WO2019200537A1

WO2019200537A1 - Vision-based automatic loading and unloading device and method for stamping machine, and stamping equipment

Info

Publication number: WO2019200537A1
Application number: PCT/CN2018/083406
Authority: WO
Inventors: 周醒; 马朋巍; 黄亮
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2018-04-17
Filing date: 2018-04-17
Publication date: 2019-10-24
Also published as: CN111801177A

Abstract

A vision-based automatic loading and unloading device (10) for a stamping machine (30). The automatic loading and unloading device is used to automatically load and unload a raw material (20) for a stamping machine. The automatic loading and unloading device comprises: a frame (100) provided at one side of a stamping machine; a loading platform (200) provided at the frame for stacking up a raw material; a pick-up mechanism (300) used to retrieve the raw material on the loading platform; a loading robot (400) connected to the pick-up mechanism and used to control the pick-up mechanism to place the retrieved raw material at the stamping machine; an unloading platform (500) used to collect a finished item obtained from a stamping operation performed by the stamping machine; and a vision-based positioning system used to identify a position of the raw material and to feed back position information, such that the loading robot adjusts a position of the raw material at the stamping machine. Also provided are stamping equipment comprising the automatic loading and unloading device and a vision-based automatic loading and unloading method for a stamping machine. The automatic loading and unloading device employs a vision-based positioning system to identify a position of a raw material, thereby increasing precision of positioning the raw material, and increasing the quality testing pass rate of products. Moreover, a pick-up mechanism and a loading robot are used to realize automatic loading and unloading of the raw material, thereby facilitating efficient utilization of the equipment, increasing production efficiency, and reducing production costs.

Description

Automatic loading and unloading device, method and punching device for vision-based punching machine

【技术领域】[Technical Field]

The present application belongs to the technical field of stamping equipment, and in particular relates to an automatic loading and unloading device, a method and a stamping device for a vision-based punching machine.

【背景技术】【Background technique】

Stamping is a commonly used processing technology in industrial production. The stamping materials are mostly aluminum alloys and plastics, and the shape is flake type. In the production process, the required processing parts are first marked on the raw materials, and each of the raw materials can be marked with a plurality of processed parts at the same time, and then punched by a punching machine to be separated into a single processed part and waste. At present, the manual processing of a single piece of raw material is placed on a punching machine for punching. Due to manual loading and unloading, it is easy to fatigue and work efficiency is low; during the feeding process, the alignment accuracy is not high, the product qualification rate is lowered; and the equipment utilization rate is low, only Workers can go to work before they can go to work.

【发明内容】 [Summary of the Invention]

The application provides an automatic loading and unloading device, a method and a stamping device for a vision-based punching machine, so as to solve the problems of low efficiency of manual feeding, low utilization rate of equipment, low positioning accuracy and low product qualification rate in the prior art. technical problem.

In order to solve the above technical problem, a technical solution adopted by the present application is to provide an automatic loading and unloading device for a vision-based punching machine, which is used for automatically loading and unloading raw materials for the punching machine. Material equipment includes:

a frame disposed on one side of the punching machine;

a loading platform disposed on the frame for stacking the raw materials;

a reclaiming mechanism for taking out the raw material on the loading platform;

a loading robot connected to the reclaiming mechanism for controlling the reclaiming mechanism to place the taken out raw material on the punching machine;

a loading platform for collecting the stamped product after being punched by the punching machine;

a visual positioning system for identifying the location of the material and feeding back position information to cause the loading robot to adjust the position of the material on the press.

In order to solve the above technical problem, another technical solution adopted by the present application is to provide a stamping apparatus, and the stamping apparatus includes:

a punching machine for stamping the raw material placed thereon;

a frame disposed on one side of the punching machine;

a loading platform disposed on the frame for stacking the raw materials;

a reclaiming mechanism for taking out the raw material on the loading platform;

In order to solve the above technical problem, another technical solution adopted by the present application is to provide an automatic loading and unloading method for a vision-based stamping apparatus, and the automatic loading and unloading method includes:

Controlling the reclaiming mechanism to draw raw materials from the loading platform;

Receiving signal feedback of the visual positioning system and controlling the loading robot to adjust the position of the material on the punching machine;

The loading robot is controlled to place the stamped product punched by the punching machine on the loading platform.

