Deviation correction method, device, equipment, storage medium, and stacking production line

Abstract

The present invention discloses a deviation correction method, device, equipment, storage medium, and a lamination production line. The method is used for deviation correction equipment, and the method includes: using a camera module to detect the offset distance of the positioning hole on the part to be positioned relative to the target position, the positioning hole includes a first positioning hole and a second positioning hole respectively arranged at both ends of the part to be positioned; when the offset distance does not meet the preset conditions, the moving trajectory of the part to be positioned is determined according to the offset distance, and the moving trajectory includes an arc trajectory and / or a translation trajectory, and the arc trajectory is an arc motion with the first positioning hole or the second positioning hole as the center and the distance between the two holes as the radius; the moving module is controlled to move the positioning hole on the part to be positioned to the target position according to the moving trajectory. The method realizes the precise positioning of the part to be positioned, and in the process of deviation correction, it can ensure that the relative distance between the two pins remains unchanged during the movement, and will not cause extrusion-type damage to the positioning hole of the part to be positioned.

Description

Technical Field

[0001] The present invention relates to the technical field of plate production, and in particular to a deviation correction method, device, equipment and storage medium, and a plate stacking production line. Background Art

[0002] At present, driven by the 5G and artificial intelligence industries, the demand for copper clad laminates is getting higher and higher. There are more and more automated lines for copper clad laminates, but the quality varies. This is mainly because when the automated lines for copper clad laminates are transporting copper clad laminates, it is easy to cause the position of the copper clad laminates to shift and make mistakes, which will affect the subsequent production lines and easily form waste. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, one purpose of the present invention is to propose a correction method, which uses a combination of circular motion and translational motion to achieve accurate positioning of the positioning member to be positioned. During the correction process, it can be ensured that the relative distance between the two pins remains unchanged during the movement, and no extrusion damage is caused to the positioning hole of the positioning member to be positioned.

[0004] The second object of the present invention is to provide a deviation correcting device.

[0005] A third object of the present invention is to provide a computer-readable storage medium.

[0006] The fourth object of the present invention is to provide a correction device.

[0007] A fifth object of the present invention is to provide a plate stacking production line.

[0008] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present invention proposes a correction method for a correction device, the correction device comprising a placement table, a moving module and a camera module, the method comprising: after determining that the part to be positioned is placed on the placement table, using the camera module to detect the offset distance of the positioning hole on the part to be positioned relative to the target position, the positioning hole comprising a first positioning hole and a second positioning hole respectively arranged at both ends of the part to be positioned; when the offset distance does not meet a preset condition, determining the moving trajectory of the part to be positioned according to the offset distance, the moving trajectory comprising an arc trajectory and / or a translation trajectory, the arc trajectory being an arc motion with the first positioning hole or the second positioning hole as the center and the distance between the two holes as the radius; controlling the moving module to move the positioning hole on the part to be positioned to the target position according to the moving trajectory.

[0009] According to the deviation correction method of the embodiment of the present invention, the offset distance of the part to be positioned is calculated and a combination of circular motion and translational motion is used to move the part to be positioned to the target position, thereby achieving precise positioning of the part to be positioned. In the process of deviation correction, it can be ensured that the relative distance between the two pins remains unchanged during the movement, and no extrusion-type damage is caused to the positioning hole of the part to be positioned.

[0010] In addition, the correction method proposed in the above embodiment of the present invention may also have the following additional technical features:

[0011] According to one embodiment of the present invention, before determining that the part to be positioned is placed on the placement table, it also includes: controlling the moving module to move the camera module to an initial position, and using the camera module and / or sensors on the placement table to detect whether the part to be positioned is placed on the placement table.

[0012] According to one embodiment of the present invention, the correction device also includes a pin assembly arranged on the mobile module, and controls the mobile module to move the positioning hole on the part to be positioned to the target position according to the moving trajectory, including: controlling the mobile module to insert the pins in at least two groups of the pin assemblies into the first positioning hole and the second positioning hole respectively; controlling the mobile module to move the pin assembly according to the moving trajectory to drive the part to be positioned to first make a circular motion and then make a translational motion, or first make a translational motion and then make a circular motion, so as to move the positioning hole on the part to be positioned to the target position.

