CN112904680B

CN112904680B - Edge grabbing method, edge grabbing system, machining equipment and machining system

Info

Publication number: CN112904680B
Application number: CN202110112734.9A
Authority: CN
Inventors: 张海滨; 徐维良; 陈亮; 吴景舟; 马迪
Original assignee: Judi Intelligent Equipment Technology Suzhou Co ltd
Current assignee: Judi Intelligent Equipment Technology Suzhou Co ltd
Priority date: 2021-01-27
Filing date: 2021-01-27
Publication date: 2023-07-28
Anticipated expiration: 2041-01-27
Also published as: CN112904680A

Abstract

The invention discloses an edge grabbing method, an edge grabbing system, machining equipment and a machining system. The edge grabbing method comprises the following steps of: s1: placing a workpiece on a workbench, wherein the workpiece is provided with an edge transition structure; s2: the light source vertically irradiates on the workpiece after being shaped by the light shaping piece; s3: and reflecting the light irradiated on the workpiece to a visual piece, obtaining light-shade contrast through the visual piece, and determining the position of the edge transition structure through a dark area of the light-shade contrast. In the process of reflecting light vertically irradiated on a workpiece to a visual element, the light reflected by the edge transition structure is inclined, part of the reflected inclined light can be captured by the visual element, the other part of the reflected inclined light is not captured by the visual element, the light reflected by the upper wall surface of the workpiece is vertical, the reflected vertical light can be captured by the visual element, the light brightness contrast can be obtained through the visual element, and the position of the edge transition structure can be determined through a dark area so as to capture the edge of the workpiece.

Description

Edge grabbing method, edge grabbing system, machining equipment and machining system

Technical Field

The invention relates to the technical field of positioning, in particular to an edge grabbing method, an edge grabbing system, processing equipment and a processing system.

Background

The existing glass cover plate is coated with photoresist in spraying equipment before light treatment, wherein the photoresist is usually black or dark color, the photoresist is manually taken out after being coated, the glass cover plate is placed on a carrying platform, wherein the carrying platform is usually transparent or white or bright color, and thus when the glass cover plate and the carrying platform which are arranged in different colors as shown in fig. 1 are placed in the light treatment equipment together, the colors are clearly contrasted, so that a CCD (charge coupled device) can conveniently grasp the edge of the glass cover plate, and then the cover plate is positioned. A CCD is a vision device that captures a distinct visual difference and relies on the visual difference to capture the edge of the object, commonly referred to as a gripping edge or edges by those skilled in the art. After the complete edge of the object is grabbed, the CCD or a processor connected with the CCD can calculate the data of the outline of the object, the position relative to the equipment and the like.

However, with the requirement of automation, from the initial process, the glass cover plate is placed on the carrying platform, and when the glass cover plate flows to the spraying process along with the assembly line operation, the glass cover plate and the carrying platform are simultaneously loaded into the spraying equipment, so that the glass cover plate and the carrying platform are coated with photoresist and are arranged in the same color as shown in fig. 2, the glass cover plate and the carrying platform cannot be distinguished from each other in color, obvious visual differences cannot be shot by the CCD, edges of the glass cover plate cannot be captured, and the glass cover plate cannot be positioned. Therefore, there is a need to solve the problem that the glass cover plate can realize automatic positioning besides color distinction.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the defect that the glass cover plate in the prior art cannot realize automatic positioning except color distinction, so as to provide an edge grabbing method, an edge grabbing system, processing equipment and a processing system.

A method of edge gripping comprising the steps of:

s1: placing a workpiece on a workbench, wherein the workpiece has an edge transition structure;

s2: the light source vertically irradiates on the workpiece after being shaped by the light shaping piece;

s3: the light irradiated on the workpiece is reflected to a visual piece, the light-dark contrast is obtained through the visual piece, and the position of the edge transition structure is determined through the dark area of the light-dark contrast.

Further, the light shaping member is a transparent lens.

Further, the reflecting surface of the transparent lens is arranged at an angle of 45 degrees.

Further, the method further comprises the following steps:

s0: obtaining an offset compensation parameter;

the determining of the position of the edge transition structure by the dark area of the light-to-light contrast in step S3 comprises determining the position of the edge transition structure by a combination of the obtained position parameters and the offset compensation parameters of the light-to-light contrast dark area reflected to the visual.

Further, the obtaining offset compensation parameters includes obtaining an actual position parameter of the workpiece on the table and an obtained position parameter of the workpiece reflected to the vision piece and comparing to derive the offset compensation parameters.

