CN115256019B - Automatic assembling and aligning device for support plates - Google Patents
Automatic assembling and aligning device for support plates Download PDFInfo
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- CN115256019B CN115256019B CN202210728429.7A CN202210728429A CN115256019B CN 115256019 B CN115256019 B CN 115256019B CN 202210728429 A CN202210728429 A CN 202210728429A CN 115256019 B CN115256019 B CN 115256019B
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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]
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Abstract
The application relates to an automatic assembling and aligning device of a support plate, which comprises a mechanical arm and an auxiliary aligning table; the mechanical arm is used for grabbing the rectangular plate and is arranged on the auxiliary alignment platform, and is also used for grabbing the rectangular plate arranged on the auxiliary alignment platform from a first appointed position and moving to a second appointed position so that the rectangular plate is arranged on the numerical control machine; the auxiliary alignment table comprises an auxiliary mechanism and a frame body for placing rectangular plates, the frame body is provided with a plane for supporting the rectangular plates, and the auxiliary mechanism is arranged on the plane and is used for providing external force for the rectangular plates placed on the plane, so that the specified point of the rectangular plates can be aligned with a preset reference point under the action of the external force. According to the rectangular plate automatic alignment device, the mechanical arm can grasp the same position of each rectangular plate when grabbing the rectangular plate from the first appointed position, and then the placing positions of the rectangular plates are guaranteed to be the same, so that the rectangular plates are automatically aligned, and the processing efficiency is improved.
Description
Technical Field
The application relates to the field of plate splicing, in particular to an automatic assembling and aligning device for a support plate.
Background
With the rapid development of the technology level, various industries gradually step into automation and intellectualization. The digital transformation in the building industry improves labor productivity and performance.
In the prior art, the processing process of the support plate is completed by a worker, a mechanical arm and a numerical control machine tool. Specifically, first, the mechanical arm automatically grabs the plate and horizontally places the plate on the numerical control machine tool. The staff then checks whether the sheet is in the correct position. When the plate is not placed at the correct position, the worker needs to adjust the position of the plate so that the position of the plate is correct, i.e. aligned with the datum origin or datum line, so that the numerical control machine tool can perform cutting and other processing.
The prior art solutions described above have the following drawbacks: after each time the mechanical arm finishes grabbing and placing the plate once, the worker needs to check and adjust the placing position of the plate, which not only consumes manpower, but also makes the plate processing efficiency lower.
Disclosure of Invention
In order to improve the efficiency of panel processing, this application provides an alignment device is assembled automatically to backplate.
The application provides an automatic alignment device of assembling of backplate adopts following technical scheme:
an automatic assembling and aligning device for a support plate comprises a mechanical arm and an auxiliary aligning table;
the mechanical arm is used for grabbing the rectangular plate and placing the rectangular plate on the auxiliary alignment platform, and is also used for grabbing the rectangular plate placed on the auxiliary alignment platform from a first appointed position and moving to a second appointed position for placing, so that the rectangular plate is placed on the numerical control machine tool;
the auxiliary alignment table comprises an auxiliary mechanism and a frame body for placing rectangular plates, the frame body is provided with a plane for supporting the rectangular plates, and the auxiliary mechanism is arranged on the plane and is used for providing external force for the rectangular plates placed on the plane, so that the specified point of the rectangular plates can be aligned with a preset reference point under the action of the external force.
Through adopting above-mentioned technical scheme, under the external force that assist mechanism provided, the appointed point position of the rectangle panel of being placed on the supplementary platform of registering by the arm can be aligned with the reference point that presets for the final position that each rectangle panel was placed on the supplementary platform of registering is the same, this makes the arm snatch the same position of each rectangle panel of can snatching when placing the rectangle panel on the supplementary platform of registering from first appointed position, simultaneously, and when the arm moved to the second appointed position and placed the rectangle panel on the digit control machine tool, also can guarantee that the position of placing of all rectangle panels is the same, and then realizes the function that the rectangle panel is automatic to be aligned, so that the machining efficiency of rectangle panel obtains promoting.
