back conveying component; the grain identification mechanism is arranged above the metal plate conveying mechanism, and the control module is used for controlling milling of the corresponding milling cutter on the grain milling mechanism according to the grain position identified by the grain identification mechanism. Therefore, the corresponding milling cutter is accurately controlled to independently mill the region to be milled of the knots moving to the milling range, the full coverage of milling of the metal plate is realized, no-load generation can be effectively avoided, and the energy consumption is effectively reduced.

Description

Metal plate double-sided grain removing device

Technical Field

The utility model relates to the technical field of metal processing, in particular to a metal plate double-sided nodule removing device.

Background

Metals such as copper, nickel and cobalt are important products in nonferrous metal industries, and are widely applied to various industries due to good metal characteristics, and the demand is growing year by year along with the rapid development of manufacturing industries. Therefore, the method, the process and the equipment for improving the metal productivity become particularly important. Through research, the electrolytic method is generally adopted to produce metals such as copper, nickel, cobalt and the like in industrial production, and the produced finished product often has surface grain-forming defects which cannot reach the factory standard of commercial products, for example, the cathode copper national standard: the total area of the round head dense grains with the height of more than 5mm on the surface of the cathode copper is not more than 10% of the area of a single surface; national standard of electrolytic nickel: the total area of the dense grain area with the surface height of electrolytic nickel being more than 3mm cannot exceed 15% of the area of a nickel plate, so that enterprises need to remove surface grains of metal plates which do not meet the standard before leaving factories, and the traditional method is to remove the grains by using tools such as air hammers by workers.

The utility model patent with the patent number of CN202011154732.8 discloses an electrolytic cathode knot particle removing device and a knot particle removing method of a cathode, wherein the electrolytic cathode knot particle removing device comprises: the short circuit detection unit is used for determining the accurate position of a short-circuited cathode in the electrolytic cell; a polar plate transfer unit; the knot particle removing unit is used for removing knot particles on the surface of the cathode which is short-circuited; and the nodule image recognition unit is used for acquiring the position and the size of the nodule on the surface of the cathode. Therefore, through the mutual cooperation of the short circuit detection unit, the polar plate transfer unit, the nodule removing unit and the nodule image recognition unit, the short circuit cathode can be accurately detected and positioned, then the nodule on the surface of the cathode is removed, the current efficiency and the product grade rate of the electrolysis operation are improved, the nodule is not required to be manually removed by an operator, and the nodule removing efficiency can be improved. The above patent discloses a device and a method for identifying and removing electrolytic cathode pellets, but a complete automatic operation system is not formed, and the milling area of the cutter head cannot fully cover the whole area of the electrolytic cathode, so that partial pellets are not removed easily, the pellet removing effect is poor, the qualification rate of products is further affected, in addition, in the process of removing pellets by the cutter head, all the cutter heads synchronously run in the whole process, partial cutter heads are easy to idle, and the energy consumption is high.

Disclosure of utility model

In order to overcome the defects of the prior art, the utility model provides the metal plate double-sided nodule removing device which can ensure that a milling area covers the whole surface of the metal plate, improve nodule clearance, avoid idle load of a milling cutter and effectively reduce energy consumption.

In order to solve the technical problems, the utility model adopts the following technical scheme: the utility model provides a two-sided knot grain remove device of metal sheet, it includes metal sheet conveying mechanism, knot grain identifying mechanism, knot grain mill mechanism and control module, wherein, metal sheet conveying mechanism includes positive conveying component, reverse conveying component and sets up between positive conveying component and reverse conveying component, is used for carrying out the upset subassembly of upset to the metal panel, knot grain mill mechanism includes the positive mill mechanism that sets up on positive conveying component conveying path, and the reverse mill mechanism that sets up on reverse conveying component conveying path, positive mill mechanism and reverse mill mechanism all are equipped with a plurality of milling cutter, adjacent milling cutter crisscross setting and milling path part overlap setting; the grain forming identification mechanism is arranged above the metal plate conveying mechanism through a bracket rod and used for carrying out grain forming identification on the metal plate conveying mechanism, and the control module is respectively in communication connection with the milling cutter driving part of each milling cutter and used for controlling the milling of the corresponding milling cutter on the grain forming milling mechanism according to the grain forming position identified by the grain forming identification mechanism.

