CN115256019A - Automatic aligning device that assembles of supporting plate - Google Patents
Automatic aligning device that assembles of supporting plate Download PDFInfo
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- CN115256019A CN115256019A CN202210728429.7A CN202210728429A CN115256019A CN 115256019 A CN115256019 A CN 115256019A CN 202210728429 A CN202210728429 A CN 202210728429A CN 115256019 A CN115256019 A CN 115256019A
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- rectangular plate
- plane
- plate
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- point position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application relates to an automatic splicing and aligning device for supporting plates, which comprises a mechanical arm and an auxiliary aligning platform; the mechanical arm is used for grabbing a rectangular plate to be placed on the auxiliary alignment platform, grabbing the rectangular plate placed on the auxiliary alignment platform from a first designated position, and moving the rectangular plate to a second designated position, so that the rectangular plate is placed on the numerical control machine tool; the auxiliary aligning platform comprises an auxiliary mechanism and a frame body used for placing rectangular plates, the frame body is provided with a plane used for supporting the rectangular plates, the auxiliary mechanism is arranged on the plane and used for providing external force for the rectangular plates placed on the plane, and therefore the specified point positions of the rectangular plates can be aligned with the preset reference point positions under the action of the external force. This application makes the arm can snatch the same position of each rectangle panel when snatching rectangle panel from first assigned position, and then guarantees that the position of placing of rectangle panel is all the same to realize that rectangle panel aligns automatically, in order to improve machining efficiency.
Description
Technical Field
The application relates to the field of panel concatenation, especially relate to an automatic aligning device of assembling of supporting plate.
Background
With the rapid development of the science and technology level, all industries gradually step into automation and intellectualization. In which, the digital transformation of the construction industry improves the labor productivity and the performance.
In the prior art, the processing process of the support and guard plate is completed by workers, mechanical arms and a numerical control machine tool together. Specifically, firstly, the mechanical arm can automatically grab the plate, and horizontally place the plate on the numerical control machine tool. The worker then checks whether the sheet is placed in the correct position. When the plate is not placed on the correct position, the worker needs to adjust the position of the plate, so that the position of the plate is correct, namely, the plate is aligned with the reference original point or the reference line, and the numerical control machine tool can conveniently perform cutting and other processing.
The above prior art solutions have the following drawbacks: every time the mechanical arm finishes grabbing and placing the back of a plate, the staff all need to check and adjust the placing position of the plate, the labor is consumed, and the plate machining efficiency is low.
Disclosure of Invention
In order to improve the efficiency of panel processing, this application provides an automatic aligning device of assembling of supporting plate.
The application provides an automatic aligning device that assembles of supporting plate adopts following technical scheme:
an automatic splicing and aligning device for supporting plates comprises a mechanical arm and an auxiliary aligning platform;
the mechanical arm is used for grabbing a rectangular plate to be placed on the auxiliary alignment platform, grabbing the rectangular plate placed on the auxiliary alignment platform from a first designated position, moving the rectangular plate to a second designated position, and placing the rectangular plate on the numerical control machine tool;
the auxiliary aligning platform comprises an auxiliary mechanism and a frame body used for placing rectangular plates, the frame body is provided with a plane used for supporting the rectangular plates, the auxiliary mechanism is arranged on the plane and used for providing external force for the rectangular plates placed on the plane, and therefore the designated point positions of the rectangular plates can be aligned with the preset datum point positions under the action of the external force.
Through adopting above-mentioned technical scheme, under the external force that auxiliary mechanism provided, the appointed point position of the rectangle panel of being placed on supplementary alignment platform by the arm can be with predetermineeing the reference point position and aliging, it is all the same to make each rectangle panel place the final position on supplementary alignment platform, this makes the arm snatch the same position of each rectangle panel when placing the rectangle panel on supplementary alignment platform from first appointed position, and simultaneously, when the arm removes to the second appointed position and places rectangle panel on digit control machine tool, also can guarantee that the position of placing of all rectangle panels is all the same, and then realize the function that rectangle panel is automatic to be aligned, so that the machining efficiency of rectangle panel obtains promoting.
Optionally, the auxiliary mechanism includes an auxiliary member and a limiting member, the auxiliary member is disposed on the plane and is configured to provide an external force to the rectangular plate placed on the plane, and the limiting member is disposed in a direction in which the rectangular plate moves under the action of the external force, so as to limit a moving range of the rectangular plate.