Further, the offset compensation parameter includes an offset direction and an offset amount.

Further, the workpieces comprise a first workpiece and a second workpiece, the first workpiece is arranged on the second workpiece, wherein the first workpiece is provided with the edge transition structure, and the edge transition structure is a rounding angle or a chamfering angle.

An edge gripping system comprising: the workpiece is gripped by the gripping method.

A processing device comprises the edge grabbing system.

Further, the processing equipment is light processing equipment, and the light processing equipment performs light processing after the edge of the workpiece is grasped and positioned by the light processing equipment.

A machining system comprising a spraying device and the machining device, wherein the workpiece is treated in the spraying device and then flows to the machining device.

Further, the first and second workpieces are treated in the spray apparatus to be at least partially the same color.

The technical scheme of the invention has the following advantages:

1. the invention provides an edge grabbing method, which comprises the following steps: s1: placing a workpiece on a workbench, wherein the workpiece has an edge transition structure; s2: the light source vertically irradiates on the workpiece after being shaped by the light shaping piece; s3: the light irradiated on the workpiece is reflected to a visual piece, the light-dark contrast is obtained through the visual piece, and the position of the edge transition structure is determined through the dark area of the light-dark contrast. In the edge grabbing method, in the process that light vertically irradiated on a workpiece is reflected to a visual piece, the light reflected by an edge transition structure is inclined, part of the reflected inclined light can be captured by the visual piece and the other part of the reflected inclined light is not captured by the visual piece, the light reflected by the upper wall surface of the workpiece is vertical, the reflected vertical light can be captured by the visual piece, and therefore, the light brightness contrast is obtained through the visual piece, wherein a dark area indicates the edge transition structure, so that the position of the edge transition structure can be determined through the dark area to grab the edge of the workpiece, and the automatic positioning of the workpiece can be realized without being limited by the condition of distinguishing the workpiece from colors.

2. The invention provides an edge grabbing method, wherein the light shaping piece is a transparent lens. According to the edge grabbing method, the light shaping piece is arranged to be a transparent lens, so that light reflection to the visual piece can be prevented, and light-shade contrast of the light can be distinguished more conveniently.

3. The invention provides an edge grabbing method, which comprises the following steps of S0: obtaining an offset compensation parameter; the determining of the position of the edge transition structure by the dark area of the light-to-light contrast in step S3 comprises determining the position of the edge transition structure by a combination of the obtained position parameters and the offset compensation parameters of the light-to-light contrast dark area reflected to the visual. According to the edge grabbing method, the position of the edge transition structure is more accurately determined through offset compensation parameters due to the fact that light rays can deviate when passing through the transparent lens.

4. The invention provides an edge grabbing system, which comprises: the workpiece is gripped by the gripping method. An edge grabbing system with the structure naturally has the advantages brought by the edge grabbing method because the edge grabbing method is used for grabbing edges.

5. The processing equipment provided by the invention comprises the edge grabbing system. A processing apparatus of this construction, by virtue of comprising the above-described edge gripping system, naturally has the advantages for this purpose arising from the inclusion of the above-described edge gripping system.

6. The invention provides a processing system which comprises spraying equipment and the processing equipment, wherein the workpiece is directly circulated to the processing equipment after being processed in the spraying equipment. A processing system of this construction, by virtue of comprising a processing apparatus as described above, naturally has the advantages brought about by the inclusion of a processing apparatus as described above.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a top view of a prior art glass cover plate and carrier in different color settings;

FIG. 2 is a top view of a prior art co-coloured arrangement of a glass cover plate and a carrier;

FIG. 3 is a simplified view of a vision piece, a work piece and a transparent lens in the edge gripping method provided in example 1, example 2 of the present invention;

FIG. 4 is a simplified view of the visual element and workpiece shown in FIG. 3;

FIG. 5 is a simplified view of the light rays of FIG. 3 reflected to a transparent lens;

FIG. 6 is an enlarged partial view of the edge transition structure of FIG. 3 with rounded corners and the side walls of the connection to the edge transition structure being vertically disposed;

FIG. 7 is an enlarged partial view of the edge transition structure of FIG. 3 with the side walls of the connection to the edge transition structure being beveled and vertically disposed;