The utility model has the beneficial effects that: in the case of the prior art, the automatic loading and unloading device of the vision-based punching machine provided by the present application uses the visual positioning system to identify the position of the raw material, thereby improving the positioning accuracy of the raw material and improving the positioning accuracy of the raw material. Product qualification rate; on the other hand, the use of loading robot and reclaiming mechanism to achieve automatic loading and unloading of raw materials, improve equipment utilization and production efficiency, reduce the dependence on labor, and reduce production costs.

【附图说明】 [Description of the Drawings]

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings to be used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can obtain other drawings according to the provided drawings without any creative work.

1 is a schematic perspective structural view of an automatic loading and unloading device provided by the present application;

2 is a schematic perspective view showing the automatic loading and unloading device of the present application in a state of being fed by a punching machine;

Figure 3 is a side elevational view of the automatic loading and unloading device of Figure 2 in the state of loading of the punching machine;

Figure 4 is a top plan view of the loading station of Figure 1;

Figure 5 is a side elevational view of the take-up mechanism of Figure 1;

6 is a schematic flow chart of teaching a visual positioning system;

7 is a schematic flow chart of the visual positioning system feeding back position information to enable the loading robot to adjust the position of the raw material on the punching machine;

FIG. 8 is a schematic flow chart of an automatic loading and unloading method according to still another embodiment of the present application.

【具体实施方式】【detailed description】

The technical solutions in the embodiments of the present application are clearly and completely described below. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

1-3, FIG. 1 is a schematic perspective view of the automatic loading and unloading device provided by the present application, and FIG. 2 is a schematic view showing the three-dimensional structure of the automatic loading and unloading device of the present application, and FIG. 3 is an automatic loading and unloading of FIG. The device is a side view of the punching state of the press.

The present application provides an automatic loading and unloading device 10 for a vision-based punching machine 30 for automatically loading and unloading a raw material 20 for a punching machine 30. The automatic loading and unloading device 10 includes a frame 100, a loading platform 200, a reclaiming mechanism 300, The loading robot 400, the loading station 500, and the visual positioning system 600.

The rack 100 is disposed on one side of the punching machine 30, and the loading platform 200 is disposed on the rack 100. The frame 100 may be formed by splicing a plurality of cross frames, vertical frames, and/or inclined frames, or may be formed by splicing a plurality of sheets.

Please refer to FIG. 4 , and please continue to refer to FIG. 1 , which is a top plan view of the loading platform of FIG. 1 .

The loading platform 200 is used for stacking the raw materials 20, including the machine table 210, the baffle 220 and the cylinder 230. The machine table 210 is fixed on the frame 100, and a plurality of raw materials 20 are laterally stacked thereon. The baffle 220 is fixed on the frame 100 and located on opposite sides of the machine table 210. The distance between the two baffles 220 is equal to or slightly larger than the size of the material 20 for the raw material 20 placed on the machine table 210. Make coarse positioning. The cylinder 230 is located between the two baffles 220, perpendicular to the material 20 placed on the machine table 210, for pushing the material 20 placed on the machine table 210 to move.

The machine 210 includes two guiding rods 211 parallel to the frame 100 and along the length of the baffle 220. The material 20 is placed on the guiding rod 211, and the contact area between the guiding rod 211 and the material 20 is small, so The friction between the rod 211 and the material 20 is small, so that the cylinder 230 pushes the material 20 more lightly.

Specifically, the cylinder 230 includes two output shafts 231 and a push plate 232. The two output shafts 231 are fixedly connected to the push plate 232. The push plate 232 is located between the two side baffles 220 and is in contact with the material 20 . When the reclaiming mechanism 300 draws the raw material 20, the output shaft 231 of the cylinder 230 pushes the push plate 232 forward, so that the raw material 20 located in front of the push plate 232 is moved forward to a fixed position, and at this time, the take-up mechanism 300 is in contact with the raw material 20, and the cylinder 230 is deflated and kept in place, and the reclaiming mechanism 300 takes away the raw material 20 in contact with it. After the stamping is completed, the reclaiming mechanism 300 moves to the fixed position again, and the raw material 20 is pushed forward by the cylinder 230 to make the reclaiming structure 300 Each time, the material can be taken at a fixed point to reduce the adjustment complexity of the loading robot 400.