Through adopting above-mentioned technical scheme, under the external force that the auxiliary member provided, rectangle panel can take place to remove, and the range of motion of rectangle panel can be injectd to the locating part, and then makes the appointed position of rectangle panel align with predetermineeing the reference point position.
Optionally, the plane is a horizontal plane, the auxiliary member includes a first cylinder and a second cylinder, the first cylinder is disposed on one side of the plane, the second cylinder is disposed on the other side of the plane, and the side where the first cylinder is disposed is perpendicular to the side where the second cylinder is disposed.
Optionally, the first cylinder and the second cylinder are provided in plurality.
Through adopting above-mentioned technical scheme for first cylinder or second cylinder are when promoting the removal of rectangle panel, and the atress of rectangle panel is more even.
Optionally, the plane is an inclined plane, the inclined plane has only one point position with the lowest height in the vertical direction, the inclined plane is evenly provided with a plurality of placing grooves, the auxiliary member includes a plurality of universal balls, and each universal ball is fixedly arranged in one placing groove.
Through adopting above-mentioned technical scheme, universal ball can reduce the resistance that rectangle panel slip in-process received, the removal of the rectangle panel of being convenient for.
Optionally, the robot further comprises a vision recognition module, wherein the vision recognition module is arranged on the mechanical arm and used for detecting whether the designated point location of the rectangular plate is aligned with the preset datum point location or not and outputting an adjustment signal when the designated point location of the rectangular plate is not aligned with the preset datum point location;
the mechanical arm is electrically connected with the vision recognition module and used for grabbing the rectangular plate on the inclined surface and moving, adjusting the posture of the rectangular plate and placing the rectangular plate when receiving the adjusting signal, so that the specified point position of the rectangular plate is finally aligned with the preset datum point position.
By adopting the technical scheme, whether the specified point position of the rectangular plate is aligned with the preset datum point position or not can be detected, and the position of the rectangular plate is timely adjusted when the specified point position of the rectangular plate is not aligned with the preset datum point position, so that the specified point position of the rectangular plate is finally aligned with the preset datum point position.
Optionally, the controller within the robotic arm is further configured to:
acquiring a plate image of a rectangular plate on the inclined surface, wherein the plate image can display the whole rectangular plate;
judging whether the designated point location of the rectangular plate is aligned with the preset datum point location or not according to the plate image based on a preset detection rule;
if not, determining a plate adjusting path according to the posture information of the rectangular plate in the plate image based on the posture adjusting model obtained by training;
and outputting the plate adjusting path, so that the rectangular plate is grabbed, moved and placed again by the mechanical arm, and finally the designated point position of the rectangular plate is aligned with the preset datum point position.
Optionally, the controller within the robotic arm is further configured to:
the method for judging whether the specified point location of the rectangular plate is aligned with the preset datum point location or not according to the plate image based on the preset detection rule comprises the following steps:
establishing a plane coordinate system in the plate image;
calling a trained image recognition model, and recognizing two specified right-angle sides where the preset datum point position and the specified point position are located;
acquiring a plane coordinate of the preset datum point position and a plane coordinate of a preset fixed point position on each appointed right-angle side, wherein the fixed point positions are all separated from the appointed point positions by a fixed distance;
converting the plane coordinates of the preset datum point position and the two fixed point positions into world coordinates according to a preset conversion rule;
and judging whether straight lines respectively determined by the preset datum point position and the two fixed point positions are in an orthogonal relation or not according to the world coordinates of the preset datum point position and the two fixed point positions.
Optionally, the controller within the robotic arm is further configured to:
the method for judging whether straight lines respectively determined by the preset datum point position and the two fixed point positions are in an orthogonal relation or not according to the world coordinates of the preset datum point position and the two fixed point positions comprises the following steps:
determining space vector coordinates determined by the preset datum point and the two fixed point positions respectively according to the world coordinates of the preset datum point and the two fixed point positions;
and calculating dot product values of the two space vector coordinates, and judging whether the dot product values are zero or not.
