Locking equipment debugging method and tooling

Abstract

The present invention relates to a locking device debugging method and tooling. The locking device debugging method is used for debugging the locking device and includes the following steps: using the locking device debugging tooling to calibrate the visual recognition component and the three-axis component of the mother machine to obtain the deviation value between the image coordinates and physical coordinates of the mother machine; using the locking device debugging tooling to obtain the deviation value between the image coordinates and physical coordinates of the replica machine; calculating the difference between the deviation value of the mother machine and the deviation value of the replica machine, and compensating the difference into the PLC of the three-axis component of the replica machine; and respectively detecting and calculating the deviation value between the image coordinates and physical coordinates of the mother machine and the replica machine, and feeding the difference of the deviation value back to the PLC of the three-axis component of the replica machine, so that after the feedback, the replica machine can directly apply the product pattern template produced by the mother machine for production without having to separately produce the product template, thereby effectively improving debugging efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field related to locking equipment, and in particular to a locking equipment debugging method and tooling. Background Art

[0002] Some locking devices have a visual recognition component (such as a camera) fixed relative to the screw bit. When working, the visual recognition component identifies the image coordinates of the screw hole and drives the screw bit to the corresponding screw hole position through the drive component to operate, thereby improving operational stability and production yield;

[0003] However, since the image coordinates of the visual recognition component do not correspond one-to-one with the physical coordinates of the driver component corresponding to the screw hole position, the image coordinates and physical coordinates need to be calibrated before the locking device leaves the factory to ensure that the locking device can accurately move the bit to the product screw hole position based on the image template produced by the visual recognition component;

[0004] However, the visual recognition component is prone to offset or error during installation, resulting in different locking devices having different relative positional relationships between the visual recognition component and the bit;

[0005] Therefore, at present, for different locking devices, each locking device needs to be debugged separately and a corresponding product template needs to be made. The debugging and template making process is cumbersome and is mostly completed manually, which will have a great impact on production efficiency. Summary of the Invention

[0006] Based on this, it is necessary to provide a locking equipment debugging method and tooling that can simplify the debugging work and improve production efficiency for three-axis locking equipment with visual recognition components. Different locking equipment needs to be debugged separately and corresponding templates need to be made, which leads to low production efficiency.

[0007] The present invention first provides a locking device debugging method for debugging the locking device, comprising the steps of:

[0008] a) Using the visual recognition component of the mother machine to photograph the standard hole of the locking device debugging fixture to obtain an image of the standard hole photographed by the visual recognition component and extract the image coordinates in the image;

[0009] b). Adjust the three-axis assembly of the mother machine until the bit of the mother machine moves to each hole position of the standard hole of the locking equipment debugging fixture in order to obtain the physical coordinates of the three-axis assembly when the bit is in each hole position;

[0010] c) Calibrate the visual recognition component and the three-axis component of the mother machine by using the image coordinates and the physical coordinates to obtain the deviation value between the image coordinates and the physical coordinates of the mother machine;

[0011] d) By means of the locking device debugging fixture, an image of the standard hole captured by the visual recognition component of the replicator is obtained, and the image coordinates in the image are extracted;

[0012] e) Adjust the three-axis assembly of the duplicator until the bit of the duplicator moves to the preset positions for the debugging of the locking device in order to obtain the physical coordinates of the three-axis assembly when the bit is in each hole position;

[0013] f) Calibrate the visual recognition component and the three-axis component of the replicator by using the image coordinates and the physical coordinates to obtain the deviation between the image coordinates and the physical coordinates of the replicator;

[0014] g). Calculate the difference between the deviation value of the master machine and the deviation value of the replica machine, and compensate the difference into the PLC of the three-axis component of the replica machine.

[0015] In one embodiment, before step a and step d, the method includes the following steps:

[0016] h). Obtain the movement error of the three-axis component by using the grating moving block;

[0017] i) Feedback the movement error to the PLC of the three-axis assembly of the corresponding locking device.