In another embodiment, the loading platform 200 can also adopt a vertical direction machine, a baffle and an elevator. The machine is used for vertically stacking the raw materials 20, the elevator is fixed on the frame 100, and the output shaft and the machine are arranged. Connected, the machine carries the raw material 20. When the raw material 20 on the machine is taken away, the lift pushes the machine up, so that the height of the raw material 20 on the machine is kept at a fixed position, so that the reclaiming mechanism 300 can take the spot. The baffles are distributed on opposite sides of the machine for coarsely positioning the raw materials 20 placed on the machine table and for preventing the raw materials 20 from scattering.

Specifically, the elevator is a screw motor driven by a servo motor, and the servo motor is used to drive the height of the screw lift hoist when receiving the control command. In other embodiments, the elevator may also be a module, an electric cylinder, or a servo motor that drives the ball screw to provide power to raise the machine.

Please refer to FIG. 5, and please continue to refer to FIG. 1. FIG. 5 is a side view of the reclaiming mechanism of FIG.

The reclaiming mechanism 300 is disposed on the loading robot 400, and the loading robot 300 drives the reclaiming mechanism 300 to suck the raw material 20 from the loading platform 200. In an embodiment of the present application, the reclaim mechanism 300 includes a suction assembly 310 and a control assembly (not shown).

The suction assembly 310 is configured to suck the raw material 20 placed on the loading platform 200, and the control assembly is electrically connected to the suction assembly 310 for transmitting a control signal to the suction assembly 310.

Specifically, when receiving the control command, the control component sends a control signal to the suction component 310, and controls the suction component 310 to suck the raw material 20, thereby driving the raw material 20 to move.

Further, the suction assembly 310 includes a bracket 311 and a plurality of vacuum suction cups 312, and a plurality of vacuum suction cups 312 are disposed on the bracket 311 for sucking the raw material 20. Specifically, the bracket 311 includes an upper bracket 3111 and a lower bracket 3112. The upper bracket 3111 is connected to the loading robot 400, and the lower bracket 3112 is connected to the vacuum chuck 312. The vacuum chuck 312 is evenly distributed on the lower bracket 3112 for the raw material to be sucked. 20 Force evenly to prevent falling.

The reclaim mechanism 300 further includes a guide rod cylinder 320 having one end connected to the upper bracket 3111 and the other end connected to the lower bracket 3112. Specifically, in the present embodiment, the guide rod cylinder 320 includes a guide rod portion 321 and a cylinder portion 322, wherein the guide rod portion 321 is sleeved inside the cylinder portion 322. The guide rod portion 321 is coupled to the lower bracket 3112, and the cylinder portion 322 is coupled to the upper bracket 3111. When the cylinder portion 322 is inflated, the guide rod portion 321 moves away from the cylinder portion 322, thereby causing the lower bracket 3112 to move downward; when the cylinder portion 322 is deflated, the guide rod portion 321 moves toward the cylinder portion 322, thereby The lower bracket 3112 is moved up. That is, when the guide rod portion 321 moves relative to the cylinder portion 322, the lower bracket 3112 is moved relative to the upper bracket 3111. In other embodiments, the guide rod portion 321 may be coupled to the upper bracket 3111. The cylinder portion 322 is coupled to the lower bracket 3112. When the guide rod portion 321 moves relative to the cylinder portion 322, the lower bracket 3112 is moved relative to the upper bracket 3111.

In order to prevent the suction assembly 310 from sucking a plurality of raw materials 20 while sucking the raw material 20, causing a punching error, after the suction assembly 310 sucks the raw material 20, the control assembly further sends a control command to the suction assembly 310 to drive the cylinder portion 322 to control the guide portion. The 321 drives the lower bracket 3112 to frequently shake, so that the excess material 20 adhered to the raw material 20 sucked by the vacuum chuck 312 is dropped, thereby effectively separating one piece of the raw material 20 and feeding the punching machine 30.

In the embodiment of the present application, the raw material 20 is sucked by using a plurality of vacuum suction cups 312, and the suction of the raw material 20 may be realized by using other vacuum devices such as a sponge suction cup.