FIG. 8 is an enlarged partial view of the edge transition structure of FIG. 3 shown rounded and with the sidewalls connected to the edge transition structure angled;

fig. 9 is a simplified view of the light processing apparatus provided in embodiment 3 of the present invention;

reference numerals illustrate:

the device comprises a 1-transparent lens, a 2-fixing piece, a 3-glass cover plate, a 31-edge transition structure, a 4-carrying platform, a 5-working platform, a 6-base platform, a 7-visual piece, a 71-CCD, a 72-peripheral lens, an 8-light processing device and a 9-stand.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

Example 1

The embodiment provides an edge grabbing method, which comprises the following steps:

s0: obtaining an offset compensation parameter;

s1: placing a workpiece on the table 5, wherein the workpiece has an edge transition structure 31;

s3: as shown in fig. 3, 4 and 6 to 8, the light irradiated to the workpiece is reflected to the vision member 7, the light-dark contrast is obtained by the vision member 7, and the position of the edge transition structure 31 is determined by the dark area of the light-dark contrast.

Wherein the light shaping member is a transparent lens 1, and the transparent lens 1 can be fixedly installed through a fixing member 2. Specifically, the reflecting surface of the transparent lens 1 is disposed at an angle of 45 degrees, and of course, the reflecting surface of the transparent lens 1 may be disposed at other angles; and the light source may be a parallel light source as shown in fig. 3, i.e. coaxial light. The light may be reflected from the transparent lens 1 or refracted through the transparent lens 1. By arranging the light shaping piece to be the transparent lens 1, the light can be reflected onto the visual piece 7 without blocking, and the light and shade contrast can be distinguished more conveniently.

And, as shown in fig. 3, 4, and 6 to 8, the work pieces include a first work piece and a second work piece, the first work piece is placed on the second work piece, wherein the first work piece has an edge transition structure 31, and the first work piece and the second work piece are arranged in the same color along the vertical irradiation direction. Specifically, the first workpiece may be a glass cover plate 3 or others, the second workpiece may be a carrier 4 or others, and the glass cover plate 3 and the carrier 4 may be changed to a same color setting by spraying photoresist through a spraying device in an automatic production line. Of course, when only one workpiece is provided, there is a case where the workpiece and the table 5 are provided in the same color, and the edge gripping method in the present embodiment may be adopted to grip the edge; or when more than three workpieces are arranged, the plurality of workpieces are arranged in the same color, and the edge grabbing method in the embodiment can be adopted for grabbing edges. For this reason, the number of the workpieces is not limited, and the edge gripping can be performed by the edge gripping method of the present invention according to the actual situation, and when the same color setting does not occur, the edge gripping can also be performed by the edge gripping method of the present invention.

Specifically, as shown by the arrow in fig. 3, the light of the parallel light source is projected to the transparent lens 1 from the left side, reflected by the transparent lens 1, and then projected to the glass cover plate 3 and the carrier 4, and then reflected by the glass cover plate 3 and the carrier 4, and then projected to the transparent lens 1, and at this time, the light passes through the transparent lens 1 and is projected to the vision piece 7. Since the outlines of the glass cover plate 3 and the carrier 4 will make the reflection directions of the light rays different, only the light rays reflected by the original path will be projected to the vision piece 7, so as to form a bright area, and the area where the light rays are not received is a dark area, as shown in fig. 6, 7 and 8. Wherein A, B, C in fig. 6-8 represents the image content captured by the visual.

And, determining the position of the edge transition structure 31 by the dark area of the light-dark contrast in step S3 includes obtaining positional parameters reflected by the dark area of the light-dark contrast to the visual element 7. In order to improve the accuracy of the position parameters, it is also necessary to combine offset compensation parameters in determining the position parameters. Since the light rays will be shifted as they pass through the transparent lens 1, the position of the edge transition structure 31 is more accurately determined by the shift compensation parameters.

And, the obtaining of the offset compensation parameter in step S0 includes obtaining an actual position parameter of the workpiece on the table 5 and an obtained position parameter of the workpiece reflected to the vision piece 7 and comparing to derive the offset compensation parameter. Wherein the offset compensation parameter includes an offset direction and an offset amount. It should be noted that, the arrows in fig. 5 indicate the paths of the light rays that are deflected when the light rays are reflected through the transparent lens 1; and the arrow in any one of fig. 3 to 8 in which an arrow is present indicates the direction in which the light source emits light to the right, the arrow in any one of fig. 3 to 8 in which an arrow is present indicates the direction in which the light is irradiated to the first workpiece through the light shaping member, and the arrow in any one of fig. 3 to 8 in which an arrow is present indicates the direction in which the light is reflected to the vision member 7 through the workpiece.