Preferably, the front conveying assembly comprises a front conveying workbench, a front conveying part arranged on the front conveying workbench and a front clamping base arranged on the front conveying part, wherein the front clamping base comprises a clamping platform and a plurality of clamping jaws arranged on two sides of the clamping platform and used for clamping and fixing a metal plate on the front clamping base.

Preferably, the clamping jaw comprises a fixed clamping plate and a movable clamping plate, the fixed clamping plate is fixedly arranged on the side edge of the front clamping base, the movable clamping plate is hinged with the fixed clamping plate and used for buckling downwards when the metal plate is placed on the fixed clamping plate, and the metal plate is clamped and fixed on the front clamping base in a matched mode with the fixed clamping plate.

Preferably, a pressure sensor is provided on the front clamping base for identifying whether a metal plate is placed on the front clamping base.

Preferably, the fixed splints on the same front clamping base are horizontally fixed on the same height to form a metal plate limiting platform higher than the clamping platform.

Preferably, a height difference is arranged between the metal plate limiting platform and the clamping platform, and when the metal plate is placed on the metal limiting platform, a spacing space is arranged between the metal plate and the clamping platform and is used for providing a turnover accommodating space for the turnover assembly.

Preferably, the turnover assembly comprises a turnover base and a turnover frame body, wherein the turnover base is arranged between the tail end of the front conveying assembly and the head end of the back conveying assembly, the turnover frame body is hinged to the turnover base, and a plurality of clamping jaws are distributed on the turnover frame body.

Preferably, the front milling mechanism comprises a milling base arranged on one side of the metal plate conveying path and a plurality of milling cutters arranged on the milling base, suspension arms perpendicular to the direction of the metal plate conveying path extend above the metal plate conveying path, a plurality of longitudinal telescopic components are distributed on two sides of the suspension arms in a left-right staggered mode, and the milling cutters are arranged at telescopic ends of the longitudinal telescopic components.

Preferably, the control module is respectively in communication connection with the longitudinal telescopic component and the milling cutter driving component of the milling cutter and is used for driving the corresponding milling cutter to mill according to the position of the pelleting coordinates.

Preferably, the outer side of the front milling mechanism is provided with a dust cover, a dust sweeping brush is arranged below a cover body of the dust cover on the metal plate conveying path, and a dust collecting box is arranged at the lower end of a workbench right below the dust cover.

The beneficial effects of the utility model are as follows:

The metal plate double-sided grain removing device provides a set of automatic operation system for a metal plate grain removing procedure, and the grain on the metal plate is accurately identified through the grain identification mechanism, so that the milling of the corresponding milling cutter on the grain milling mechanism is controlled, and the problem that the energy consumption is increased due to the fact that the milling cutter performs blank milling in a metal plate area without grain is avoided; meanwhile, milling cutters on the grain-setting milling mechanism are distributed in a staggered mode, adjacent milling paths are partially overlapped, so that the milling cutter area can cover the surface of the whole metal plate, the problem that grains in a gap area between adjacent milling cutters cannot be milled comprehensively is solved, no-load generation is avoided while full milling coverage of the metal plate is achieved, and energy consumption is effectively reduced.

The utility model sets up the fixed splint on the same front clamping base and all fixes on the same height horizontally, form a metal sheet spacing platform higher than clamping platform, have a difference in height between clamping platform and the spacing platform of the said metal sheet, when the metal sheet is put on the spacing platform of metal, there is a interval space between clamping platform and the said metal sheet, the said interval space is used for providing the space of holding of overturning for overturning the assembly.

The control module controls the camera module to take a picture of the metal plate in real time, updates the current coordinate position of the area to be milled of the grain in real time according to the current coordinate position of the metal plate, and calculates the distance between the area to be milled of the grain and the corresponding milling cutter in real time based on the current coordinate position of the area to be milled of the grain; therefore, the region to be milled of the knots entering the milling range is milled, accurate milling of knots is achieved, other regions which do not need milling pass through the milling cutter, the milling cutter does not work, energy consumption is saved, and milling cost is reduced.