Optionally, the controller within the robotic arm is further configured to:
and if the specified point position of the rectangular plate is judged to be aligned with the preset datum point position according to the plate image based on a preset detection rule, outputting a grabbing signal, wherein the grabbing signal is used for controlling the mechanical arm to grab the rectangular plate placed on the auxiliary aligning platform from the first specified position and move to the second specified position for placing, so that the rectangular plate is placed on the numerical control machine tool.
In summary, the present application includes at least one of the following beneficial technical effects:
1. under the external force provided by the auxiliary mechanism, the specified point position of the rectangular plate placed on the auxiliary alignment platform by the mechanical arm can be aligned with the preset datum point position, so that the final position of each rectangular plate placed on the auxiliary alignment platform is the same, the mechanical arm can grab the same position of each rectangular plate when grabbing the rectangular plate placed on the auxiliary alignment platform from the first specified position, and meanwhile, when the mechanical arm moves to the second specified position to place the rectangular plate on the numerical control machine, the placement positions of all the rectangular plates can be ensured to be the same, so that the automatic alignment function of the rectangular plates is realized, and the processing efficiency of the rectangular plates is improved;
2. the cooperation of the visual recognition module and the mechanical arm can detect whether the specified point position of the rectangular plate is aligned with the preset datum point position or not, and the position of the rectangular plate is adjusted in time when the specified point position of the rectangular plate is not aligned with the preset datum point position, so that the specified point position of the rectangular plate is finally aligned with the preset datum point position.
Drawings
Fig. 1 is a schematic structural diagram of an auxiliary alignment platform according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of an auxiliary alignment platform according to another embodiment of the present application.
Fig. 3 is a schematic system diagram of an automatic support plate assembling and aligning device according to an embodiment of the present application.
Fig. 4 is a flowchart illustrating a controller according to an embodiment of the present application.
Description of reference numerals: 1. an auxiliary alignment platform; 2. a frame body; 3. a rectangular plate; 4. an auxiliary mechanism; 41. an auxiliary member; 42. a limiting member; 5. an inclined surface; 6. a visual recognition module; 61. an image acquisition device; 62. an image recognition unit; 7. a controller; 8. a robotic arm.
Detailed Description
The present application is described in further detail below with reference to figures 1-4.
The embodiment of the application discloses aligning device is assembled automatically to supporting plate, can guarantee that all rectangle panel 3 all place on the same position of digit control machine tool when the arm removes rectangle panel 3 and places on digit control machine tool to realize the function that panel aligns automatically, and then saved the time of staff's adjustment rectangle panel 3's position, make rectangle panel 3's machining efficiency promote to some extent.
Referring to fig. 1, 2 and 3, the automatic timbering plate assembling and aligning device comprises a mechanical arm 8 and an auxiliary aligning platform 1.
The mechanical arm 8 is used for grabbing the rectangular plate 3 and placing the rectangular plate on the auxiliary alignment platform 1, and is also used for grabbing the rectangular plate 3 placed on the auxiliary alignment platform 1 from a first designated position and moving the rectangular plate to a second designated position for placing, so that the rectangular plate 3 is placed on a numerical control machine tool. Wherein, a controller 7 is arranged in the mechanical arm 8. The controller 7 can control the robot arm 8 to repeatedly execute instructions corresponding to the program loaded therein. The first appointed position and the second appointed position are preset by a worker, the selected specific position can be adjusted adaptively according to actual conditions, the rectangular plate 3 placed on the auxiliary aligning platform 1 can be grabbed at the first appointed position, and the rectangular plate 3 placed at the second appointed position can be placed on the numerical control machine tool. Because the rectangular panel 3 that arm 8 snatched all is the great panel of size usually, so in this application, preferably, arm 8 is provided with a plurality of sucking discs to snatch rectangular panel 3 through the sucking disc.
The auxiliary aligning platform 1 is a platform for automatically aligning the rectangular plate 3. After the rectangular plates 3 are aligned through the auxiliary alignment platform 1, the mechanical arm 8 grabs the rectangular plates 3 placed on the auxiliary alignment platform 1 at the first designated position, so that the positions where the rectangular plates 3 are grabbed are the same, and automatic alignment in the plate processing process is realized. Specifically, the auxiliary aligning platform 1 includes an auxiliary mechanism 4 and a frame body 2 for placing the rectangular plate 3.