The edge transition structure 31 in this embodiment is rounded as shown in fig. 6, 8 or beveled as shown in fig. 7. Of course, the edge transition structure 31 may be other shapes. And, the side wall of the first workpiece connected to the edge transition structure 31 in this embodiment is in a vertical arrangement as shown in fig. 6 and 7 or in an inclined arrangement as shown in fig. 8. In fig. 6, when the edge transition structure 31 is rounded and the side wall connected to the edge transition structure 31 is disposed vertically, the rounded profile reflects the light to other directions when the light reflected by the transparent lens 1 is projected to the edge transition structure 31. Since the rounded profile is gradually changing, light rays in this region will gradually reflect to other directions along the profile. Other areas than the edge transition structure 31 reflect the original ray and ultimately project into the vision piece 7.

Based on the above-mentioned light path condition, the area a photographed by the vision piece 7 is an area with brighter brightness, because the outline of the area reflects the light path and projects the light path toward the vision piece 7; the area B shot by the vision piece 7 is an area which gradually darkens from left to right, because the round-corner outline gradually reflects light to other directions, the round-corner outline at the left still reflects part of the light to the vision piece 7, and the round-corner outline at the right completely reflects the light to other directions; the region C photographed by the vision member 7 is a region with brighter brightness because the outline of the region reflects the light ray toward the vision member 7. Therefore, the light-dark contrast of the image content captured by the visual element 7 corresponding to the area a-area B-area C in the left-to-right direction is sequentially light-dark-light to form a light area and a dark area, wherein the outermost edge of the edge transition structure 31 is darkest, that is, the part of the area B near the area C is darkest, and the area C is bright, the bright-dark boundary is obvious and is easily grasped by the CCD, and the bright-dark boundary is the position of the outermost edge and the side wall of the edge transition structure 31, so that the outermost edge of the edge transition structure 31 is grasped. Similarly, in fig. 7, when the edge transition structure 31 is beveled and the side wall connected to the edge transition structure 31 is disposed vertically, the edge transition structure 31 directly reflects light to other directions, so that the contrast of light and shade corresponding to the region a-region B-region C of the image content captured by the visual element 7 from left to right is sequentially bright-dark-bright, so as to form a bright region and a dark region. Similarly, in fig. 8, when the edge transition structure 31 is rounded and the side wall connected to the edge transition structure 31 is inclined, the light-shade contrast corresponding to the region a-B-C in the left-to-right direction in fig. 8 is sequentially bright-gradually dark-bright to form a bright region and a dark region. The part of the B area close to the C area is darkest, the C area is bright, the bright and dark dividing line is obvious and is easy to grasp by the CCD, and the bright and dark dividing line is the position of the outermost edge of the side wall, so that the edge grasping of the outermost edge of the side wall is realized. The area a corresponds to the area where the upper wall surface of the glass cover plate 3 is reflected to the vision member 7, the area B corresponds to the area where the edge transition structure 31 and the side wall are reflected to the vision member 7, and the area C corresponds to the area where the stage 4 is reflected to the vision member 7.

According to the edge grabbing method, in the process that light vertically irradiated to a workpiece is reflected to the visual element 7, the light reflected by the edge transition structure 31 is inclined, part of the reflected inclined light can be captured by the visual element 7, the other part of the reflected inclined light is not captured by the visual element 7, the light reflected by the upper wall surface of the workpiece is vertical, the reflected vertical light can be captured by the visual element 7, and therefore, light brightness contrast is obtained through the visual element 7, wherein a dark area indicates the edge transition structure, and therefore the position of the edge transition structure can be determined through the dark area to grab the edge of the workpiece, and automatic positioning of the workpiece can be achieved without being limited by conditions of distinguishing the workpiece from colors.

Example 2

The present embodiment provides an edge gripping system including a table 5, a light shaping member, and a vision member 7 disposed in this order in the bottom-up direction in fig. 3, and gripping the workpiece by the edge gripping method in embodiment 1. Wherein the visual element 7 may comprise a CCD71 and a peripheral lens 72, or may not comprise a peripheral lens 72, or may be other visual elements 7.

