A Method for Orienting the Three-Dimensional Pattern of a Cup Body

Abstract

The present invention discloses a method for orienting the three-dimensional pattern of a cup body, comprising the following steps: Step 1, randomly invert the cup body on the equipment platform or the production line; Step 2, the grasping mechanism grasps the cup body; Step 3, the rotating mechanism drives the cup body to rotate, and the distance measuring sensor senses whether there is a change in distance on the surface of the cup body. If the condition is met, proceed to Step 5; Step 4, if the condition is not met, the rotating mechanism drives the cup body to continue rotating and the distance measuring sensor continues to detect until the condition is met and then proceed to Step 5; Step 5, the rotating mechanism drives the cup body to continue rotating by a preset angle and then stops rotating. At this time, the midline of the three-dimensional pattern is facing the distance measuring sensor; Step 6, the lifting mechanism drives the rotating mechanism and the grasping mechanism to descend. After the grasping mechanism places the cup body on the equipment platform or the production line and then releases it, the orientation of the cup body is completed. The orientation method of the present invention has no requirements for the placement orientation of the three-dimensional pattern of the cup body, can reduce the labor intensity, improve the production efficiency, and has a wide range of applications.

Description

Technical Field

[0001] The present invention relates to a method for orienting a three-dimensional pattern on a cup body. Background Art

[0002] For products on the market, such as cups, there are three-dimensional patterns on their surfaces, and there are angular positioning requirements between the three-dimensional patterns and components independent of the cup body, such as the cup or the cup bottom. In order to achieve automatic and accurate positioning, an orienting device has been developed. However, the existing orienting devices generally use ccd industrial cameras. After scanning the pattern, the direction and angle of rotation are calculated. In order to be able to scan the pattern, the pattern of the product needs to face the ccd industrial camera. Therefore, in this solution, in the first step, the product needs to be placed in an oriented manner with the pattern facing the ccd industrial camera, which increases the labor intensity and reduces the production efficiency. Moreover, the scanning range of the industrial camera is limited, generally suitable for a range of 15 degrees to the left and right, which has high requirements for the first placement of the product. Summary of the Invention

[0003] The object of the present invention is to provide a method for orienting a three-dimensional pattern on a cup body, which has no requirement for the placement orientation of the three-dimensional pattern on the cup body, can reduce the labor intensity, improve the production efficiency, and has a wide range of applications.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A method for orienting a three-dimensional pattern on a cup body. The orienting device for the three-dimensional pattern used in this method includes a frame and a grasping mechanism for grasping the cup body. A lifting mechanism is fixedly arranged at the top of the frame. The rotating mechanism is fixedly connected to the lower part of the lifting mechanism through a bracket. The grasping mechanism is fixedly connected to the lower part of the rotating mechanism. A distance measuring sensor for sensing the three-dimensional pattern on the cup body is arranged on the frame on one side of the cup body. This method includes the following steps:

[0006] Step 1: Randomly invert the cup body on the equipment platform or the production line, and the three-dimensional pattern on the cup body presents a random arbitrary position;

[0007] Step 2: The lifting mechanism drives the rotating mechanism and the grasping mechanism to descend. After the grasping mechanism grasps the cup body, the lifting mechanism drives it to rise;

[0008] Step 3: The rotating mechanism drives the cup body to rotate through the grasping mechanism, and the distance measuring sensor is started. The distance measuring sensor is arranged on the frame on one side of the cup body. The included angle between the radial lines formed by the gaps between two adjacent three-dimensional pattern units in a specific three-dimensional pattern is preset as a, and the included angle between the radial line of the starting position of the specific three-dimensional pattern and the radial line of its center line is preset as b:

[0009] When the value of a is greater than 0, that is, when the three-dimensional pattern is composed of multiple three-dimensional pattern units:

[0010] When the distance measuring sensor senses a change in the distance on the surface of the cup body and there is no change in the distance within the range of the rotation angle a of the cup body before, the position mark at this time is the starting position of the three-dimensional pattern, and then step five is carried out;

[0011] When the distance measuring sensor senses a change in the distance on the surface of the cup body and the distance measuring sensor also senses a change in the distance on the surface of the cup body within the preset rotation angle a range of the cup body before, then step four is carried out;