According to the utility model, after three-dimensional point cloud data on the surface of the metal plate are acquired, edge curves of clamping jaws on the metal plate are identified through two-dimensional edge detection, coordinates of the clamping jaws are determined based on a three-dimensional coordinate system of a milling work area of the metal plate, when partial areas of a grain-forming area to be milled are covered by the clamping jaws, distances between the clamping jaws and milling cutters corresponding to the grain-forming area are calculated in real time, when the grain-forming area to be milled which is partially covered by the clamping jaws is about to enter a milling range of a corresponding milling cutter, a control module controls the clamping jaws to open, and the corresponding milling cutters are started to mill the grain-forming area entering the milling range, so that comprehensive milling of grains in all areas of the metal plate is realized, and the milling qualification rate of the metal plate is improved.

According to the metal plate double-sided grain removing method, accurate positioning of a grain area to be milled on the metal plate is achieved through the three-dimensional image recognition module in the grain recognizing mechanism, grain space coordinates are established by matching with the three-dimensional coordinate construction module, the grain milling mechanism is accurately controlled to independently mill the grain area to be milled which moves to a milling range through real-time tracking of the grain coordinates, full coverage of metal plate milling is achieved, no-load generation can be effectively avoided, and energy consumption is effectively reduced.

Drawings

Fig. 1 is a schematic perspective view of a device for removing double-sided nodules from a metal plate according to an embodiment of the utility model.

Fig. 2 is an enlarged schematic view of the portion a in fig. 1.

Fig. 3 is a front view of a double-sided nodule removing apparatus for metal plates according to an embodiment of the present utility model.

Fig. 4 is a top view of a double-sided nodule removing apparatus for metal plates according to an embodiment of the utility model.

Fig. 5 is a schematic structural view of a device for removing double-sided nodules from a metal plate according to an embodiment of the utility model.

Fig. 6 is a block diagram of a module control of a device for removing double-sided nodules of a metal plate according to an embodiment of the utility model.

The components in the drawings are marked as follows:

1. A metal plate conveying mechanism; 2. a nodule recognition mechanism; 3. a knot milling mechanism; 4. a control module; 11. a front conveying assembly; 12. a reverse transport assembly; 13. a flip assembly; 31. a front milling mechanism; 32. a back milling mechanism; 301. a milling cutter; 111. a front conveying workbench; 112. a front conveying member; 113. the front surface clamps the base; 104. a clamping platform; 105. a clamping jaw; 105a, movable pinch plates; 105b, a fixed splint; 131. overturning the base; 132. turning over the frame body; 302. milling the base; 303. a suspension arm; 304. a longitudinal telescopic member; 305. a dust cover; 306. a dust sweeping brush; 307. a dust box; 21. a camera module; 22. a three-dimensional image recognition module; 23. a three-dimensional coordinate construction module; 41. a delay module; 42. a milling cutter driving member; 43. a flip driving part; 44. a pressure sensor; 45. a jaw control member; 46. and a conveyance driving section.

Detailed Description

The preferred embodiments of the present utility model will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present utility model can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present utility model.

Example 1

The embodiment 1 of the utility model provides a double-sided metal plate grain removing device, as shown in fig. 1 to 4, which comprises a metal plate conveying mechanism 1, a grain recognizing mechanism 2, a grain milling mechanism 3 and a control module 4, wherein the metal plate conveying mechanism comprises a front conveying component 11, a back conveying component 12 and a turnover component 13 which is arranged between the front conveying component 11 and the back conveying component 12 and is used for turning over a metal panel, the grain milling mechanism 3 comprises a front milling mechanism 31 which is arranged on a conveying path of the front conveying component 11 and a back milling mechanism 32 which is arranged on a conveying path of the back conveying component 12, the front milling mechanism 31 and the back milling mechanism 32 are respectively provided with a plurality of milling cutters 301, and adjacent milling cutters 301 are arranged in a staggered manner and the milling paths are partially overlapped; the grain-setting identification mechanism 2 is arranged above the metal plate conveying mechanism through a bracket rod and is used for carrying out grain-setting identification on the metal plate conveying mechanism, and the control module 4 is respectively connected with the milling cutter driving part 42 of each milling cutter 301 in a communication manner and is used for controlling the milling of the corresponding milling cutter 301 on the grain-setting milling mechanism 3 according to the grain-setting position identified by the grain-setting identification mechanism 2.