[0018] The above-mentioned locking equipment debugging method uses the same locking equipment debugging tooling to respectively detect and calculate the deviation values ​​between the image coordinates and physical coordinates of the master machine and the replica machine, and feeds back the difference of the deviation values ​​to the PLC of the three-axis component of the replica machine, so that the deviation value of the replica machine after feedback is equal to that of the master machine. Therefore, the replica machine can directly apply the product pattern template made by the master machine for production without the need to make the product template separately, which effectively reduces the debugging steps of the locking equipment and increases the debugging efficiency.

[0019] In one embodiment, the step h further includes the following steps:

[0020] Move the three-axis assembly until the bit is inserted into the socket of the grating moving block;

[0021] Move the grating moving block, and drive the bit to move together with the grating moving block;

[0022] Compare the movement of the grating moving block and the movement of the bit to obtain the movement error of the three-axis assembly.

[0023] It can be understood that the grating moving block can detect its own actual movement amount, and by comparing the actual movement amount with the coordinate difference before and after movement in the three-axis component control system, the movement amount error of the three-axis component can be obtained.

[0024] In one embodiment, the step a further comprises the following steps:

[0025] Move the three-axis component of the mother machine until the recognition range of the visual recognition component covers the standard block, and the visual recognition component captures a visual image of the standard block;

[0026] The control system of the mother machine obtains the verticality of the visual recognition component according to the visual image of the standard block, and records the movement trajectory of the three-axis component when the visual recognition component moves to the position as the first movement program;

[0027] When the verticality meets the preset value, the three-axis assembly of the mother machine is moved until the recognition range of the visual recognition assembly covers the standard hole, and the visual recognition assembly captures a visual image of the standard hole;

[0028] The control system of the mother machine calculates the image coordinates of each hole position of the standard hole based on the visual image of the standard hole, and records the movement trajectory of the three-axis component when the visual recognition component moves to the position as the second movement program.

[0029] It can be understood that the size of the standard block and its position on the locking equipment debugging tooling are fixed. By photographing the visual recognition component to obtain the size of the standard block in the visual image of the standard block, and comparing and calculating it with the actual size of the standard block, the installation verticality of the visual recognition component can be obtained, thereby avoiding the impact of the verticality problem of the visual recognition component on the subsequent calibration between the visual recognition component and the three-axis component.

[0030] In one embodiment, the step d further comprises the following steps:

[0031] The control system of the replicator executes a first movement program to obtain the verticality of the visual recognition component;

[0032] When the verticality meets the preset condition, the control system of the replica machine executes the second movement program to obtain a visual image of the standard hole captured by the visual recognition component of the replica machine;

[0033] The control system of the replicator calculates the image coordinates of each hole position of the standard hole based on the visual image of the standard hole.

[0034] It can be understood that since the process of photographing the standard block or standard hole only requires that the recognition range of the visual recognition component cover the standard block or standard hole, and the recognition range of the visual recognition component is much larger than the standard block or standard hole, therefore, even if there is a certain error in the installation position and angle of the visual recognition component of the master machine and the copy machine, during the corresponding photographing process of the copy machine, after executing the first or second movement program, the visual recognition component can be moved to a position that meets the photographing requirements, and there is no need for staff to manually move the position of the visual recognition component of the copy machine, which reduces manual operations during the calibration process and increases the overall debugging efficiency.

[0035] In one embodiment, after step c, the method further comprises the following steps:

[0036] j). Make product pattern templates by calibrating the master machine and the locking equipment debugging tooling;

[0037] k). Copy the product pattern template produced by the master machine to the control system of each copy machine.

[0038] In one embodiment, the step j further includes the following steps:

[0039] Move the three-axis assembly of the mother machine until the recognition range of the visual recognition component covers the model features of the locking equipment debugging fixture. At this time, the model area is the shooting range of the visual recognition component;

[0040] By adjusting the edge threshold and length threshold, the model area can be reduced while the feature points of the model features are framed, until the model area selects the feature outline of the model features;

[0041] The pattern search area is set based on the model area. The pattern search area is the completed product pattern template.