The frame body 2 is formed by welding a plurality of square steels and is provided with a plane for supporting the rectangular plate 3. The auxiliary mechanism 4 is fixedly arranged on the plane and used for providing external force for the rectangular plate 3 placed on the plane, so that the designated point position of the rectangular plate 3 can be aligned with the preset datum point position under the action of the external force. The designated point location is a right angle point on the rectangular plate 3, and the preset reference point location is a point location on the auxiliary mechanism 4, and of course, according to the setting environment of the auxiliary mechanism 4, the preset reference point location may also be a point location outside the auxiliary mechanism 4. Depending on the optional auxiliary means 4, the above-mentioned plane may be correspondingly arranged as a horizontal plane or as an inclined plane 5.
Further, the assisting mechanism 4 includes an assisting member 41 and a stopper 42. Wherein, the auxiliary member 41 is disposed on the plane for providing an external force to the rectangular plate 3 placed on the plane. The limiting member 42 is disposed in a direction in which the rectangular plate 3 moves under an external force, so as to limit a moving range of the rectangular plate 3. In the embodiment of the present application, the position-limiting members 42 are two vertical columns, and can be disposed on the frame body 2 by a conventional fixing connection manner, such as welding. The specific positions of the two columns need to be determined according to the specific positions of the designated point location and the preset datum point location.
In a specific embodiment, the plane is a horizontal plane. The auxiliary 41 includes a first cylinder and a second cylinder. The first cylinder and the second cylinder are both fixedly arranged on the horizontal plane. Specifically, the first cylinder is arranged on one side of the plane and is positioned on a piece of square steel forming the horizontal plane. The second cylinder is arranged on the other side of the plane and is positioned on the other square steel forming the horizontal plane. Wherein, the side that the first cylinder place is perpendicular with the side that the second cylinder place.
Further, when the robot arm 8 places the rectangular plate 3 on the auxiliary alignment table 1 in this embodiment, the first cylinder and the second cylinder are sequentially moved toward the rectangular plate 3 to push the rectangular plate 3 to move. When first cylinder promoted rectangle panel 3, rectangle panel 3 removed along external force direction, when the side butt that first cylinder was kept away from to rectangle panel 3 was to a stand on the support body 2, rectangle panel 3 stopped moving. At this moment, the second cylinder promotes rectangle panel 3, and rectangle panel 3 moves along the external force direction, and when rectangle panel 3 kept away from the side butt of second cylinder to another stand on the support body 2, rectangle panel 3 stopped moving. At this time, the specified point of the rectangular plate 3 is just aligned with the preset datum point. The designated point location is a right-angle point location which forms a diagonal with the intersection point of the side where the first cylinder is located and the side where the second cylinder is located. The preset datum point position is the intersection point of the side edges of the two upright posts, wherein the side surfaces of the two upright posts face the horizontal plane.
In this embodiment, the first air cylinder and the second air cylinder may be provided in plurality, so that the rectangular plate 3 can be uniformly stressed during the moving process. It should be noted that the setting position of the upright column, the setting position of the first cylinder and the setting position of the second cylinder should correspond to each other, so as to avoid that the designated point of the rectangular plate 3 cannot be aligned with the preset datum point due to uneven stress.
In another specific example, the flat surface is an inclined surface 5. It should be noted that the inclined surface 5 is required to satisfy a condition that the height of only one point on the inclined surface 5 in the vertical direction is the lowest. In the case where the limiting member 42 is disposed on the frame body 2, the above-mentioned point position is a predetermined reference point position. In the case where the stopper 42 is provided on the inclined surface 5, the predetermined reference point position is a position on the inclined surface 5 different from the above-described position.
It can be understood that a plurality of placing grooves are pre-opened on the inclined surface 5, and the placing grooves are uniformly distributed on the inclined surface 5. The auxiliary member 41 includes a plurality of ball transfer units. Each universal ball is fixedly arranged in one placing groove. Further, when the robot arm 8 places the rectangular plate 3 on the auxiliary aligning platform 1 in this embodiment, the rectangular plate 3 moves toward the predetermined reference point under the gravity of the rectangular plate 3 because the plane is inclined. Until the side of the rectangular plate 3 is completely abutted against the upright column, the rectangular plate 3 stops moving. At this time, the specified point of the rectangular plate 3 is just aligned with the preset datum point. Wherein, the universal ball not only can reduce the frictional force that rectangle panel 3 received when sliding, can also drive rectangle panel 3 and slide.