Example 3

This embodiment provides a processing apparatus including the edge gripping system of embodiment 2. Wherein the processing equipment may be light processing equipment or other processing equipment. Referring specifically to fig. 9, the light treatment apparatus includes a stand 9, a base 6, a light treatment device 8, and the edge grabbing system in embodiment 2, wherein the light treatment device 8 is fixedly arranged on the stand 9, the vision member 7 is fixedly arranged on the light treatment device 8, and the base 6 is formed with a workbench 5.

In operation, the light treatment apparatus moves the edge gripping system and grips the workpiece. Because of the limited field of view of the grappling system, the grappling system can only acquire a portion of the edge of the first workpiece, and thus only acquire the approximate location of the first workpiece. The edge gripping system is then moved along the vicinity of the edge of the first workpiece to determine the position of the first workpiece, typically relative to the coordinate system of the light processing apparatus. Finally, the light processing device performs light processing on the first workpiece according to the position and design parameters of the first workpiece. The workpiece passing through the previous step, especially the first workpiece and the second workpiece have the same color, and the light treatment equipment can grasp the edges without adding other steps, so that the processing efficiency is improved, the cost is reduced, and the automation from spraying to light treatment is realized.

Example 4

The present embodiment provides a processing system including the processing apparatus and the spraying apparatus in embodiment 3. The work piece needs to be sprayed with a photoreactive material or a photoresist material before being processed, and the spraying treatment process needs to be carried out in a spraying device. In this embodiment, the first workpiece and the second workpiece are simultaneously subjected to the spraying treatment in the spraying apparatus, and after being treated, are directly circulated to the processing apparatus. It is to be understood directly herein that the first and second workpieces are not subjected to new processes, such as being separated, being subjected to new workpieces, being subjected to new marks, being cleaned, etc., during the transfer from the spraying apparatus to the processing apparatus, but are still subject to the transfer process through multiple transfers, multiple transfer apparatuses, multiple transfer channels, etc.

The workpiece is directly transferred from the spraying equipment to the processing equipment, so that the intermediate working procedures, particularly the working procedures which are convenient for grabbing edges and are added, the processing efficiency is improved, the cost is reduced, and the automation from spraying to light treatment is realized.

The first and second workpieces are transferred in an automated processing system to a spray apparatus and a photoreactive or photoresist material is sprayed in the spray apparatus. Typically the first workpiece (glass cover plate 3) will be sprayed completely and the second workpiece (carrier 4) will also be sprayed in the area adjacent to the first workpiece, so that the first and second workpieces are treated in the spraying device to be at least partially the same colour. By adopting the edge grabbing method and the edge grabbing system, even if the first workpiece and the second workpiece are processed to be at least partially the same in color, the first workpiece and the second workpiece can be grabbed by processing equipment, the outline is acquired, positioned and subjected to light treatment.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims

1. A method of edge gripping comprising the steps of:

s3: light irradiated on the workpiece is reflected to a visual piece, light-dark contrast is obtained through the visual piece, and the position of the edge transition structure is determined through a dark area of the light-dark contrast;

the workpiece comprises a first workpiece and a second workpiece, wherein the first workpiece is arranged on the second workpiece, the first workpiece is provided with the edge transition structure, and the edge transition structure is a rounding angle or a chamfering angle.

2. A method of edging as claimed in claim 1, wherein the light shaping member is a transparent lens.

3. The method of claim 2, wherein the reflective surface of the transparent lens is disposed at an angle of 45 degrees.

4. A method of edge gripping according to any one of claims 1 to 3, further comprising:

s0: obtaining an offset compensation parameter;

5. The method of claim 4, wherein obtaining offset compensation parameters comprises obtaining actual position parameters of the workpiece on the table and obtained position parameters of the workpiece reflected to the vision element and comparing to derive the offset compensation parameters.

6. The method of claim 4, wherein the offset compensation parameter comprises an offset direction and an offset amount.

7. An edge gripping system, comprising: a work table, a light shaping member, and a vision member, which perform the edge gripping of the work by the edge gripping method according to any one of claims 1 to 6.

8. A processing apparatus comprising the edge gripping system of claim 7.

9. A processing apparatus according to claim 8, wherein the processing apparatus is a light processing apparatus which performs light processing after gripping and positioning the workpiece.

10. A machining system comprising a spraying apparatus and the machining apparatus of claim 8 or 9, wherein the workpiece is treated in the spraying apparatus and is then transferred to the machining apparatus.

11. A processing system according to claim 10, wherein said first workpiece and said second workpiece are treated in said spray equipment to be at least partially the same color.