The loading robot 400 may be disposed on the rack 100 or may be disposed outside the rack 100. In this embodiment, referring to FIG. 1 and FIG. 2, the loading robot 400 is connected to the reclaiming mechanism 300 and disposed on the frame 100 for taking the raw material 20 from the loading platform 200 and placing the raw material 20 in the stamping. On the machine 30. In the embodiment, the loading robot 400 is a six-axis robot with multi-directional degrees of freedom, which can flexibly control the movement and rotation of the reclaiming mechanism 300, and the reclaiming mechanism 300 is fixed on the end flange of the loading robot 400. The loading robot 400 can also be other mechanisms that can provide six degrees of freedom for connecting the reclaiming mechanism 300 and controlling the reclaiming structure 300 to feed the punching machine 30.

The unloading station 500 may be disposed on the rack 100 or may be disposed outside the rack 100. In this embodiment, please refer to FIG. 1-3. When the loading robot 400 drives the reclaiming mechanism 300 to place the raw material 20 on the punching machine 30 to complete the punching, the loading robot 400 removes the stamped product and places it in the blanking. On the table 500, the unloading station 500 is used to collect the stamped products after being punched by the punching machine 30. When the stamped products on the unloading table 500 are stacked to a certain amount, they are manually taken away for subsequent production use.

The automatic loading and unloading device 10 further includes a stamping buffer position 700, and the punching buffer position 700 is disposed on the frame 100 for placing the stamped semi-finished product. Specifically, a piece of the raw material 20 may include a plurality of machined parts which may be punched in multiple times when the material 20 is punched. The reclaiming mechanism 300 first sucks the raw material 20 to the press machine 30 for the first feeding. After the punching machine 30 is stamped, the punching semi-finished product is taken out and placed on the punching buffer position 700, and the reclaiming mechanism 300 re-absorbs the raw material 20 to the punching machine 30. After the second feeding, until the stamping of all the workpieces on the single piece of raw material 20 is completed, the stamped product is removed and placed on the unloading table 500. Specifically, the stamped product includes a plurality of workpieces and scraps, and the stamped workpieces and scraps are bonded to each other without separation, and are separated in a subsequent process.

The visual positioning system 600 is configured to identify the position of the material 20 and feed back position information to the loading robot 400. The loading robot 400 receives the feedback position information, thereby adjusting the position of the material 20 on the punch 30, thereby performing the punching machine 30. Accurate feeding and improve the pass rate of the product.

The visual positioning system 600 can be disposed on the press 30 or on the automatic loading and unloading device 10. In the present embodiment, referring to FIGS. 1 and 2, a visual positioning system 600 is disposed on the press 30 for photographing the material 20 on the automatic loading and unloading device 10 to adjust the position of the material 20 on the press machine 30. When stamping the same material 20, the visual positioning system 600 is first taught to cause the visual positioning system 600 to obtain preset position coordinates.

Please refer to FIG. 6. FIG. 6 is a schematic flow chart of teaching a visual positioning system.

Teaching a visual positioning system includes the following steps:

S10: Set a positioning pin on the press.

Two positioning pins are fixed on the press in a mechanical manner, and the positioning pins are preferably of a regular shape.

S20: corresponding to the positioning pin, forming a positioning hole on the raw material.

Corresponding to the position of the workpiece and the positioning pin, a positioning hole having a shape close to the positioning pin is formed on the material.

S30: placing the raw material on the punching machine, so that the positioning hole cooperates with the positioning pin, and the center coordinate of the positioning hole recognized by the visual positioning system is used as the preset position coordinate.

In the subsequent production, for the same batch of raw materials, when printing the processed piece on the raw material, it is necessary to print the positioning mark on the position of the corresponding positioning hole on the raw material, and the center of the positioning mark coincides with the center of the positioning hole, and the number of the positioning mark At least two, preferably, the positioning marks adopt a regular shape, which facilitates the visual positioning system to recognize and simplify the computational complexity of the visual positioning system.

Please refer to FIG. 7. FIG. 7 is a schematic flow chart of the visual positioning system feeding back position information to enable the loading robot to adjust the position of the raw material on the punching machine.

When the visual positioning system completes the teaching, the raw materials can be processed. The process of the visual positioning system feeding back the position information to enable the loading robot to adjust the position of the raw material on the punching machine includes:

S100: Obtain an image of the raw material, and identify the positioning mark on the raw material, and determine the position coordinate of the center point of the positioning mark in the visual positioning system.