The metal plate double-sided grain removing device provides a set of automatic operation system for a metal plate grain removing procedure, and the grain identification mechanism 2 is used for accurately identifying grains on the metal plate, so that the milling of the corresponding milling cutter 301 on the grain milling mechanism 3 is controlled, and the problem that the energy consumption is increased due to the fact that the milling cutter 301 performs blank milling in a metal plate area without grains is avoided; meanwhile, milling cutters 301 on the grain-setting milling mechanism 3 are distributed in a staggered mode and adjacent milling paths are partially overlapped, so that the milling cutter 301 area can cover the surface of the whole metal plate, the problem that grains in a gap area between adjacent milling cutters 301 cannot be milled comprehensively is solved, no-load generation is avoided while full milling coverage of the metal plate is achieved, and energy consumption is effectively reduced.

As shown in fig. 1 and 4, the front conveying assembly 11 includes a front conveying table 111, a front conveying member 112, and a front clamping base 113, the front conveying member 112 being disposed on the front conveying table 111 and extending from a head end to a tail end of the front conveying table 111, the front clamping base 113 being disposed on the front conveying member 112. As shown in fig. 1 and 2, the front clamping base 113 includes a clamping platform 104 provided on the front conveying member 112, and a plurality of clamping jaws 105 provided on both sides of the clamping platform 104 for clamping a metal plate on the front clamping base 113. The clamping jaw 105 comprises a fixed clamping plate 105b and a movable clamping plate 105a, wherein the fixed clamping plate 105b is fixedly arranged on the side edge of the front clamping base 113, the movable clamping plate 105a is hinged with the fixed clamping plate 105b and used for downwards buckling when a metal plate is placed on the fixed clamping plate 105b, and the metal plate is clamped on the front clamping base 113 in a matched mode with the fixed clamping plate 105 b. Preferably, the front clamping base 113 is provided with a pressure sensor 44 for recognizing whether a metal plate is placed on the front clamping base 113; as shown in fig. 6, the pressure sensor 44 is communicatively connected to the jaw control part 45 of the jaw 105 through a control assembly, and when the pressure sensor 44 senses that a metal plate is placed on the front clamping base 113, the control assembly controls the movable pinch plate 105a of the jaw 105 to press downwards, and cooperates with the fixed pinch plate 105b to clamp the metal plate on the front clamping base 113.

The fixing clamp plates 105b on the same front clamping base 113 are horizontally fixed on the same height to form a metal plate limiting platform higher than the clamping platform 104, a height difference is formed between the metal plate limiting platform and the clamping platform 104, and when the metal plate is placed on the metal limiting platform, a spacing space is formed between the metal plate and the clamping platform 104 and is used for providing a turnover accommodating space for the turnover assembly 13.

The structure of the back conveying assembly 12 is identical to that of the front conveying assembly 11, and the head end of the back conveying table in the back conveying assembly 12 is connected to the tail end of the front conveying table 111 of the front conveying assembly 11.

The turnover assembly 13 is arranged between the head end of the reverse conveying workbench and the tail end of the front conveying workbench 111, the metal plate moving to the tail end of the front conveying workbench 111 is turned to the head end of the reverse conveying workbench through the turnover assembly 13, and the turnover of the metal plate is completed through the conversion of the workbench, so that double-sided milling of the metal plate is automatically realized. The turnover assembly 13 comprises a turnover base 131 and a turnover frame 132, the turnover base 131 is arranged between the tail end of the front conveying assembly 11 and the head end of the back conveying assembly 12, the turnover frame 132 is hinged on the turnover base 131, and a plurality of clamping jaws 105 are distributed on the turnover frame 132. When the front clamping base 113 is moved to the end of the front conveying table 111, the roll-over frame 132 is turned over to one side of the front conveying table 111 under the control of the roll-over driving part 43, the metal plate is clamped by the clamping jaw 105, and then the metal plate is driven to roll over to the back clamping base located at the head end of the back conveying table. When the roll-over stand 132 is turned over to the back clamping base, the roll-over stand 132 is turned over to be accommodated in the space between the metal plate and the clamping platform 104, so as to ensure that the roll-over stand 132 can stably place the metal plate on the metal plate limiting platform.