[0042] The second aspect of the present invention provides a locking equipment debugging tool, including a base, on which a Z-axis tool setting instrument, a standard block and a grating moving block are arranged. The base is also provided with a standard hole. The Z-axis tool setting instrument and the standard block are both fixed to the base, and the grating moving block is movably arranged on the base.

[0043] In one embodiment, the length and width of the standard block are both 20 mm, and a through hole with a diameter of 5 mm is vertically opened in the center of the standard block.

[0044] In one embodiment, the standard hole includes five hole positions, four of which are arranged in a two-by-two shape, and another hole position is located at the center of the other four hole positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 A schematic diagram of the steps of the locking device debugging method of the present invention;

[0047] Figure 2Schematic diagram of the steps of movement error compensation in the locking device debugging method of the present invention;

[0048] Figure 3 for Figure 2 Schematic diagram of the steps to obtain the movement error;

[0049] Figure 4 for Figure 1 Schematic diagram of the steps for obtaining the standard hole image coordinates of the mother machine;

[0050] Figure 5 for Figure 1 Schematic diagram of the steps for obtaining the standard hole image coordinates of the replicator;

[0051] Figure 6 for Figure 1 Schematic diagram of the steps for making product pattern templates;

[0052] Figure 7 A schematic diagram of the three-dimensional structure of a locking device and a debugging tool for the locking device of the present invention;

[0053] Figure 8 This is a schematic top view of the structure of the locking device debugging tool of the present invention;

[0054] Figure numerals: 10, base; 11, Z-axis tool setter; 12, standard block; 121, positioning hole; 13, grating moving block; 131, socket; 14, standard hole; 15, grating scale; 20, three-axis assembly; 21, visual recognition assembly; 22, bit. DETAILED DESCRIPTION

[0055] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0056] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation method.

[0057] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0058] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it can mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it can mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. When a first feature is "below," "below," or "below" a second feature, it can mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is lower in level than the second feature.

[0059] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more of the relevant listed items.

[0060] See also Figure 1 As shown, the present application provides a locking device debugging method for debugging a locking device, comprising the steps of:

[0061] S200. The visual recognition component of the mother machine is used to shoot the standard hole of the locking device debugging tooling to obtain an image of the standard hole shot by the visual recognition component and extract the image coordinates in the image;

[0062] S300. Adjust the three-axis assembly of the mother machine until the bit of the mother machine moves to each hole position of the standard hole of the locking device debugging fixture in order to obtain the physical coordinates of the three-axis assembly when the bit is in each hole position;

[0063] S400. By means of the image coordinates and the physical coordinates, the visual recognition component of the mother machine and the three-axis component are calibrated to obtain the deviation value between the image coordinates and the physical coordinates of the mother machine;

[0064] S501. By calibrating the completed mother machine and locking equipment debugging tooling, make product pattern templates;

[0065] S502. The product pattern template produced by the master machine is copied to the control system of each copy machine;

[0066] S600. By locking the device to debug the fixture, obtain the image of the standard hole captured by the visual recognition component of the replica machine and extract the image coordinates in the image;

[0067] S700. Adjust the three-axis assembly of the replicator until the batch head of the replicator is moved to the preset positions for the locking device debugging work to obtain the physical coordinates of the three-axis assembly when the batch head is in each hole position;

[0068] S800. By means of the image coordinates and the physical coordinates, the visual recognition component of the replicator and the three-axis component are calibrated to obtain the deviation value between the image coordinates and the physical coordinates of the replicator;

[0069] S900. Calculate the difference between the deviation value of the master machine and the deviation value of the replica machine, and compensate the difference to the PLC of the three-axis assembly of the replica machine;

[0070] PLC stands for Programmable Logic Controller in English and Programmable Logic Controller in Chinese. It is a programmable memory that stores instructions for performing operations such as logical operations, sequential control, timing, counting, and arithmetic operations. It controls various types of mechanical equipment or production processes through digital or analog input and output.