[0012] When the value of a is 0, that is, when the three-dimensional pattern is an overall three-dimensional pattern:

[0013] When the distance measuring sensor senses a change in the distance on the surface of the cup body and there is no change in the distance within the range of the rotation angle b of the cup body before, the position mark at this time is the starting position of the three-dimensional pattern, and then step five is carried out;

[0014] Step four: The rotating mechanism drives the cup body to continue rotating through the grasping mechanism until it satisfies that the distance measuring sensor senses a change in the distance on the surface of the cup body and there is no change in the distance within the preset rotation angle a range of the cup body before. The position mark at this time is the starting position of the three-dimensional pattern, and then step five is carried out;

[0015] Step five: The rotating mechanism drives the cup body to continue rotating by an angle b through the grasping mechanism and then stops rotating. At this time, the center line of the three-dimensional pattern is facing the distance measuring sensor;

[0016] Step six: The lifting mechanism drives the rotating mechanism and the grasping mechanism to descend. After the grasping mechanism places the cup body on the equipment platform or the production line and then releases it, the orientation of the cup body is completed.

[0017] The lifting mechanism is a cylinder.

[0018] The distance measuring sensor is a laser distance measuring sensor.

[0019] The rotating mechanism includes a stepping motor, and the rotating shaft of the stepping motor is connected to the grasping mechanism through a coupling.

[0020] The grasping mechanism is a vacuum chuck.

[0021] Compared with the prior art, the beneficial effects of the present invention are: Due to the adoption of the above technical solution, by rotating the cup body, the laser distance measuring sensor can determine the position of the three-dimensional pattern and perform orientation from the change in the distance between the cup body. There is no requirement for the placement orientation of the three-dimensional pattern of the cup body, which can reduce the labor intensity, improve the production efficiency, and have a wide range of applications. Brief Description of the Drawings

[0022] Figure 1 is a three-dimensional structural schematic diagram of the orientation device for the three-dimensional pattern used in the method of the present invention;

[0023] Figure 2Yes Figure 1 is a sectional view;

[0024] Figure 3 is a schematic diagram of a preset angle when the three-dimensional pattern is a three-dimensional text pattern;

[0025] Figure 4 is a schematic diagram of a preset angle when the three-dimensional pattern is an overall three-dimensional pattern. Detailed implementation manner

[0026] In order to make the technical solution of the present invention clearer, the following will combine the attached Figures 1 to 4 , and the present invention will be described in detail. It should be understood that the specific implementation manners described in this specification are only for explaining the present invention and are not intended to limit the protection scope of the present invention.

[0027] The present invention is a method for orienting a three-dimensional pattern of a cup body. The orientation device for the three-dimensional pattern used in this method includes a frame 1 and a grasping mechanism 4 for grasping the cup body 5. A lifting mechanism is fixedly provided at the top of the frame 1. The rotating mechanism is fixedly connected to the lower part of the lifting mechanism through a bracket 7. The grasping mechanism 4 is fixedly connected to the lower part of the rotating mechanism. A distance measuring sensor for sensing the three-dimensional pattern 5-1 on the cup body is provided on the frame 1 on one side of the cup body. It is characterized by including the following steps:

[0028] Step 1: Randomly invert the cup body 5 on the equipment platform or the production line, and the three-dimensional pattern 5-1 on the cup body 5 presents a random arbitrary position;

[0029] Step 2: The lifting mechanism drives the rotating mechanism and the grasping mechanism 4 to descend. After the grasping mechanism 4 grasps the cup body 5, the lifting mechanism drives it to rise;

[0030] Step 3: The rotating mechanism drives the cup body 5 to rotate through the grasping mechanism 4, and the distance measuring sensor is activated. The distance measuring sensor is provided on the frame 1 on one side of the cup body 5. The included angle between the radial lines formed by the gaps between two adjacent three-dimensional pattern units in the specific three-dimensional pattern 5-1 is preset as a, and the included angle between the radial line at the starting position of the specific three-dimensional pattern 5-1 and the radial line of its center line 8 is preset as b:

[0031] When the value of a is greater than 0, that is, when the three-dimensional pattern 5-1 is composed of multiple three-dimensional pattern units (such as a three-dimensional text pattern):