[0013] According to one embodiment of the present invention, the circular arc motion includes: selecting multiple trajectory points on the circular arc trajectory; taking the position of one of the first positioning hole and the second positioning hole as the starting point, keeping the position of the other of the first positioning hole and the second positioning hole unchanged, and controlling the moving module so that the first positioning hole or the second positioning hole as the starting point is linearly translated in sequence through all trajectory points until the end point of the circular arc trajectory.

[0014] According to one embodiment of the present invention, the selecting of multiple trajectory points on the circular arc trajectory includes: determining the number N of trajectory points to be selected, and determining the starting point coordinates and the end point coordinates of the circular arc trajectory, wherein the N trajectory points divide the circular arc trajectory into N+1 equal parts; obtaining the arc angle of the circular arc trajectory according to the starting point coordinates, the end point coordinates and the distance between the first positioning hole and the second positioning hole; dividing the arc angle into N+1 equal parts to obtain N+1 equally divided angles; and calculating the position coordinates of each trajectory point according to the starting point coordinates or the end point coordinates, the equally divided angles, and the distance between the first positioning hole and the second positioning hole.

[0015] According to one embodiment of the present invention, the target position includes a first target coordinate and a second target coordinate, wherein the camera module calculates the offset distance of the part to be positioned relative to the target position, including: the camera module captures a first image of the part to be positioned; obtains the first position coordinates of the first positioning hole and the second position coordinates of the second positioning hole on the part to be positioned according to the first image; and calculates the offset distance of the part to be positioned according to the first position coordinates, the second position coordinates, the first target coordinates and the second target coordinates.

[0016] According to one embodiment of the present invention, the part to be positioned performs circular motion, including: taking one of the first positioning hole and the second positioning hole as the center of the circle and the distance between the first positioning hole and the second positioning hole as the radius, and performing circular motion along the circular trajectory so that the straight line where the first positioning hole and the second positioning hole are located is parallel to the straight line where the first target coordinate and the second target coordinate are located.

[0017] According to one embodiment of the present invention, after the part to be positioned is moved to the target position, it also includes: controlling the pin assembly to withdraw the two pins from the first positioning hole and the second positioning hole; controlling the moving module to move the camera module to the initial position, and using the camera module to detect whether the offset distance of the part to be positioned meets the preset condition; if the preset condition is met, notifying the unloading station to pick up the material; if the preset condition is not met, issuing an alarm prompt message.

[0018] To achieve the above-mentioned purpose, a second aspect of the present invention proposes a correction device, which includes a placement table, a moving module and a camera module, and the device includes: a calculation module, which is used to determine the offset distance of the positioning hole on the part to be positioned relative to the target position after the part to be positioned is placed on the placement table, and uses the camera module to detect the offset distance of the positioning hole on the part to be positioned relative to the target position, and the positioning hole includes a first positioning hole and a second positioning hole respectively arranged at both ends of the part to be positioned; a control module, which is used to determine the moving trajectory of the part to be positioned according to the offset distance when the offset distance does not meet the preset conditions, and the moving trajectory includes an arc trajectory and / or a translation trajectory, and the arc trajectory is an arc motion with the first positioning hole or the second positioning hole as the center and the distance between the two holes as the radius; control the moving module to move the part to be positioned to the target position according to the moving trajectory.

[0019] To achieve the above-mentioned purpose, the third aspect of the present invention proposes a computer-readable storage medium, and when the computer program is executed by a processor, the correction method proposed in the first aspect of the present invention is implemented.

[0020] To achieve the above-mentioned purpose, the fourth embodiment of the present invention proposes a correction device, including a placement table, a moving module, a camera module, and the correction device proposed in the second embodiment of the present invention.