Specifically, the visual positioning system continuously takes a picture of the processing process and identifies the positioning mark on the material, and calculates a center point of the positioning mark and a position coordinate of the center point in the visual positioning system by the recognition algorithm.

S200: Compare the position coordinates of the center point of the positioning mark with the position coordinate preset by the visual positioning system.

Specifically, the position coordinates of the center point of the positioning mark are compared with the position coordinates preset by the visual positioning system, and control information for adjusting the position coordinates of the center point of the positioning mark to the position coordinate preset by the visual positioning system is generated.

S300: The adjustment information of the position coordinates of the center point of the adjustment positioning mark is issued, so that the loading robot adjusts the position of the raw material on the punching machine.

In summary, those skilled in the art will readily understand that the automatic loading and unloading device of the vision-based punching machine provided by the present application accurately positions the raw materials by setting a visual positioning system, and feeds back the position information to drive the loading robot. The raw material on the reclaiming mechanism adjusts the posture, so that the positional accuracy of the raw material on the punching machine is high, and the qualified rate of the product is improved. At the same time, the reclaiming mechanism and the loading robot cooperate to automatically load and unload the punching machine, which reduces the dependence on the manual loading and unloading, improves the utilization rate of the equipment, and further improves the production efficiency.

Referring to FIG. 2 and FIG. 3 , the present application further provides a stamping apparatus 40 including a punching machine 30 , a frame 100 , a loading platform 200 , a reclaiming mechanism 300 , a loading robot 400 , and a loading platform . 500 and visual positioning system 600.

The rack 100, the loading platform 200, the reclaiming mechanism 300, the loading robot 400, the loading station 500, and the visual positioning system 600 have been described in detail in the above embodiments, and details are not described herein again. For the specific structure, refer to the above implementation. example. The punching machine 30 is located at one side of the frame 100 for punching the raw material 20 placed thereon, and the raw material 20 punched by the punching machine 30 includes a workpiece (not shown) and scrap (not shown in the drawing) The workpiece and the scrap are bonded to each other without being separated, and are used for separation in a subsequent process.

Please refer to FIG. 8. FIG. 8 is a schematic flow chart of an automatic loading and unloading method according to still another embodiment of the present application.

The application also provides an automatic loading and unloading method for a vision-based stamping apparatus, the automatic loading and unloading method comprising the following steps:

M10: Control the reclaiming mechanism to draw raw materials from the loading table.

The structure of the reclaiming mechanism and the loading platform has been described above, and details are not described herein again. Please refer to the above embodiments. A plurality of raw materials are stacked laterally on the loading platform, and the reclaiming mechanism receives the control information and draws the raw materials from the loading platform.

M20: Receives the signal feedback of the visual positioning system and controls the loading robot to adjust the position of the material on the press.

The visual positioning system identifies the positioning mark on the raw material, and feeds the position information to the loading robot, and the loading robot receives the position information, thereby adjusting the coordinate of the positioning mark center point to the position coordinate position preset by the visual positioning system.

M30: Control the loading robot to place the stamped product punched by the punching machine on the feeding table.

The above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still The technical solutions are described as being modified, or equivalents are replaced by some of the technical features; and such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

An automatic loading and unloading device for a vision-based punching machine, characterized in that the automatic loading and unloading device is used for automatically loading and unloading raw materials for the punching machine, and the automatic loading and unloading device comprises:

a frame disposed on one side of the punching machine;

a loading platform disposed on the frame for stacking the raw materials;

a reclaiming mechanism for taking out the raw material on the loading platform;

a loading robot connected to the reclaiming mechanism for controlling the reclaiming mechanism to place the taken out raw material on the punching machine;

a loading platform for collecting the stamped product after being punched by the punching machine;

a visual positioning system for identifying the location of the material and feeding back position information to cause the loading robot to adjust the position of the material on the press.
The automatic loading and unloading device according to claim 1, wherein the loading platform comprises a machine table, a baffle and a cylinder, the machine table is for carrying the raw material, and the baffle is oppositely disposed on the Both sides of the machine are used for positioning the raw material, and the cylinder is used to push the raw material to move.
The automatic loading and unloading device according to claim 1, wherein the reclaiming mechanism comprises:

a suction assembly for drawing the raw material;