Optionally, the auxiliary mechanism includes auxiliary member and locating part, the auxiliary member set up in on the plane for provide external force to the rectangle panel of placing on the plane, the locating part set up in the rectangle panel removes under the direction of external force effect, in order to inject the range of movement of rectangle panel.
Through adopting above-mentioned technical scheme, under the external force that the auxiliary member provided, rectangular panel can take place to remove, and the range of movement of rectangular panel can be limited to the locating part, and then makes rectangular panel's appointed point position align with predetermineeing the benchmark point.
Optionally, the plane is a horizontal plane, the auxiliary member includes a first cylinder and a second cylinder, the first cylinder set up in one side of plane, the second cylinder set up in another side of plane, the side at first cylinder place with the side at second cylinder place is perpendicular.
Optionally, the first cylinder and the second cylinder are provided in plurality.
By adopting the technical scheme, when the first air cylinder or the second air cylinder pushes the rectangular plate to move, the stress of the rectangular plate is more uniform.
Optionally, the plane is the inclined plane, have and have only that a point position on the inclined plane is high minimum on the vertical direction, evenly offered a plurality of standing grooves on the inclined plane, the auxiliary member includes a plurality of universal balls, and every universal ball is all fixed to be set up in a standing groove.
Through adopting above-mentioned technical scheme, universal ball can reduce the resistance that rectangular plate slides in-process received, the removal of rectangular plate of being convenient for.
Optionally, the device further comprises a visual identification module, wherein the visual identification module is arranged on the mechanical arm and is used for detecting whether the appointed point position of the rectangular plate is aligned with the preset reference point position or not and outputting an adjustment signal when the appointed point position of the rectangular plate is not aligned with the preset reference point position;
the mechanical arm is electrically connected with the visual identification module and is used for grabbing the rectangular plate on the inclined surface when receiving the adjustment signal, moving, adjusting the posture of the rectangular plate and placing the rectangular plate, so that the appointed point position of the rectangular plate is finally aligned with the preset reference point position.
By adopting the technical scheme, whether the appointed point position of the rectangular plate is aligned with the preset reference point position can be detected, and when the appointed point position of the rectangular plate is not aligned with the preset reference point position, the position of the rectangular plate is timely adjusted, so that the appointed point position of the rectangular plate is finally aligned with the preset reference point position.
Optionally, the controller within the robotic arm is further configured to:
acquiring a plate image of a rectangular plate on the inclined plane, wherein the plate image can display a whole rectangular plate;
judging whether the appointed point positions of the rectangular plate are aligned with preset reference point positions 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 through training;
outputting the plate adjusting path to enable the rectangular plate to be grabbed, moved and replaced by the mechanical arm, and finally enabling the appointed point position to be aligned with the preset reference point position.
Optionally, the controller within the robotic arm is further configured to:
the method for judging whether the appointed point position of the rectangular plate is aligned with the preset reference point position according to the plate image based on the preset detection rule comprises the following steps:
establishing a plane coordinate system in the plate image;
retrieving a trained image recognition model, and recognizing two appointed right-angle edges where the preset reference point and the appointed point are located;
obtaining plane coordinates of the preset reference point and plane coordinates of fixed points preset on each appointed rectangular edge, wherein the fixed points are separated from the appointed points by fixed distances;
converting the plane coordinates of the preset reference point and the two fixed points into world coordinates according to a preset conversion rule;
and judging whether straight lines respectively determined by the preset reference point and the two fixed points are in an orthogonal relationship according to world coordinates of the preset reference point and the two fixed points.
Optionally, the controller within the robotic arm is further configured to:
the method for judging whether the straight lines respectively determined by the preset reference point and the two fixed points are in an orthogonal relationship according to the world coordinates of the preset reference point and the two fixed points comprises the following steps:
determining space vector coordinates determined by the preset reference point and the two fixed points respectively according to world coordinates of the preset reference point and the two fixed points;
and calculating dot product values of the two space vector coordinates, and judging whether the dot product values are zero.