[0071] After the above-mentioned difference is compensated to the PLC of the three-axis component of the replica machine, the deviation value between the image coordinates of the visual recognition component of the replica machine and the physical coordinates of the three-axis component is equal to the deviation value of the master machine. Therefore, the replica machine can directly apply the product pattern template of the master machine for production without the need to make a separate product template, effectively reducing the debugging steps of the locking equipment and increasing debugging efficiency.

[0072] Please refer to Figure 2 As shown, before step S200 and step S700, the following steps are included:

[0073] S101. By moving the grating block, the movement error of the three-axis component is obtained;

[0074] The movement error of the three-axis component is the difference between the coordinate difference in the control system before and after the movement of the three-axis component and the actual movement of the three-axis component;

[0075] S102. Feedback the movement error to the corresponding PLC of the three-axis assembly of the locking device;

[0076] By feeding back the movement error of the three-axis component to the PLC of the three-axis component, it is possible to avoid the situation where the physical coordinates of the three-axis component and the image coordinates of the visual recognition component still do not match after calibration due to the movement error.

[0077] See also Figure 3 As shown, in the step S101, the following steps are also included:

[0078] S1011. Move the three-axis assembly to the batch head and insert it into the jack of the grating moving block;

[0079] So that when the grating moving block moves, the bit can move with it, and the actual movement of the two is the same. Since the bit is fixed to the three-axis assembly, the actual movement of the grating moving block is the same as the actual movement of the three-axis assembly.

[0080] S1012. Move the grating moving block and drive the batch head to move together through the grating moving block;

[0081] S1013. Compare the movement of the grating moving block and the movement of the batch head to obtain the movement error of the three-axis assembly;

[0082] The grating moving block can detect its actual movement amount. By comparing the actual movement amount with the coordinate difference before and after movement in the three-axis component control system, the movement amount error of the three-axis component can be obtained.

[0083] See also Figure 4 As shown, in the step S200, the following steps are also included:

[0084] S201. The three-axis component of the mobile machine is covered by the recognition range of the visual recognition component, and the visual recognition component captures a visual image of the standard block;

[0085] S202. The control system of the mother machine obtains the verticality of the visual recognition component according to the visual image of the standard block, and records the movement trajectory of the three-axis component when the visual recognition component is moved to the position as the first mobile program;

[0086] The size of the standard block and its position on the locking equipment debugging fixture are fixed. By taking a picture of the standard block with the visual recognition component and comparing the size of the standard block in the visual image with the actual size of the standard block, the verticality of the visual recognition component can be obtained.

[0087] S203. When the verticality meets the preset value, the three-axis assembly of the mobile machine is moved to the recognition range of the visual recognition component covering the standard hole, and the visual recognition component captures a visual image of the standard hole;

[0088] On the contrary, when the verticality does not meet the preset value, the debugging process is interrupted, and the installation angle of the visual recognition component is adjusted until the verticality meets the preset value, so as to avoid the verticality problem of the visual recognition component affecting the subsequent calibration between the visual recognition component and the three-axis component;

[0089] S204. The control system of the mother machine calculates the image coordinates of each hole position of the standard hole based on the visual image of the standard hole, and records the movement trajectory of the three-axis component when the visual recognition component moves to the position as the second movement program.

[0090] See also Figure 5 As shown, in the step S600, the following steps are also included:

[0091] S601. The control system of the replicator executes a first movement program to obtain the verticality of the visual recognition component;

[0092] Since the process of photographing the standard block only requires the recognition range of the visual recognition component to cover the standard block, and the recognition range of the visual recognition component is much larger than the standard block, even if there is a certain error in the installation position and angle of the visual recognition components of the master machine and the replica machine, during the verticality detection process of the replica machine, after executing the first movement program, the visual recognition component can be moved to a position that meets the photographing requirements, eliminating the need for manual movement of the visual recognition component of the replica machine, thereby reducing manual operations during the calibration process and increasing overall debugging efficiency;