Of course, in the above process, the upright column can limit the moving range of the rectangular plate 3, and can also adjust some changes of the posture of the rectangular plate 3 during the sliding process.
It can also be concluded that the posture of the rectangular plate 3 may change after the rectangular plate contacts the column during the sliding process, and even the rectangular plate 3 stops sliding when the designated point is not aligned with the predetermined datum point. Therefore, in order to ensure that the designated point location can be aligned with the preset reference point location, the present embodiment further includes a visual recognition module 6, so as to detect the position relationship between the designated point location and the preset reference point location.
The visual recognition module 6 is arranged on the mechanical arm 8 and used for detecting whether the designated point position of the rectangular plate 3 is aligned with the preset datum point position or not and outputting an adjusting signal when the designated point position of the rectangular plate 3 is not aligned with the preset datum point position. On the contrary, if the specified point position of the rectangular plate 3 is detected to be aligned with the preset reference point position, the grabbing signal is output. Preferably, the visual recognition module 6 may be composed of an image acquisition device 61 and an image recognition unit 62. The image capturing device 61 is configured to capture a plate image of the rectangular plate 3, and may capture a corresponding video image. The image recognition unit 62 is configured to detect whether the designated point of the rectangular plate 3 is aligned with the preset reference point according to the plate image or the video image. The image recognition unit 62 may employ a processor chip loaded with an associated image recognition algorithm. Image recognition techniques are conventional in the art and will not be described in detail herein.
The vision recognition module 6 is connected to 8 electricity of arm for snatch the rectangle panel 3 on the inclined plane 5 and remove when receiving the adjustment signal, adjust the gesture of rectangle panel 3, place rectangle panel 3, make the appointed point location of rectangle panel 3 finally align with the default datum position, still be used for snatching the rectangle panel 3 of placing on supplementary alignment platform 1 from first appointed position when receiving and snatch the signal, and remove to the second appointed position and place, make rectangle panel 3 place on digit control machine tool.
Referring to fig. 4, further, to achieve the above-described functionality, the controller within the robotic arm is further configured to:
step S101: and acquiring a plate image of the rectangular plate on the inclined surface.
Wherein, the panel image can show monoblock rectangle panel.
Step S102: and judging whether the specified point position of the rectangular plate is aligned with the preset datum point position or not according to the plate image based on a preset detection rule.
If yes, a grabbing signal is output.
And if not, determining a plate adjusting path according to the posture information of the rectangular plate in the plate image based on the posture adjusting model obtained by training.
Specifically, the method comprises the following steps:
step S1021: and establishing a plane coordinate system in the plate image.
Step S1022: calling a trained image recognition model, and recognizing two specified right-angle sides where a preset datum point position and a specified point position are located;
the image recognition model trains a large number of training samples in a deep learning mode, and the trained image recognition model can recognize two appointed right-angle sides where the preset datum point position and the appointed point position are located. Wherein, two appointed right-angle sides are two adjacent right-angle sides on the great one side of area on the rectangular plate. The method for training the model is a mature technology in the related art, and therefore, will not be described in detail in this application.
Step S1023: and acquiring the plane coordinates of the preset datum point positions and the plane coordinates of the preset fixed point positions on each appointed right-angle edge.
Wherein, the fixed point positions are fixed distances from the specified point positions on the plate image. Preferably, the fixed distance is two units of length. Of course, the adjustment can be made according to the actual situation.
After a plane coordinate system is established in the plate image, the position of the preset datum point and the two fixed point positions can be identified through the image identification model identification, and then the plane coordinates of the preset datum point and the two fixed point positions can be determined.
Step S1024: converting the plane coordinates of the preset datum point position and the two fixed point positions into world coordinates according to a preset conversion rule;
it can be appreciated that first, a world coordinate system is established in the actual scene. Secondly, the plane coordinate system and the world coordinate system have a certain conversion relation, namely, the plane coordinate of any point in the plane coordinate system can be converted into the world coordinate, so that the incidence relation between the plane coordinate system and the world coordinate system is established. The method for converting the plane coordinate into the world coordinate is a conventional technique of those skilled in the relevant art, and therefore, will not be described in detail herein.
Step S1025: and judging whether straight lines respectively determined by the preset datum point and the two fixed point positions are in an orthogonal relation or not according to the world coordinates of the preset datum point and the two fixed point positions.