[0021] To achieve the above-mentioned purpose, the fifth embodiment of the present invention proposes a stacking production line, including product plate feeding equipment and pad plate feeding equipment, and the product plate feeding equipment includes the correction equipment proposed in the fourth embodiment of the present invention.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a front view of a deviation correction device according to an embodiment of the present invention;

[0024] Figure 2 is a schematic structural diagram of a mobile module according to an embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of the installation structure of a camera module according to an embodiment of the present invention;

[0026] Figure 4 is an isometric view of a correction device according to an embodiment of the present invention;

[0027] Figure 5 is a flow chart of a deviation correction method according to an embodiment of the present invention;

[0028] Figure 6 is a flow chart of obtaining an offset distance according to an embodiment of the present invention;

[0029] Figure 7 is a flow chart of performing a deviation correction operation according to an embodiment of the present invention;

[0030] Figure 8 The structure of the part to be positioned according to one embodiment of the present invention is a schematic diagram;

[0031] Fig. 9 is a schematic diagram of an embodiment of the present invention, which first performs circular motion and then performs translational motion;

[0032] Fig.10 It is a schematic diagram of an embodiment of the present invention that first performs translational motion and then performs circular motion;

[0033] Fig.11 is a schematic diagram of the decomposition of circular motion of a specific embodiment of the present invention;

[0034] Fig.12 It is a structural schematic diagram of a deviation correction device according to an embodiment of the present invention;

[0035] Fig.13 It is a structural schematic diagram of a deviation correction device according to an embodiment of the present invention;

[0036] Fig.14 It is a structural schematic diagram of a plate stacking production line according to an embodiment of the present invention.

[0037] Description of labels:

[0038] 1000, deviation-correcting equipment; 200, table body; 300, support table; 1, fixed bracket; 2, camera module; 3, placement table; 4, pin assembly; 6, second camera assembly; 7, clamping member; 8, moving module; 9, member to be positioned; 41, pin; 42, first driving mechanism; 81, first moving assembly; 82, second moving assembly; 91, first positioning hole; 92, second positioning hole; 100, deviation-correcting device; 101, calculation module; 102, control module; 2000, stacking production line. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0040] The following will be combined with the instructions attached Figure 1-14 And specific implementation methods are described in detail for the deviation correction method, device, equipment, storage medium, and stacking production line of the embodiments of the present invention.

[0041] The correction method provided in the embodiment of the present invention is used in the correction device 1000. Specifically, Figure 1 and Figure 4 As shown, the correction device 1000 includes a placement table 3, a moving module 8 and a camera module 2.

[0042] In the embodiment of the present invention, the placement table 3 is used to place the part to be positioned 9. The camera module 2 is used to detect the offset distance of the part to be positioned 9 relative to the target position. The moving module 8 is used to drive the movement of the camera module 2 and / or the part to be positioned, and to move the part to be positioned 9 to the target position.

[0043] In an embodiment of the present invention, the camera module 2 is fixed to the mobile module 8 through the fixed bracket 1. Among them, the placement table 3 for placing the part to be positioned 9 is provided on the fixed bracket 1, and the camera module 2 is mounted on the fixed bracket 1 and is located above the placement table 3. The distance between the camera module 2 and the placement table 3 is adjustable to adjust the focal length of the camera module 2 according to the thickness of the part to be positioned 9, so that the imaging of the camera module 2 is clear, so that the correction device 1000 can be applied to plates of different specifications, thereby improving the versatility of the correction device 1000. By way of example, the camera module 2 can adopt a CCD camera.

[0044] In an embodiment of the present invention, the deflection correction device 1000 further includes a support table 300. The support table 300 is used to support the part to be positioned, and is installed on the table body 200 of the deflection correction device 1000. Optionally, the support table 300 is located in the middle of the top of the table body 200.

[0045] In the embodiment of the present invention, there are two movable modules 8 , which are arranged on the platform 200 of the deviation correction device 1000 . The two movable modules 8 are respectively located on both sides of the support platform 300 and are symmetrically arranged.