The face milling mechanism 31 includes a milling base 302 provided on one side of the sheet metal conveying path, and a plurality of milling cutters 301 provided on the milling base 302. As shown in fig. 1 and 4, the milling base 302 is disposed on one side of the front conveying table 111, and a suspension arm 303 perpendicular to the conveying direction of the front conveying member 112 extends above the front conveying table 111, and a plurality of longitudinal telescopic members 304 are disposed on both sides of the suspension arm 303 in a staggered manner, and the milling cutter 301 is mounted on telescopic ends of the longitudinal telescopic members 304. Milling cutters 301 disposed adjacently along the conveying direction of the front conveying member 112 partially overlap in the milling area in the conveying direction of the front conveying member 112.

As shown in fig. 1 and 3, five milling cutters 301 are disposed on the left and right sides of the suspension arm 303, wherein three milling cutters 301 are disposed on the left side of the suspension arm 303 at equal intervals, two other milling cutters 301 are disposed on the right side of the suspension arm 303, the two milling cutters 301 are disposed opposite to gaps between the three left milling cutters 301, and milling areas of the two right milling cutters 301 are partially overlapped with milling areas of two of the three left milling cutters 301 disposed adjacent to each other in the conveying direction of the front conveying member 112, so that the milling cutter 301 can cover the whole metal plate surface, and the problem that the grains in the gap areas between the adjacent milling cutters 301 cannot be milled comprehensively is solved. The control module 4 is in communication with the milling cutter driving members 42 of the five milling cutters 301, respectively, which are capable of individually controlling the independent driving of one or more of the milling cutters 301.

Preferably, as shown in fig. 1 and 3, a dust cover 305 is provided on the outer side of the face milling mechanism 31, a dust brush 306 is provided under the cover body of the dust cover 305 on the sheet metal conveying path, and a dust box 307 is provided at the lower end of the table immediately below the dust cover 305. Metal dust milled by the milling cutter 301 is swept from the surface of the metal plate by the dust brush 306 into the dust box 307 at the lower end of the table. Further preferably, a blower may be provided in the dust cover 305, and the metal dust on the surface of the metal plate may be blown by the blower in a direction opposite to the forward direction of the metal plate so as to fall into the dust box 307 at the lower end of the table.

The grain identification mechanism 2 comprises a camera module 21, a three-dimensional image identification module 22 and a three-dimensional coordinate construction module 23, wherein the signal input ends of the three-dimensional image identification module 22 and the three-dimensional coordinate construction module 23 are respectively in communication connection with the signal output end of the camera module 21, and the three-dimensional coordinate construction module 23 is in interactive communication connection with the three-dimensional image identification module 22; the camera module 21 is used for taking pictures of the working space of the metal plate, the three-dimensional image recognition module 22 is used for judging and recognizing the grains on the metal plate based on the pictures taken by the camera module 21, and the three-dimensional coordinate construction module 23 is used for constructing a three-dimensional coordinate system of the milling work area of the metal plate based on the pictures taken by the camera module 21 and calculating the grain coordinates of the metal plate; preferably, the camera module 21 is a structured light 3D camera module 21. As shown in fig. 6, the grain-forming recognition mechanism 2 is in communication connection with the control module 4, when the pressure sensor 44 senses that a metal plate is placed on the front clamping base 113, the control module controls the structured light 3D camera module 21 to start photographing, the structured light 3D camera module 21 outputs a photographed picture to the three-dimensional image recognition module 22, the three-dimensional image recognition module 22 collects three-dimensional point cloud data on the surface of the metal plate through the picture photographed by the structured light 3D camera module 21, sequentially performs data reduction and denoising, recognizes the number of points of the metal plate, then fits a metal plate curved surface based on a b spline curve surface fitting method, recognizes metal grains according to a preset metal plate grain height threshold, performs 3D image connected domain processing on the metal grain point cloud exceeding the height threshold, connects the metal grain point cloud exceeding the height threshold into a connected region, and finally calculates the space coordinate of the bottommost center point of the smallest external cube of the connected region, thereby realizing accurate positioning of the metal plate grain region to be milled.

The control module 4 comprises a delay module 41, which is in communication connection with the front conveying component 112 through the delay module 41, when the pressure sensor 44 senses that a metal plate is placed on the front clamping base 113, the delay module 41 in the control module 4 starts timing, and meanwhile, the control module 4 controls the structured light 3D camera module 21 to start photographing; the structured light 3D camera module 21 outputs the photographed picture to the three-dimensional coordinate construction module 23, and the three-dimensional coordinate construction module 23 constructs a three-dimensional coordinate system of the metal plate milling work area by taking the lower right corner fixed point of the current position of the metal plate as the origin of coordinates.