Firstly, according to the world coordinates of the preset datum point position and the two fixed point positions, the space vector coordinates determined by the preset datum point position and the two fixed point positions respectively can be determined, namely after the world coordinates of the preset datum point position and the world coordinates of the fixed point positions are obtained, the two world coordinates are subtracted to obtain the coordinate form of the space vector formed by the two point positions, namely the space vector coordinates.
It can be understood that, because the two adjacent side surfaces of the rectangular plate are vertical, the specified point position is orthogonal to the straight line defined by one point position on the two side surfaces. When the designated point location is aligned with the preset datum point location, the designated point location coincides with the preset datum point location. Based on this, the preset datum point position is also orthogonal to a straight line determined by one point position on the two side faces. Therefore, whether the specified point position of the rectangular plate is aligned with the preset reference point position can be known by judging whether the preset reference point position is in an orthogonal relation with straight lines determined by the two fixed point positions.
Further, calculating dot product values of the two space vector coordinates, and judging whether the dot product values are zero or not. For example, space vector coordinate A (1, 0, 2) and space vector coordinate B (-2, 1). The dot product value is: 1 (-2) +0 + 1+2 + 1=0. Therefore, the two space vectors are orthogonal.
And when the specified point position of the rectangular plate is detected to be aligned with the preset datum point position, outputting a grabbing signal. The grabbing signal is used for controlling the mechanical arm to grab the rectangular plate placed on the auxiliary aligning platform from a first designated position and move to a second designated position to place the rectangular plate, so that the rectangular plate is placed on the numerical control machine tool.
Otherwise, when the fact that the specified point position of the rectangular plate is not aligned with the preset datum point position is detected, based on the posture adjustment model obtained through training, a plate adjustment path is determined according to the posture information of the rectangular plate in the plate image.
The posture adjustment model is also used for training a large number of training samples in a deep learning mode. The training sample is a plurality of plate images, and the posture of the rectangular plate in each plate image is different. Each posture corresponds to a plate adjusting path. The trained image recognition model can recognize the posture information of the rectangular plate in the plate image, and further can be matched with the most appropriate plate adjusting path.
Step S103: the path of the rectangular plate is adjusted through the output plate, so that the rectangular plate is grabbed, moved and placed again through the mechanical arm, finally, the appointed point position of the rectangular plate is aligned to the preset datum point position, the rectangular plate placed on the auxiliary alignment platform can be grabbed at the first appointed position through the mechanical arm, the grabbed position of each rectangular plate can be guaranteed to be the same, and automatic alignment in the plate machining process is achieved.
Of course, the posture of the rectangular plate placed on the numerical control machine tool can also be recognized according to the recognition method, so that the specified point location of the rectangular plate is ensured to be aligned with the preset origin point location on the numerical control machine tool.
The above are preferred embodiments of the present application, and the scope of protection of the present application is not limited thereto, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. The utility model provides an automatic aligning device of assembling of supporting plate which characterized in that includes: a mechanical arm (8) and an auxiliary alignment platform (1);
the mechanical arm (8) is used for grabbing the rectangular plate (3) and placing the rectangular plate on the auxiliary alignment platform (1), and is also used for grabbing the rectangular plate (3) placed on the auxiliary alignment platform (1) from a first appointed position and moving the rectangular plate to a second appointed position for placing, so that the rectangular plate (3) is placed on a numerical control machine tool;
the auxiliary aligning platform (1) comprises an auxiliary mechanism (4) and a frame body (2) used for placing rectangular plates (3), the frame body (2) is provided with a plane used for supporting the rectangular plates (3), the auxiliary mechanism (4) is arranged on the plane and used for providing external force for the rectangular plates (3) placed on the plane, and therefore the specified point positions of the rectangular plates (3) can be aligned with the preset datum points under the action of the external force.
2. The device for automatically assembling and aligning a supporting plate according to claim 1, wherein the auxiliary mechanism (4) comprises an auxiliary member (41) and a limiting member (42), the auxiliary member (41) is disposed on the plane and is used for providing an external force to the rectangular plate (3) placed on the plane, and the limiting member (42) is disposed in a direction in which the rectangular plate (3) moves under the external force so as to limit a moving range of the rectangular plate (3).