[0032] When the distance measuring sensor senses a change in distance (concave and convex change) on the surface of the cup body 5 and there is no change in distance (for the arc surface of the cup body) within the rotation angle a (for example, 3-10 degrees) of the cup body 5 before, the current position mark is the starting position of the three-dimensional pattern 5-1, and then step 5 is performed (for example, for a three-dimensional text pattern, the a angle is the included angle between the radial lines formed by the gaps between two adjacent characters);

[0033] When the distance measuring sensor senses a change in the distance (concave-convex change) on the surface of the cup body 5 and the cup body 5 has also sensed a change in the distance (concave-convex change) within the preset rotation angle a (e.g., 3 - 10 degrees) before, then step four is carried out;

[0034] When the value of a is 0, that is, when the three-dimensional pattern 5 - 1 is an overall three-dimensional pattern:

[0035] When the distance measuring sensor senses a change in the distance (concave-convex change) on the surface of the cup body 5 and there is no change in the distance (it is the arc surface of the cup body) within the rotation angle b of the cup body 5 before, the position is marked as the starting position of the three-dimensional pattern 5 - 1 at this time, and then step five is carried out;

[0036] Step four: The rotating mechanism drives the cup body 5 to continue rotating through the grasping mechanism 4 until it satisfies that the distance measuring sensor senses a change in the distance (concave-convex change) on the surface of the cup body 5 and there is no change in the distance (it is the arc plane) within the preset rotation angle a (e.g., 3 - 10 degrees) of the cup body 5 before. The position at this time is marked as the starting position of the three-dimensional pattern 5 - 1, and then step five is carried out;

[0037] Step five: The rotating mechanism drives the cup body 5 to continue rotating by an angle b through the grasping mechanism 4 and then stops rotating. At this time, the midline 8 of the three-dimensional pattern 5 - 1 is facing the distance measuring sensor;

[0038] Step six: The lifting mechanism drives the rotating mechanism and the grasping mechanism 4 to descend. After the grasping mechanism 4 places the cup body 5 on the equipment platform or the production line and then releases it, the orientation of the cup body 5 is completed.

[0039] Preferably, the lifting mechanism is a cylinder 2. The distance measuring sensor is a laser distance measuring sensor 6. The rotating mechanism includes a stepping motor 3, and the rotating shaft of the stepping motor 3 is connected to the grasping mechanism 4 through a coupling. The grasping mechanism 4 is a vacuum chuck. The grasping mechanism 4 can also be any mechanism such as a clamping jaw that can grasp the object to be measured, and is used to grasp the object to be measured.

[0040] The three-dimensional pattern 5 - 1 of the present invention can be a protrusion, or a depression, or a combination of a protrusion and a depression on the arc surface of the cup body.

[0041] For a three-dimensional pattern composed of multiple three-dimensional pattern units (such as three-dimensional text patterns), since the cup body 5 is placed randomly, after the cup body 5 is grasped, the mutual relationship between the three-dimensional pattern 5 - 1 on it and the distance measuring sensor has the following four types:

[0042] 1. The distance measuring sensor corresponds to the arc surface of the cup body, and within the rotation of a degrees, it is all the arc surface of the cup body;

[0043] 2. The distance measuring sensor corresponds to the arc surface of the cup body, but within the range of rotating a degrees, the distance change has been sensed, that is, the three-dimensional pattern is within the range of a degrees;

[0044] 3. The distance measuring sensor corresponds to the three-dimensional pattern of the cup body. The laser distance measuring sensor 6 can sense the change in the distance from the reference distance of the arc surface of the cup body, that is, the distance measuring sensor is directly facing the concave and convex parts of the three-dimensional pattern;

[0045] 4. The distance measuring sensor corresponds to the three-dimensional pattern of the cup body. The distance measuring sensor can sense that the distance is consistent with the reference distance of the arc surface of the cup body, that is, although the distance measuring sensor corresponds to the three-dimensional pattern, it may just be on the gap between the concave and convex parts of the three-dimensional pattern;

[0046] For the first case, as long as the rotating mechanism continues to rotate, the moment when the distance measuring sensor senses the distance change can be marked as the initial position. For the other three cases, the stepping motor 3 needs to drive the cup body 5 to continue rotating through the vacuum chuck 4 until it satisfies that the distance measuring sensor senses the distance change on the surface of the cup body 5 and the area within the range of a degrees of rotation of the previous cup body 5 is the arc surface of the cup body (without concave and convex changes). The position at this time is marked as the starting position of the three-dimensional pattern 5-1, so that in various cases, the cup body 5 can be correctly oriented.