The coordinates of the area to be milled of the metal plate grains and the coordinates of the milling cutter 301 on the front milling mechanism 31 are determined based on the three-dimensional coordinate system of the metal plate milling work area, and the area to be milled of the grains and the milling cutter 301 are correspondingly grouped according to the horizontal coordinates of the area to be milled of the grains and the horizontal coordinate range corresponding to the milling range of the milling cutter 301 on the front milling mechanism 31. As shown in fig. 5, the area to be milled of the No. 1 knot grain corresponds to the area to be milled of the No. 1 milling cutter 301,2, the area to be milled of the No. 3 knot grain corresponds to the area to be milled of the No. 3 milling cutter 301,4, the area to be milled of the No. 4 milling cutter 301,5, the area to be milled of the No. 5 milling cutter 301,6, the area to be milled of the No. 1 milling cutter 301 and the area to be milled of the No. 2 milling cutter 301,7, and the area to be milled of the No. 4 milling cutter 301 and the No. 5. The control module 4 is in communication with the longitudinal telescopic members 304 and the milling cutter driving members 42 of the milling cutters 301, respectively, for driving the milling cutters 301 to mill according to the region to be milled by the pelletization.

When the time delay module 41 in the control module 4 is finished, the control module 4 controls the transmission driving part of the front transmission part 112 to start, and the metal plate is transmitted from the head end of the front transmission workbench 111 to the tail end of the front transmission workbench 111; in the moving process of the metal plate, the coordinate position of the region to be milled of the grain on the metal plate also changes in real time, but the coordinate position of the milling cutter 301 on the front milling mechanism 31 is unchanged all the time, and the milling range is unchanged. Therefore, the control module 4 controls the camera module 21 to take a photo of the metal plate in real time, updates the current coordinate position of the region to be milled of the nodule in real time according to the current coordinate position of the metal plate, and calculates the distance between the region to be milled of the nodule and the corresponding milling cutter 301 in real time based on the current coordinate position of the region to be milled of the nodule. When the region to be milled of the knots is about to enter the milling range of the corresponding milling cutter 301, the control module 4 controls the telescopic end of the longitudinal telescopic part 304 corresponding to the milling cutter 301 to descend to the preset milling height, the milling cutter driving part 42 of the milling cutter 301 is started, the region to be milled of the knots entering the milling range is milled, accurate milling of the knots is achieved, other regions which do not need milling pass through the milling cutter 301, the milling cutter 301 does not work, energy consumption is saved, and milling cost is reduced.

Further preferably, after three-dimensional point cloud data of the surface of the metal plate are acquired, a curve of a clamping jaw 105 on the metal plate is fitted based on a b-spline curve fitting method, coordinates of the clamping jaw 105 are determined based on a three-dimensional coordinate system of a milling work area of the metal plate, when a part of areas of the area to be milled of the grain is covered by the clamping jaw 105, the distance between the clamping jaw 105 and a milling cutter 301 corresponding to the area to be milled of the grain is calculated in real time, when the area to be milled of the grain, which is covered by the clamping jaw 105, is about to enter a milling range of the corresponding milling cutter 301, the control module 4 controls the clamping jaw 105 to open, and starts the corresponding milling cutter 301 to mill the area to be milled of the grain, so that comprehensive milling of the grain in all areas of the metal plate is realized, and the milling qualification rate of the metal plate is improved.

Example 2

Embodiment 2 of the present utility model provides a method for removing double-sided nodules of a metal plate using the device for removing double-sided nodules of a metal plate of embodiment 1, comprising the steps of:

S1, placing a metal plate on a front conveying assembly 11 of a metal plate conveying mechanism 1, identifying knots on the front of the metal plate by a knots identifying mechanism 2, and determining coordinates of a knot area to be milled;

S2, constructing a three-dimensional coordinate system of a metal plate milling work area, calculating the distance between a grain-forming region to be milled and the milling cutter 301 in real time, and controlling the corresponding milling cutter 301 to mill the grain-forming region to be milled by the control module 4 when the grain-forming region to be milled enters the milling range of the corresponding milling cutter 301;

And S3, after the front milling work of the metal plate is finished, the metal plate is turned over to the back conveying assembly 12 through the turning assembly 13, and the knots on the back of the metal plate are milled according to the front milling procedure.