[0093] S602. When the verticality meets the preset conditions, the control system of the replicator executes the second movement program to obtain a visual image of the standard hole captured by the visual recognition component of the replicator;

[0094] Similar to photographing the standard block, since photographing each position of the standard hole only requires the visual recognition component's recognition range to cover the standard hole, and the visual recognition component's recognition range is much larger than the standard hole, even if there is a certain error in the installation position and angle of the visual recognition components of the master machine and the replica machine, during the verticality detection process of the replica machine, after executing the second movement program, the visual recognition component can be moved to a position that meets the photographing requirements, thereby increasing the efficiency of the debugging process;

[0095] S603. The control system of the replicator calculates the image coordinates of each hole position of the standard hole based on the visual image of the standard hole.

[0096] See also Figure 6 As shown, in the step S501, the following steps are also included:

[0097] S5011. Move the three-axis assembly of the mother machine until the recognition range of the visual recognition component covers the model features of the locking device debugging tooling. At this time, the model area is the shooting range of the visual recognition component;

[0098] S5012. By adjusting the edge threshold and the length threshold, the model area is reduced while being able to frame the feature points of the model features until the model area selects the feature outline of the model features;

[0099] By manually selecting more useful feature profile information, the amount of data for edge computing can be greatly reduced;

[0100] S5013. The pattern search area is set based on the model area. The pattern search area is the completed pattern template;

[0101] The pattern search area is obtained by proportionally enlarging the pattern template. Usually, the area of ​​the pattern search area is about four times the size of the training area.

[0102] The second aspect of the present invention provides a locking device debugging tool, please refer to Figure 7 As shown, it includes a base 10, on which a Z-axis tool setter 11, a standard block 12 and a grating moving block 13 are arranged. The base 10 also has a standard hole 14. The Z-axis tool setter 11 and the standard block 12 are fixed on the base 10, and the grating moving block 13 is movably arranged on the base 10.

[0103] exist Figure 7 In the embodiment shown, a grating ruler 15 is rotatably connected to the base 10, a grating connecting block is fixed to the grating ruler, and a top surface of the grating moving block is provided with an insertion hole 131 for the screwdriver bit 22 to be inserted into.

[0104] exist Figure 8 In the embodiment shown, the length and width of the standard block 12 are both 20 mm, and a positioning hole 121 with a diameter of 5 mm is vertically opened through the center of the standard block 12;

[0105] By opening a positioning hole 121 with a fixed diameter at the center of the standard block 12 on the standard block 12, the reference objects and reference sizes for judging the verticality of the visual recognition component 21 can be increased after the visual recognition component 21 captures the visual image, thereby increasing the accuracy of verticality judgment.

[0106] exist Figure 8 In the illustrated embodiment, the standard hole 14 includes five hole positions, four of which are arranged in a two-by-two configuration, and another hole position is located in the center of the other four hole positions;

[0107] This is so as to complete the calibration between the image coordinates of the visual recognition component 21 and the physical coordinates of the three-axis component 20 through the principle of the nine-point calibration method.

[0108] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0109] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of patent protection for the present application shall be determined by the appended claims.