Claims

1. A method for orienting a three-dimensional pattern of a cup body. The three-dimensional pattern orienting device used in this method includes a frame (1) and a grasping mechanism (4) for grasping the cup body (5). A lifting mechanism is fixedly provided at the top of the frame (1). The rotating mechanism is fixedly connected to the lower part of the lifting mechanism through a bracket (7). The grasping mechanism (4) is fixedly connected to the lower part of the rotating mechanism. A ranging sensor for sensing the three-dimensional pattern (5-1) on the cup body is provided on the frame (1) on one side of the cup body. It is characterized in that It includes the following steps: Step 1: Randomly invert the cup body (5) on the equipment platform or the production line, and the three-dimensional pattern (5-1) on the cup body (5) presents at random positions; Step 2: The lifting mechanism drives the rotating mechanism and the grasping mechanism (4) to descend. After the grasping mechanism (4) grasps the cup body (5), the lifting mechanism drives it to rise; Step 3: The rotating mechanism drives the cup body (5) to rotate through the grasping mechanism (4), and the ranging sensor is started. The ranging sensor is arranged on the frame (1) on one side of the cup body (5). It is preset that the radial line angle formed by the gap between two adjacent three-dimensional pattern units in the specific three-dimensional pattern (5-1) is a, and the angle between the radial line of the starting position of the specific three-dimensional pattern (5-1) and the radial line of its center line (8) is b: When the value of a is greater than 0, that is, when the three-dimensional pattern (5-1) is composed of multiple three-dimensional pattern units: When the ranging sensor senses a change in distance on the surface of the cup body (5) and there is no change in distance within the rotation angle a of the cup body (5) before, the current position mark is the starting position of the three-dimensional pattern (5-1), and then step 5 is carried out; When the ranging sensor senses a change in distance on the surface of the cup body (5) and the ranging sensor also senses a change in distance on the surface of the cup body (5) within the preset rotation angle a of the cup body (5) before, then step 4 is carried out; When the value of a is 0, that is, when the three-dimensional pattern (5-1) is an integral three-dimensional pattern: When the ranging sensor senses a change in distance on the surface of the cup body (5) and there is no change in distance within the rotation angle b of the cup body (5) before, the current position mark is the starting position of the three-dimensional pattern (5-1), and then step 5 is carried out; Step 4: The rotating mechanism drives the cup body (5) to continue rotating through the grasping mechanism (4) until it meets the condition that the ranging sensor senses a change in distance on the surface of the cup body (5) and there is no change in distance within the preset rotation angle a of the cup body (5) before. The current position mark is the starting position of the three-dimensional pattern (5-1), and then step 5 is carried out; Step 5: The rotating mechanism drives the cup body (5) to continue rotating by an angle b and then stops rotating. At this time, the center line (8) of the three-dimensional pattern (5-1) is directly facing the ranging sensor; Step 6: The lifting mechanism drives the rotating mechanism and the grasping mechanism (4) to descend. After the grasping mechanism (4) places the cup body (5) on the equipment platform or the production line and then releases it, the orientation of the cup body (5) is completed.

2. The method for orienting the three-dimensional pattern of the cup body according to claim 1, wherein: The lifting mechanism is a cylinder (2).

3. The orientation method of the three-dimensional pattern of the cup body according to claim 1, characterized in that: The ranging sensor is a laser ranging sensor (6).

4. The orientation method of the three-dimensional pattern of the cup body according to claim 1, wherein: The rotating mechanism includes a stepping motor (3), and the rotating shaft of the stepping motor (3) is connected to the grasping mechanism (4) through a coupling.

5. The orientation method of the three-dimensional pattern of the cup body according to claim 1, wherein: The grasping mechanism (4) is a vacuum chuck.

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