Optionally, the controller within the robotic arm is further configured to:
if the appointed point position of the rectangular plate is judged to be aligned with the preset reference point position according to the plate image based on the preset detection rule, a grabbing signal is output, and the grabbing signal is used for controlling the mechanical arm to grab the rectangular plate placed on the auxiliary alignment platform from the first appointed position and move to the second appointed position to be placed, 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 appointed point position of the rectangular plate placed on the auxiliary alignment platform by the mechanical arm can be aligned with a preset reference point, so that the final position of each rectangular plate placed on the auxiliary alignment platform is the same, the mechanical arm can grasp the same position of each rectangular plate when grasping the rectangular plate placed on the auxiliary alignment platform from the first appointed position, and meanwhile, when the mechanical arm moves to the second appointed position to place the rectangular plate on the numerical control machine tool, the placement positions of all rectangular plates can be ensured to be the same, and the automatic alignment function of the rectangular plates is realized, so that the processing efficiency of the rectangular plate is improved;
2. the visual identification module and the mechanical arm are matched to detect whether the appointed point position of the rectangular plate is aligned with the preset reference point position or not, and the position of the rectangular plate is adjusted in time when the appointed point position of the rectangular plate is not aligned with the preset reference point position, so that the appointed point position of the rectangular plate is finally aligned with the preset reference point position.
Drawings
FIG. 1 is a schematic structural view of an auxiliary pair of flush stations according to one embodiment of the present application.
Fig. 2 is a schematic structural view of an auxiliary pair of flush stations according to another embodiment of the present application.
Fig. 3 is a system schematic diagram of an automatic assembly alignment device for a support plate according to an embodiment of the present application.
Fig. 4 is a schematic flow chart of a controller according to an embodiment of the present application.
Reference numerals illustrate: 1. auxiliary alignment stage; 2. a frame body; 3. rectangular plates; 4. an auxiliary mechanism; 41. an auxiliary member; 42. a limiting piece; 5. an inclined surface; 6. a visual recognition module; 61. an image acquisition device; 62. an image recognition unit; 7. a controller; 8. and (5) a mechanical arm.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-4.
The embodiment of the application discloses automatic alignment device of assembling of backplate can be when the arm removes rectangle panel 3 and places on the digit control machine tool, guarantees that all rectangle panels 3 all place on the same position of digit control machine tool to realize the automatic function of aligning of panel, and then saved the time of the position of staff's adjustment rectangle panel 3, make the machining efficiency of rectangle panel 3 promote to some extent.
Referring to fig. 1, 2 and 3, the automatic assembly and alignment device for the support plate comprises a mechanical arm 8 and an auxiliary alignment table 1.
The mechanical arm 8 is used for grabbing the rectangular plate 3 and is arranged on the auxiliary alignment table 1, and is also used for grabbing the rectangular plate 3 arranged on the auxiliary alignment table 1 from a first designated position and moving to a second designated position for placing, so that the rectangular plate 3 is arranged on the numerical control machine tool. Wherein the manipulator 8 is provided with a controller 7. The controller 7 can control the robot arm 8 to repeatedly execute instructions corresponding to programs loaded therein. The first designated position and the second designated position are preset by a worker, the selected specific position can be adaptively adjusted according to actual conditions, and the rectangular plate 3 placed on the auxiliary pair flush table 1 can be grasped at the first designated position, and the rectangular plate 3 can be placed on a numerical control machine tool by placing the rectangular plate 3 at the second designated position. Since the rectangular plate 3 grasped by the robot arm 8 is usually a plate having a large size, in this application, it is preferable that the robot arm 8 is provided with a plurality of suction cups to grasp the rectangular plate 3 by the suction cups.
The auxiliary alignment stage 1 is a stage for automatically aligning the rectangular plate material 3. After the rectangular plates 3 are aligned by the auxiliary alignment table 1, the mechanical arm 8 grabs the rectangular plates 3 placed on the auxiliary alignment table 1 at the first designated position, so that the grabbed positions of each rectangular plate 3 can be identical, and automatic alignment in the plate machining process is realized. Specifically, the auxiliary alignment platform 1 includes an auxiliary mechanism 4 and a frame 2 for placing a rectangular plate 3.