[0046] In an embodiment of the present invention, Figure 2 As shown, the movable module 8 includes a first movable component 81 and a second movable component 82. The second movable component 82 is movable along a first direction, the first movable component 81 is movably arranged on the second movable component 82 along a second direction perpendicular to the first direction, and the fixed bracket 1 is arranged on the second movable component 82.

[0047] Specifically, Figure 2 As shown, the second moving assembly 82 can be perpendicular to the first moving assembly 81, that is, the first moving assembly 81 and the second moving assembly 82 can be arranged in a cross-shaped manner. In this way, the fixed bracket 1 can be driven by the first moving assembly 81 and the second moving assembly 82 to reach any position in the horizontal plane (the rectangular plane formed by the maximum stroke in the first direction and the second direction). Exemplarily, the first moving assembly 81 can be an X-axis module, and the second moving assembly 82 can be a Y-axis module.

[0048] For better effect, a first fill light source may be provided on the fixing bracket 1, and the first fill light source is located directly below the first camera assembly. A second fill light source may be provided on the placement table 3. During the positioning process, the positioning member 9 may be filled with light by at least one of the first fill light source and the second fill light source.

[0049] In an embodiment of the present invention, the deviation correction device 1000 further includes a second camera assembly 6 , which is disposed on the fixed bracket 1 , and is used to detect whether the front and back sides of the part to be positioned 9 are facing in the correct direction.

[0050] Specifically, the second camera assembly 6 may include an image acquisition device and an image analysis device, the image acquisition device may be a CCD camera, the image acquisition device may acquire an image of the part to be positioned 9, and the image analysis device may analyze the image of the part to be positioned 9 to determine whether the part to be positioned 9 is placed upside down. Thus, by providing the second camera assembly 6, timely adjustments can be made when the part to be positioned 9 is placed in the wrong direction, thereby improving the product qualification rate and reducing the product scrap rate.

[0051] Specifically, an identification mark may be set on the part to be positioned 9, and the identification mark may be a positioning hole. When the part to be positioned 9 arrives at the workstation, if the second camera assembly 6 can take a picture of the identification mark on the part to be positioned 9, it means that the direction is correct; if the identification mark on the part to be positioned 9 cannot be taken, it means that the part to be positioned is placed upside down or rotated 90° or 180°, etc., and the system may alarm and pause.

[0052] In the embodiment of the present invention, the to-be-positioned member 9 is a plate body with positioning holes, for example, a circuit board, a copper-clad board, etc.

[0053] Figure 5 FIG. 1 is a flow chart of a deviation correction method according to an embodiment of the present invention. Figure 5 As shown, the correction methods include:

[0054] S1, after determining that the part to be positioned is placed on the placement table, use a camera module to detect the offset distance of the positioning holes on the part to be positioned relative to the target position, the positioning holes include a first positioning hole and a second positioning hole respectively provided at two ends of the part to be positioned.

[0055] Specifically, due to the displacement of the part 9 to be positioned relative to the target position caused by the conveying structure of the previous station, or due to the different requirements of the unloading station for the position of the part 9 to be positioned, it is necessary to correct the deviation of the part 9 to be positioned relative to the target position. Therefore, it is necessary to determine whether the part 9 to be positioned is placed on the placement table 3, and after determining that the part 9 to be positioned is placed on the placement table 3, use the camera module 2 to detect the displacement distance of the positioning hole on the part 9 to be positioned relative to the target position, so as to determine the moving trajectory of the part 9 to be positioned according to the displacement distance, so as to correct the deviation of the part 9 to be positioned.

[0056] In the embodiment of the present invention, the positioning member 9 is provided with a first positioning hole 91 and a second positioning hole 92. Preferably, the line between the first positioning hole 91 and the second positioning hole 92 is parallel to the side of the positioning member 9, and the first positioning hole 91 and the second positioning hole 92 are bilaterally symmetrical.