Specifically, when the pressure sensor 44 senses that a metal plate is placed on the front clamping base 113, the control assembly controls the structured light 3D camera module 21 to start photographing, the structured light 3D camera module 21 outputs a photographed image to the three-dimensional image recognition module 22, the three-dimensional image recognition module 22 collects three-dimensional point cloud data of the surface of the metal plate through the photo photographed by the structured light 3D camera module 21, data reduction and denoising are sequentially carried out, the number of points of the metal plate is recognized, then a metal plate curved surface is fitted based on a b spline curve fitting method, metal grains are recognized according to a preset metal plate grain height threshold, 3D image communication domain processing is carried out on metal grain cloud exceeding the height threshold, the metal grain cloud exceeding the height threshold is connected into a communication area, and finally the bottom center point space coordinate of the minimum external cube of the communication area is obtained through calculation, so that the milling area of the metal plate grains is accurately positioned.

Meanwhile, when the pressure sensor 44 senses that a metal plate is placed on the front clamping base 113, the time delay module 41 in the control module 4 starts timing, and the control module 4 controls the structured light 3D camera module 21 to start photographing; the structured light 3D camera module 21 outputs the photographed picture to the three-dimensional coordinate construction module 23, and the three-dimensional coordinate construction module 23 constructs a three-dimensional coordinate system of the metal plate milling work area by taking the lower right corner fixed point of the current position of the metal plate as the origin of coordinates.

The coordinates of the area to be milled of the metal plate grains and the coordinates of the milling cutter 301 on the front milling mechanism 31 are determined based on the three-dimensional coordinate system of the metal plate milling work area, and the area to be milled of the grains and the milling cutter 301 are correspondingly grouped according to the horizontal coordinates of the area to be milled of the grains and the horizontal coordinate range corresponding to the milling range of the milling cutter 301 on the front milling mechanism 31. As shown in fig. 5, the area to be milled of the No. 1 knot grain corresponds to the area to be milled of the No. 1 milling cutter 301,2, the area to be milled of the No. 3 knot grain corresponds to the area to be milled of the No. 3 milling cutter 301,4, the area to be milled of the No. 4 milling cutter 301,5, the area to be milled of the No. 5 milling cutter 301,6, the area to be milled of the No. 1 milling cutter 301 and the area to be milled of the No. 2 milling cutter 301,7, and the area to be milled of the No. 4 milling cutter 301 and the No. 5. The control module 4 is in communication with the longitudinal telescopic members 304 and the milling cutter driving members 42 of the milling cutters 301, respectively, for driving the milling cutters 301 to mill according to the region to be milled by the pelletization.

When the time delay module 41 in the control module 4 is finished, the control module 4 controls the front conveying part 112 to start, and conveys the metal plate from the head end of the front conveying workbench 111 to the tail end of the front conveying workbench 111; in the moving process of the metal plate, the coordinate position of the region to be milled of the grain on the metal plate also changes in real time, but the coordinate position of the milling cutter 301 on the front milling mechanism 31 is unchanged all the time, and the milling range is unchanged. Therefore, the control module 4 controls the camera module 21 to take a photo of the metal plate in real time, updates the current coordinate position of the region to be milled of the nodule in real time according to the current coordinate position of the metal plate, and calculates the distance between the region to be milled of the nodule and the corresponding milling cutter 301 in real time based on the current coordinate position of the region to be milled of the nodule. When the region to be milled of the knots is about to enter the milling range of the corresponding milling cutter 301, the control module 4 controls the telescopic end of the longitudinal telescopic part 304 corresponding to the milling cutter 301 to descend to the preset milling height, the milling cutter driving part 42 of the milling cutter 301 is started, the region to be milled of the knots entering the milling range is milled, accurate milling of the knots is achieved, other regions which do not need milling pass through the milling cutter 301, the milling cutter 301 does not work, energy consumption is saved, and milling cost is reduced.