Wherein the frame body 2 is welded by a plurality of square steels and has a plane for supporting the rectangular plate 3. The auxiliary mechanism 4 is fixedly arranged on the plane and is used for providing external force for the rectangular plate 3 placed on the plane, so that the specified point of the rectangular plate 3 can be aligned with a preset reference point 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, the preset reference point location may be a point location outside the auxiliary mechanism 4 according to the setting environment of the auxiliary mechanism 4. The above-mentioned plane may be provided as a horizontal plane or inclined plane 5, respectively, depending on the auxiliary mechanism 4 selected.
Further, the assist mechanism 4 includes an assist member 41 and a stopper member 42. Wherein the auxiliary member 41 is disposed on a 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 the action of the external force, so as to limit a movement range of the rectangular plate 3. In the embodiment of the present application, the limiting members 42 are two upright posts, and may be disposed on the frame body 2 in a conventional fixed connection manner, such as welding. For the specific positions of the two upright posts, the specific positions of the designated point positions and the preset reference point positions need to be determined.
In a specific embodiment, the plane is a horizontal plane. The auxiliary member 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 disposed at one side of the plane and is located on a 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. The side edge of the first cylinder is perpendicular to the side edge of the second cylinder.
Further, when the robot arm 8 places the rectangular plate 3 on the auxiliary pair of flush tables 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 the first cylinder pushes the rectangular plate 3, the rectangular plate 3 moves along the direction of the external force until the rectangular plate 3 is abutted to one upright post on the frame body 2 away from the side edge of the first cylinder, and the rectangular plate 3 stops moving. At this time, the second cylinder pushes the rectangular plate 3, and the rectangular plate 3 moves in the direction of the external force until the rectangular plate 3 is abutted to another upright post on the frame body 2 away from the side edge of the second cylinder, and the rectangular plate 3 stops moving. At this time, the designated point of the rectangular plate 3 is just aligned with the preset reference point. The appointed point is a right-angle point which forms a diagonal angle with the intersection point of the side where the first cylinder is located and the side where the second cylinder is located. The preset reference point is the intersection point of the two upright posts facing the side of the horizontal plane.
In this embodiment, a plurality of first and second cylinders may be provided so that the rectangular plate 3 can be uniformly stressed during movement. It should be noted that, the setting position of the upright post, 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 reference point due to uneven stress.
In another specific example, the plane is the inclined plane 5. It is to be noted that the inclined surface 5 needs to satisfy the condition that there is only one point on the inclined surface 5 and the height in the vertical direction is the lowest. In the case that the limiting member 42 is disposed on the frame body 2, the above-mentioned point location is a preset reference point location. In the case where the stopper 42 is provided on the inclined surface 5, the preset reference point is a point on the inclined surface 5 different from the above point.
It can be appreciated that the inclined surface 5 is provided with a plurality of placement grooves in advance, and the placement grooves are uniformly distributed on the inclined surface 5. The auxiliary member 41 includes a plurality of universal balls. Each universal ball is fixedly arranged in one placing groove. Further, when the robot arm 8 places the rectangular sheet 3 on the auxiliary alignment platform 1 in this embodiment, the plane is inclined, so that the rectangular sheet 3 moves toward the preset reference point under the gravity of the rectangular sheet 3 itself. Until the side edge of the rectangular plate 3 is completely abutted against the upright post, the rectangular plate 3 stops moving. At this time, the designated point of the rectangular plate 3 is just aligned with the preset reference point. Wherein, everything is the 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 post can limit the moving range of the rectangular plate 3, and at the same time, can play a role in adjusting some changes of the posture of the rectangular plate 3 during the sliding process.
It can also be deduced that the posture of the rectangular plate 3 may also change after the rectangular plate 3 contacts with the upright post during the sliding process, and even if the designated point is not matched with the preset reference point pair Ji Shiju, the plate 3 stops sliding. Therefore, in order to ensure that the designated point can be aligned with the preset reference point, the present embodiment further includes a visual recognition module 6 to detect the positional relationship between the designated point and the preset reference point.