[0057] In an embodiment of the present invention, before determining that the part to be positioned is placed on the placement table, it also includes: controlling the moving module to move the camera module to an initial position, and using the camera module and / or sensors on the placement table to detect whether the part to be positioned is placed on the placement table.

[0058] Specifically, the moving module 8 is controlled to move the camera module 2 to the initial position so that the part to be positioned 9 is transferred from the upstream to the placement table 3 .

[0059] As a feasible implementation, the image sensor in the camera module 2 can be used to detect whether the part to be positioned 9 is placed on the placement table 3. Specifically, the image sensor obtains image information on the placement table 3 and transmits the obtained image information to the image processing system, and the image processing system can use the target detection algorithm to detect whether the part to be positioned 9 is located on the placement table 3.

[0060] As another feasible implementation, a pressure sensor or a position sensor can be used to detect whether the part to be positioned 9 is placed on the placement table 3. Specifically, whether the part to be positioned 9 is located on the placement table 3 can be determined based on the signal fed back by the pressure sensor or the position sensor.

[0061] In an embodiment of the present invention, the target position includes a first target coordinate and a second target coordinate.

[0062] Specifically, the part to be positioned 9 can be moved to the target position by setting a positioning mark on the part to be positioned 9. That is, by obtaining the current position of the positioning mark and calculating the offset distance of the part to be positioned 9 according to the target position of the positioning mark, the part to be positioned 9 can be moved to the target position. Figure 8 As shown, the first positioning hole 91 and the second positioning hole 92 on the part to be positioned 9 can be used as positioning marks (the line between the first positioning hole 91 and the second positioning hole 92 is parallel to the side of the part to be positioned, and the first positioning hole 91 and the second positioning hole 92 are symmetrical). The position coordinates of the first positioning hole 91 and the second positioning hole 92 are obtained, and the offset distance is determined according to the target coordinates of the first positioning hole 91 and the second positioning hole 92 to move the part to be positioned 9 to the target position, thereby achieving accurate positioning of the part to be positioned 9.

[0063] As a feasible implementation method, Figure 6 As shown, the camera module calculates the offset distance of the positioning hole on the positioning part relative to the target position, which may include:

[0064] S11, the camera module captures a first image of the part to be positioned;

[0065] S12, obtaining first position coordinates of a first positioning hole and second position coordinates of a second positioning hole on the part to be positioned according to the first image;

[0066] S13, calculating the offset distance of the part to be positioned according to the first position coordinate, the second position coordinate, the first target coordinate, and the second target coordinate.

[0067] Specifically, the camera module can be used to capture the first image of the part to be positioned 9, so as to obtain the first position coordinates of the first positioning hole 91 and the second position coordinates of the second positioning hole 92 according to the first image, and then calculate the offset distance of the part to be positioned 9 according to the target coordinates corresponding to the first positioning hole 91 and the second positioning hole 92.

[0068] S2, when the offset distance does not meet the preset conditions, the moving trajectory of the part to be positioned is determined according to the offset distance, and the moving trajectory includes an arc trajectory and / or a translation trajectory, and the arc trajectory is an arc motion with the first positioning hole or the second positioning hole as the center and the distance between the two holes as the radius.

[0069] In the embodiment of the present invention, the preset condition can be set according to the position accuracy of the member 9 to be positioned.

[0070] S3, controlling the moving module to move the positioning hole on the part to be positioned to the target position according to the moving trajectory.

[0071] In an embodiment of the present invention, the deviation correction device 1000 further includes a pin assembly 4 disposed on the moving module 8 .

[0072] Specifically, Figure 2 As shown, the placement table 3 is provided with a positioning through hole 31, and the pin assembly 4 is arranged below the placement table 3. More specifically, the pin assembly 4 may include: a pin 41 and a first driving mechanism 42, the first driving mechanism 42 is used to drive the pin 41 to move up and down, the pin 41 can penetrate into the positioning through hole 31 on the placement table 3 and the positioning hole on the to-be-positioned member 9 when moving upward, and can be removed from the positioning hole when moving downward.