After the knot identification mechanism 2 determines the coordinates of the area to be milled of the knot, calculating whether the area of the area to be milled of the knot exceeds a qualified threshold area ratio, if so, judging as a disqualified metal plate, otherwise, judging as a qualified metal plate, and continuing knot milling and impurity removal for the disqualified metal plate. Preferably, the pass threshold area is 10%.

The foregoing is only illustrative of the present utility model and is not to be construed as limiting the scope of the utility model, and all equivalent structures or equivalent flow modifications which may be made by the teachings of the present utility model and the accompanying drawings or which may be directly or indirectly employed in other related art are within the scope of the utility model.

Claims (10)

1. The metal plate double-sided grain removing device is characterized by comprising a metal plate conveying mechanism, a grain recognizing mechanism, a grain milling mechanism and a control module, wherein the metal plate conveying mechanism comprises a front conveying assembly, a back conveying assembly and a turnover assembly which is arranged between the front conveying assembly and the back conveying assembly and is used for turning over a metal panel, the grain milling mechanism comprises a front milling mechanism arranged on a conveying path of the front conveying assembly and a back milling mechanism arranged on a conveying path of the back conveying assembly, the front milling mechanism and the back milling mechanism are respectively provided with a plurality of milling cutters, and adjacent milling cutters are arranged in a staggered mode and the milling paths are partially overlapped; the grain forming identification mechanism is arranged above the metal plate conveying mechanism through a bracket rod and used for carrying out grain forming identification on the metal plate conveying mechanism, and the control module is respectively in communication connection with the milling cutter driving part of each milling cutter and used for controlling the milling of the corresponding milling cutter on the grain forming milling mechanism according to the grain forming position identified by the grain forming identification mechanism.

2. The apparatus according to claim 1, wherein the front conveying assembly comprises a front conveying table, a front conveying member provided on the front conveying table, and a front clamping base provided on the front conveying member, the front clamping base comprising a clamping platform and a plurality of clamping jaws provided on both sides of the clamping platform for clamping the metal plate on the front clamping base.

3. The device for removing double-sided nodules from a metal plate according to claim 2, wherein the clamping jaw comprises a fixed clamping plate and a movable clamping plate, the fixed clamping plate is fixedly arranged on the side edge of the front clamping base, and the movable clamping plate is hinged with the fixed clamping plate and is used for buckling downwards when the metal plate is placed on the fixed clamping plate and is matched with the fixed clamping plate to clamp the metal plate on the front clamping base.

4. The apparatus according to claim 2, wherein the front clamping base is provided with a pressure sensor for recognizing whether or not the metal plate is placed on the front clamping base.

5. The apparatus according to claim 2, wherein the fixing plates on the same front clamping base are horizontally fixed at the same height to form a metal plate limiting platform higher than the clamping platform.

6. The device for removing double-sided nodules from a metal sheet according to claim 5, wherein the metal sheet is positioned on the metal sheet positioning platform with a height difference between the metal sheet positioning platform and the clamping platform, and a space is provided between the metal sheet and the clamping platform for providing a turnover receiving space for the turnover assembly.

7. The device for removing double-sided nodules from a metal plate according to claim 1, wherein the turnover assembly comprises a turnover base and a turnover frame, the turnover base is disposed between a tail end of the front conveying assembly and a head end of the back conveying assembly, the turnover frame is hinged to the turnover base, and a plurality of clamping jaws are distributed on the turnover frame.

8. The device for removing double-sided nodules from a metal sheet according to claim 1, wherein the front milling mechanism comprises a milling base provided on one side of the metal sheet conveying path, and a plurality of milling cutters provided on the milling base, wherein the milling base extends above the metal sheet conveying path with a suspension arm perpendicular to the direction of the metal sheet conveying path, and a plurality of longitudinal telescopic members are provided on both sides of the suspension arm in a staggered manner, and the milling cutters are mounted on telescopic ends of the longitudinal telescopic members.

9. The sheet metal double-sided nodule removing apparatus of claim 8, wherein the control module is communicatively coupled to the longitudinal telescoping member and the milling cutter driving member of the milling cutter, respectively, for driving the milling cutter to mill in accordance with the nodule coordinate positions.

10. The device for removing particles from both sides of a metal plate according to claim 1, wherein a dust cover is provided on the outer side of the front milling mechanism, a dust brush is provided under the cover body on the metal plate conveying path, and a dust box is provided on the lower end of the table right under the dust cover.