The visual recognition module 6 is arranged on the mechanical arm 8 and is used for detecting whether the appointed point position of the rectangular plate 3 is aligned with the preset reference point position or not and outputting an adjustment signal when the appointed point position of the rectangular plate 3 is not aligned with the preset reference point position. Conversely, if the designated point of the rectangular plate 3 is detected to be aligned with the preset reference point, a 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 acquisition device 61 is used for acquiring the plate image of the rectangular plate 3, and of course, a corresponding video image can also be acquired. The image recognition unit 62 is configured to detect whether or not a specified point of the rectangular board 3 is aligned with a preset reference point based on the board image or the video image. The image recognition unit 62 may employ a processor chip loaded with a related image recognition algorithm. The image recognition technology is a conventional operation means for those skilled in the relevant art, and thus, will not be described in detail herein.
The mechanical arm 8 is electrically connected with the visual identification module 6 and is used for grabbing the rectangular plate 3 on the inclined surface 5 and moving and adjusting the gesture of the rectangular plate 3 and placing the rectangular plate 3 when receiving an adjusting signal, so that the appointed point position of the rectangular plate 3 is finally aligned with a preset reference point position, and is also used for grabbing the rectangular plate 3 placed on the auxiliary alignment table 1 from a first appointed position when receiving a grabbing signal and moving to a second appointed position for placing, so that the rectangular plate 3 is placed on the numerical control machine tool.
Referring to fig. 4, further, to implement the above functions, the controller in the mechanical arm is further configured to:
step S101: and acquiring a plate image of the rectangular plate on the inclined surface.
Wherein the panel image is capable of displaying a monolithic rectangular panel.
Step S102: based on a preset detection rule, judging whether the appointed point position of the rectangular plate is aligned with a preset reference point position according to the plate image.
If yes, outputting a grabbing signal.
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 through training.
Specifically, the method comprises the following steps:
step S1021: a planar coordinate system is established in the sheet image.
Step S1022: retrieving a trained image recognition model, and recognizing a preset reference point position and two appointed right-angle edges where the appointed point positions are located;
the image recognition model adopts a deep learning mode to train a large number of training samples, and the trained image recognition model can recognize two appointed right-angle sides where a preset reference point and an appointed point are located. Wherein, two appointed right-angle sides are two adjacent right-angle sides on one surface with larger area of the rectangular plate. The method of training the model is a mature technology in the relevant field, so it will not be described in detail in this application.
Step S1023: and obtaining the plane coordinates of preset reference points and the plane coordinates of preset fixed points on each appointed rectangular edge.
The fixed points are fixed distances between the fixed points and the appointed points on the plate image. Preferably, the fixed distance is two units of length. Of course, the adaptation can be performed according to the actual situation.
After a plane coordinate system is established in the plate image, the position of the preset reference point and the two fixed points can be identified through image identification model identification, and then the plane coordinates of the preset reference point and the two fixed points can be determined.
Step S1024: converting plane coordinates of a preset reference point and two fixed points into world coordinates according to a preset conversion rule;
it will be appreciated that, first, a world coordinate system is to be established in the actual scene. And 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 association relation between the plane coordinate system and the world coordinate system is established. The method for converting the plane coordinates into world coordinates is a conventional technical means for those skilled in the relevant art, and therefore will not be described in detail herein.
Step S1025: and judging whether the straight lines determined by the preset reference point and the two fixed points are in an orthogonal relationship according to the world coordinates of the preset reference point and the two fixed points.
Firstly, according to world coordinates of the preset reference point and the two fixed points, space vector coordinates determined by the preset reference point and the two fixed points respectively can be determined, namely after the world coordinates of the preset reference point and the world coordinates of the fixed points are known, the space vector coordinate form formed by the two points, namely the space vector coordinate, can be obtained by subtracting the two world coordinates.
It can be appreciated that since the two adjacent sides of the rectangular plate are vertical, the designated point is in an orthogonal relationship with the straight line defined by one point on each side. When the designated point is aligned with the preset reference point, the designated point coincides with the preset reference point. Based on this, the preset reference point is also in an orthogonal relationship with the straight line defined by one point on each of the two side surfaces. Therefore, whether the appointed point position of the rectangular plate is aligned with the preset reference point position can be known by judging whether the straight lines respectively determined by the preset reference point position and the two fixed point positions are in an orthogonal relation.