3. The automatic assembling and aligning device for supporting plates according to claim 2, wherein the plane is a horizontal plane, the auxiliary member (41) comprises a first cylinder and a second cylinder, the first cylinder is disposed on one side of the plane, the second cylinder is disposed on the other side of the plane, and the side where the first cylinder is disposed is perpendicular to the side where the second cylinder is disposed.
4. The automatic splicing and aligning device for supporting plates as claimed in claim 3, wherein a plurality of first air cylinders and a plurality of second air cylinders are provided.
5. The automatic splicing and aligning device for supporting plates according to claim 2, wherein the plane is an inclined plane (5), the height of only one point on the inclined plane (5) in the vertical direction is the lowest, a plurality of placing grooves are uniformly formed on the inclined plane (5), and the auxiliary member (41) comprises a plurality of universal balls, and each universal ball is fixedly arranged in one placing groove.
6. The automatic splicing and aligning device for the supporting plates according to claim 5, further comprising a vision recognition module (6), wherein the vision recognition module (6) is arranged on the mechanical arm (8) and is used for detecting whether the designated point position of the rectangular plate (3) is aligned with the preset datum point position or not and outputting an adjusting signal when the designated point position of the rectangular plate (3) is not aligned with the preset datum point position;
the mechanical arm (8) is electrically connected with the vision recognition module (6) and used for grabbing the rectangular plate (3) on the inclined surface (5) when receiving the adjustment signal, moving the rectangular plate, adjusting the posture of the rectangular plate (3) and placing the rectangular plate (3), so that the specified point position of the rectangular plate (3) is aligned with the preset datum point position finally.
7. The timbering plate automated makeup alignment apparatus of claim 6, wherein the controller (7) within said robotic arm (8) is further configured to:
acquiring a plate image of a rectangular plate (3) on the inclined surface (5), wherein the plate image can display the whole rectangular plate (3);
judging whether the specified point position of the rectangular plate (3) is aligned with a preset datum point position or not according to the plate image based on a preset detection rule;
if not, determining a plate adjusting path according to the posture information of the rectangular plate (3) in the plate image based on the posture adjusting model obtained by training;
and outputting the plate adjusting path, so that the rectangular plate (3) is grabbed, moved and placed again by the mechanical arm (8), and finally the designated point position is aligned with the preset datum point position.
8. The automated splice alignment device of sheathing panels according to claim 7, wherein the controller (7) within the robotic arm (8) is further configured to:
the method for judging whether the specified point position of the rectangular plate (3) is aligned with the preset datum point position or not according to the plate image based on the preset detection rule comprises the following steps:
establishing a plane coordinate system in the plate image;
calling a trained image recognition model, and recognizing two specified right-angle sides where the preset datum point position and the specified point position are located;
acquiring the plane coordinates of the preset datum point positions and the plane coordinates of the preset fixed point positions on each appointed right-angle side, wherein the fixed point positions are all away from the appointed point positions by a fixed distance;
converting the plane coordinates of the preset datum point position and the two fixed point positions into world coordinates according to a preset conversion rule;
and judging whether straight lines determined by the preset datum point and the two fixed point positions are in an orthogonal relation or not according to the world coordinates of the preset datum point and the two fixed point positions.
9. The timbering plate automated makeup alignment apparatus of claim 8, wherein the controller (7) within said robotic arm (8) is further configured to:
the method for judging whether straight lines determined by the preset datum point and the two fixed point positions respectively are in an orthogonal relation or not according to the world coordinates of the preset datum point and the two fixed point positions comprises the following steps:
determining space vector coordinates determined by the preset datum point and the two fixed point positions respectively according to the world coordinates of the preset datum point and the two fixed point positions;
and calculating dot product values of the two space vector coordinates, and judging whether the dot product values are zero or not.
10. The automated splice alignment device of sheathing panels according to claim 7, wherein the controller (7) within the robotic arm (8) is further configured to:
and if the specified point position of the rectangular plate (3) is judged to be aligned with the preset datum point position according to the plate image based on a preset detection rule, outputting a grabbing signal, wherein the grabbing signal is used for controlling a mechanical arm (8) to grab the rectangular plate (3) placed on the auxiliary alignment platform (1) from a first specified position and move to a second specified position for placing, so that the rectangular plate (3) is placed on a numerical control machine tool.
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