And a control component electrically coupled to the pick-up assembly for transmitting a control signal to the pick-up assembly.
The automatic loading and unloading device according to claim 3, wherein the suction assembly comprises:

a bracket comprising an upper bracket and a lower bracket, the upper bracket being coupled to the loading robot;

A plurality of vacuum chucks are disposed on the lower bracket for sucking the raw materials.
The automatic loading and unloading device according to claim 4, wherein the reclaiming mechanism further comprises:

a guide rod cylinder connecting the upper bracket and the lower bracket for driving the lower bracket to move.
The automatic loading and unloading device according to claim 1, wherein the automatic loading and unloading device further comprises a stamping buffer position disposed on the frame for placing a stamped semi-finished product.
The automatic loading and unloading device according to claim 1, wherein the stamped product comprises a plurality of workpieces and scrap.
The automatic loading and unloading device according to claim 7, wherein a plurality of said workpieces and said waste materials on said stamped product are bonded to each other.
A stamping apparatus, characterized in that the stamping apparatus comprises:

a punching machine for stamping the raw material placed thereon;

a frame disposed on one side of the punching machine;

a loading platform disposed on the frame for stacking the raw materials;

a reclaiming mechanism for taking out the raw material on the loading platform;

a loading robot connected to the reclaiming mechanism for controlling the reclaiming mechanism to place the taken out raw material on the punching machine;

a loading platform for collecting the stamped product after being punched by the punching machine;

a visual positioning system for identifying the location of the material and feeding back position information to cause the loading robot to adjust the position of the material on the press.
The stamping apparatus according to claim 9, wherein said loading station comprises a machine table, a baffle plate and a cylinder, said machine table for carrying said raw material, said baffle being disposed opposite said machine On both sides, for positioning the raw material, the cylinder is used to push the raw material to move.
The stamping apparatus according to claim 9, wherein said reclaiming mechanism comprises:

a suction assembly for drawing the raw material;

And a control component electrically coupled to the pick-up assembly for transmitting a control signal to the pick-up assembly.
The stamping apparatus according to claim 11, wherein said suction assembly comprises:

a bracket comprising an upper bracket and a lower bracket, the upper bracket being coupled to the loading robot;

A plurality of vacuum chucks are disposed on the lower bracket for sucking the raw materials.
The stamping apparatus according to claim 12, wherein the reclaiming mechanism further comprises:

a guide rod cylinder connecting the upper bracket and the lower bracket for driving the lower bracket to move.
The stamping apparatus according to claim 9, wherein said stamping apparatus further comprises a stamping buffer position disposed on said frame for placing a stamped semifinished product.
The stamping apparatus according to claim 9, wherein said stamped product comprises a plurality of workpieces and scrap.
The stamping apparatus according to claim 15, wherein a plurality of said workpieces and said waste materials on said stamped product are bonded to each other.
An automatic loading and unloading method for a vision-based punching machine, characterized in that the automatic loading and unloading method comprises:

Controlling the reclaiming mechanism to draw raw materials from the loading platform;

Receiving signal feedback of the visual positioning system and controlling the loading robot to adjust the position of the material on the punching machine;

The loading robot is controlled to place the stamped product punched by the punching machine on the loading platform.
The automatic loading and unloading method according to claim 17, wherein the step of receiving the signal feedback of the visual positioning system and controlling the loading robot to adjust the position of the material on the punching machine comprises:

Obtaining an image of the raw material, and identifying a positioning mark on the raw material, determining a position coordinate of a center point of the positioning mark in the visual positioning system;

Comparing the position coordinates of the center point of the positioning mark with the position coordinate preset by the visual positioning system;

Adjustment information for adjusting the position coordinates of the center point of the positioning mark is issued to cause the loading robot to adjust the position of the material on the press.
The automatic loading and unloading method according to claim 18, further comprising: teaching the visual positioning system to enable the visual positioning system to obtain the Preset position coordinates.
The automatic loading and unloading method according to claim 19, wherein the step of teaching the visual positioning system comprises:

Providing a positioning pin on the punching machine;

Corresponding to the positioning pin, forming a positioning hole on the raw material;

The raw material is placed on the punching machine, and the positioning hole is engaged with the positioning pin, and the center coordinate of the positioning hole recognized by the visual positioning system is taken as the preset position coordinate.