Further, the dot product value of the two space vector coordinates is calculated, and whether the dot product value is zero is judged. For example, space vector coordinates A (1, 0, 2) and space vector coordinates B (-2, 1). The dot product value is: 1 (-2) +0.1+2.1=0. Therefore, the two spatial vectors are in an orthogonal relationship.
And outputting a grabbing signal when the appointed point position of the rectangular plate is detected to be aligned with the preset reference point position. The grabbing signal is used for controlling the mechanical arm to grab the rectangular plate placed on the auxiliary alignment platform from the first designated position and move to the second designated position for placement, so that the rectangular plate is placed on the numerical control machine tool.
Otherwise, when the fact that the designated point positions of the rectangular plates are not aligned with the preset reference point positions is detected, based on the posture adjustment model obtained through training, a plate adjustment path is determined according to posture information of the rectangular plates in the plate image.
The posture adjustment model also adopts a deep learning mode to train a large number of training samples. The training sample is a plurality of plate images, and the gesture of the rectangular plate in each plate image is different. Each posture corresponds to a sheet adjustment path. The trained image recognition model can recognize the attitude information of the rectangular plate in the plate image, and then can be matched with the most suitable plate adjustment path.
Step S103: the rectangular plates are grabbed, moved and replaced by the mechanical arm, finally the appointed point positions of the rectangular plates are aligned with the preset reference point positions, the rectangular plates placed on the auxiliary alignment platform can be guaranteed to be identical in grabbed position by the mechanical arm at the first appointed position, and automatic alignment in the plate machining process is achieved.
Of course, the gesture of the rectangular plate placed on the numerical control machine tool can be identified according to the identification method, so that the appointed point position of the rectangular plate is aligned with the preset origin point position on the numerical control machine tool.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (5)
1. An automatic assembly alignment device of a support plate, comprising: a mechanical arm (8) and an auxiliary alignment table (1);
the mechanical arm (8) is used for grabbing the rectangular plate (3) and placing the rectangular plate (3) on the auxiliary butt flush table (1), grabbing the rectangular plate (3) placed on the auxiliary butt flush table (1) from a first appointed position, and moving the rectangular plate (3) to a second appointed position for placing, so that the rectangular plate (3) is placed on the numerical control machine tool;
the auxiliary alignment table (1) comprises an auxiliary mechanism (4) and a frame body (2) for placing the rectangular plate (3), the frame body (2) is provided with a plane for supporting the rectangular plate (3), the plane is an inclined plane (5), and the auxiliary mechanism (4) is arranged on the plane and is used for providing external force for the rectangular plate (3) placed on the plane, so that the specified point of the rectangular plate (3) can be aligned with a preset reference point under the action of the external force;
the device further comprises a visual identification module (6), wherein the visual identification module (6) is arranged on the mechanical arm (8) and is used for detecting whether the appointed point position of the rectangular plate (3) is aligned with a preset reference point position or not and outputting an adjusting signal when the appointed point position of the rectangular plate (3) is not aligned with the preset reference point position;
the mechanical arm (8) is electrically connected with the visual identification module (6) and is used for grabbing the rectangular plate (3) on the inclined surface (5) when receiving the adjustment signal, moving and adjusting the posture of the rectangular plate (3) and placing the rectangular plate (3) so that the appointed point position of the rectangular plate (3) is finally aligned with the preset reference point position;
the controller (7) within the 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 a whole rectangular plate (3);
judging whether the appointed point positions of the rectangular plate (3) are aligned with preset reference point positions 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 through training;
outputting the plate adjusting path to enable the rectangular plate (3) to be grabbed, moved and replaced by the mechanical arm (8), and finally enabling the appointed point position to be aligned with a preset reference point position;
the method for judging whether the appointed point position of the rectangular plate (3) is aligned with the preset reference point position according to the plate image based on the preset detection rule comprises the following steps:
establishing a plane coordinate system in the plate image;
retrieving a trained image recognition model, and recognizing two appointed right-angle edges where the preset reference point and the appointed point are located;
obtaining plane coordinates of the preset reference point and plane coordinates of fixed points preset on each appointed rectangular edge, wherein the fixed points are separated from the appointed points by fixed distances;
converting the plane coordinates of the preset reference point and the two fixed points into world coordinates according to a preset conversion rule;
and judging whether straight lines respectively determined by the preset reference point and the two fixed points are in an orthogonal relationship according to world coordinates of the preset reference point and the two fixed points.