Claims

1. A method for debugging a locking device, used for debugging a locking device, characterized in that: The method is implemented using a locking device debugging tool, wherein the locking device debugging tool comprises a base (10), the base (10) is provided with a Z-axis tool setting instrument (11), a standard block (12) and a grating moving block (13), the base (10) is further provided with a standard hole (14), the Z-axis tool setting instrument (11) and the standard block (12) are both fixedly mounted on the base (10), and the grating moving block (13) is movably mounted on the base (10); The locking device debugging method comprises the following steps: a) Using the visual recognition component of the mother machine to photograph the standard hole of the locking device debugging fixture to obtain an image of the standard hole photographed by the visual recognition component and extract the image coordinates in the image; b). Adjust the three-axis assembly of the mother machine until the bit of the mother machine moves to each hole position of the standard hole of the locking equipment debugging fixture in order to obtain the physical coordinates of the three-axis assembly when the bit is in each hole position; c) Calibrate the visual recognition component and the three-axis component of the mother machine by using the image coordinates and the physical coordinates to obtain the deviation value between the image coordinates and the physical coordinates of the mother machine; d) By means of the locking device debugging fixture, an image of the standard hole captured by the visual recognition component of the replicator is obtained, and the image coordinates in the image are extracted; e) Adjust the three-axis assembly of the duplicator until the bit of the duplicator moves to the preset positions for the debugging of the locking device in order to obtain the physical coordinates of the three-axis assembly when the bit is in each hole position; f) Calibrate the visual recognition component and the three-axis component of the replicator by using the image coordinates and the physical coordinates to obtain the deviation between the image coordinates and the physical coordinates of the replicator; g). Calculate the difference between the deviation value of the master machine and the deviation value of the replica machine, and compensate the difference into the PLC of the three-axis component of the replica machine.

2. The locking device debugging method according to claim 1, characterized in that: Before step a and step d, the method includes the following steps: h) Obtain the movement error of the three-axis component by using the grating moving block; i) Feedback the movement error to the PLC of the three-axis assembly of the corresponding locking device.

3. The locking device debugging method according to claim 2, characterized in that: In the step h, the method further comprises the following steps: Move the three-axis assembly until the bit is inserted into the socket of the grating moving block; Move the grating moving block, and drive the bit to move together with the grating moving block; Compare the movement of the grating moving block and the movement of the bit to obtain the movement error of the three-axis assembly.

4. The locking device debugging method according to claim 1, characterized in that: In step a, the method further comprises the following steps: Move the three-axis component of the mother machine until the recognition range of the visual recognition component covers the standard block, and the visual recognition component captures a visual image of the standard block; The control system of the mother machine obtains the verticality of the visual recognition component according to the visual image of the standard block, and records the movement trajectory of the three-axis component when the visual recognition component moves to the position as the first movement program; When the verticality meets the preset value, the three-axis assembly of the mother machine is moved until the recognition range of the visual recognition assembly covers the standard hole, and the visual recognition assembly captures a visual image of the standard hole; The control system of the mother machine calculates the image coordinates of each hole position of the standard hole based on the visual image of the standard hole, and records the movement trajectory of the three-axis component when the visual recognition component moves to the position as the second movement program.

5. The locking device debugging method according to claim 4, characterized in that: In the step d, the method further comprises the steps of: The control system of the replicator executes a first movement program to obtain the verticality of the visual recognition component; When the verticality meets the preset condition, the control system of the replica machine executes the second movement program to obtain a visual image of the standard hole captured by the visual recognition component of the replica machine; The control system of the replicator calculates the image coordinates of each hole position of the standard hole based on the visual image of the standard hole.

6. The locking device debugging method according to claim 1, characterized in that: After step c, the method further comprises the following steps: j). Make product pattern templates by calibrating the master machine and the locking equipment debugging tooling; k). Copy the product pattern template produced by the master machine to the control system of each copy machine.

7. The locking device debugging method according to claim 6, characterized in that: In the step j, the steps are further included: Move the three-axis assembly of the mother machine until the recognition range of the visual recognition component covers the model features of the locking equipment debugging fixture. At this time, the model area is the shooting range of the visual recognition component; By adjusting the edge threshold and length threshold, the model area can be reduced while the feature points of the model features are framed, until the model area selects the feature outline of the model features; The pattern search area is set based on the model area. The pattern search area is the completed product pattern template.

8. The locking device debugging method according to claim 1, characterized in that: The length and width of the standard block (12) are both 20 mm, and a through hole (121) with a diameter of 5 mm is vertically penetrated through the center of the standard block (12).

9. The locking device debugging method according to claim 1, characterized in that: The standard hole (14) includes five hole positions, four of which are arranged in a two-by-two shape, and another hole position is located at the center of the other four hole positions.

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