2. The automatic assembly and alignment device for the support plates according to claim 1, wherein the auxiliary mechanism (4) comprises an auxiliary piece (41) and a limiting piece (42), the auxiliary piece (41) is arranged on the plane and is used for providing an external force for the rectangular plate (3) placed on the plane, and the limiting piece (42) is arranged in the direction in which the rectangular plate (3) moves under the action of the external force so as to limit the movement range of the rectangular plate (3).
3. The automatic assembling and aligning device for the support plates according to claim 2, wherein the inclined surface (5) has the lowest height in the vertical direction and only one point, a plurality of placing grooves are uniformly formed in the inclined surface (5), and the auxiliary member (41) comprises a plurality of universal balls, and each universal ball is fixedly arranged in one placing groove.
4. A support-panel auto-assembly alignment device according to claim 3, characterized in that the controller (7) within the robotic arm (8) is further configured to:
the method for judging whether the straight lines respectively determined by the preset reference point and the two fixed points are in an orthogonal relationship according to the world coordinates of the preset reference point and the two fixed points comprises the following steps:
determining space vector coordinates determined by the preset reference point and the two fixed points respectively according to world coordinates of the preset reference point and the two fixed points;
and calculating dot product values of the two space vector coordinates, and judging whether the dot product values are zero.
5. The automatic assembly alignment device of a support plate according to claim 1, characterized in that the controller (7) within the robotic arm (8) is further configured to:
if the appointed point position of the rectangular plate (3) is aligned with the preset reference point position according to the plate image based on the preset detection rule, a grabbing signal is output, and the grabbing signal is used for controlling the mechanical arm (8) to grab the rectangular plate (3) placed on the auxiliary alignment table (1) from the first appointed position and move to the second appointed position to be placed, so that the rectangular plate (3) is placed on the numerical control machine tool.
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| CN106530357A (en) * | 2016-11-30 | 2017-03-22 | 深圳市泰沃德自动化技术有限公司 | Vision alignment control device and calibration method |
| CN108399639A (en) * | 2018-02-12 | 2018-08-14 | 杭州蓝芯科技有限公司 | Fast automatic crawl based on deep learning and arrangement method |
| CN111267095A (en) * | 2020-01-14 | 2020-06-12 | 大连理工大学 | Mechanical arm grabbing control method based on binocular vision |
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| JPH0981244A (en) * | 1995-09-20 | 1997-03-28 | Canon Inc | Work transfer device |
| CN108246908A (en) * | 2017-11-29 | 2018-07-06 | 深圳国创名厨商用设备制造有限公司南海分公司 | A kind of base point location device |
| CN208067868U (en) * | 2018-04-08 | 2018-11-09 | 天津泰格瑞祥仪器设备有限公司 | Position loading system |
| CN110044261A (en) * | 2019-04-22 | 2019-07-23 | 西安外事学院 | A kind of axis is not orthogonal to the free-position hole vision measuring method of end face |
| CN113524194B (en) * | 2021-04-28 | 2023-03-21 | 重庆理工大学 | Target grabbing method of robot vision grabbing system based on multi-mode feature deep learning |
| CN113579761B (en) * | 2021-08-16 | 2022-08-19 | 新疆丝路六合电气科技有限公司 | Full-automatic production line for signboard |
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| CN106530357A (en) * | 2016-11-30 | 2017-03-22 | 深圳市泰沃德自动化技术有限公司 | Vision alignment control device and calibration method |
| CN108399639A (en) * | 2018-02-12 | 2018-08-14 | 杭州蓝芯科技有限公司 | Fast automatic crawl based on deep learning and arrangement method |
| CN111267095A (en) * | 2020-01-14 | 2020-06-12 | 大连理工大学 | Mechanical arm grabbing control method based on binocular vision |
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