[0073] In an embodiment of the present invention, the first driving mechanism 42 may include a first driving member and a transfer block, the first driving member and the pin 41 are both connected to the transfer block, and the first driving member and the pin 41 are located on the same side of the transfer block. Optionally, the first driving member may be a cylinder, but is not limited thereto.

[0074] As a feasible implementation method, Figure 7 As shown, controlling the moving module to move the positioning hole on the to-be-positioned part to the target position according to the moving trajectory may include:

[0075] S21, controlling the moving module to insert the pins of at least two groups of pin assemblies into the first positioning hole and the second positioning hole respectively.

[0076] Specifically, according to the first position coordinate of the first positioning hole 91 obtained, the mobile module 8 on one side of the first positioning hole 91 is controlled to move, the first moving component 81 and the second moving component 82 are moved, the pin 41 of the pin component 4 on one side of the first positioning hole 91 is moved below the first positioning hole 91, the pin 41 is driven to move upward by the first driving mechanism 42, and the pin 41 passes through the first positioning hole 91. Similarly, the mobile module 8 and the pin component 4 on one side of the second positioning hole 92 are controlled to pass the pin 41 through the second positioning hole 92. Preferably, the mobile module 8 and the pin component 4 on one side of the first positioning hole 91 and the second positioning hole 92 can move simultaneously. The pins 41 on both sides are passed through the first positioning hole 91 and the second positioning hole 92 of the part 9 to be positioned, so that the mobile module 8 drives the pin 41 to move, so as to move the part 9 to be positioned to the target position.

[0077] For better effect, the deviation correction device 1000 further includes a pressing member 7, which is movably disposed on the fixed bracket 1, and is located above the placement table 3. The pressing member 7 is used to press the part to be positioned 9. Figure 1 As shown, there may be two pressing members 7, and the two pressing members 7 are respectively located on both sides of the camera module 2. The pressing members 7 can press the member to be positioned 9 onto the placement table 3, so that the member to be positioned 9 is fixed relative to the placement table 3. In this way, by providing the pressing members 7, the position of the member to be positioned 9 can be prevented from moving during the process of passing the pin 41, so that the pin 41 can smoothly pass through the positioning hole on the member to be positioned 9.

[0078] S22, controlling the moving module to move the pin assembly according to the moving trajectory to drive the part to be positioned to first make an arc motion and then make a translational motion, or first make a translational motion and then make an arc motion, so as to move the positioning hole on the part to be positioned to the target position.

[0079] In this embodiment, the circular motion may include:

[0080] Select multiple trajectory points on the arc trajectory;

[0081] Taking the second position coordinate of the second positioning hole as the starting point, keeping the first position coordinate of the first positioning hole unchanged, controlling the moving module to make the second positioning hole linearly translate through all trajectory points in sequence until the end point of the arc trajectory.

[0082] In an embodiment of the present invention, multiple trajectory points are selected on an arc trajectory, including: determining the number N of trajectory points to be selected, and determining the starting point coordinates and the end point coordinates of the arc trajectory, wherein the N trajectory points divide the arc trajectory into N+1 equal parts; obtaining the arc angle of the arc trajectory according to the starting point coordinates, the end point coordinates and the distance between the first positioning hole and the second positioning hole; dividing the arc angle into N+1 equal parts to obtain N+1 equally divided angles; and calculating the position coordinates of each trajectory point according to the starting point coordinates or the end point coordinates, the equally divided angles, and the distance between the first positioning hole and the second positioning hole.

[0083] Specifically, Fig.11 As shown, Fig.11 All points in are within the plane formed by the combination of the first moving component 81 and the second moving component 82 of the moving module 8 where the pin is located. Fig.11 As shown, when the pin 41 moves from point A to point D, the arc trajectory of its circular motion is arc AD. Arc AD is an arc with OA as the radius. The following takes the arc AD with a center angle of 90° as an example to explain the decomposition of the circular motion:

[0084] To move the pin 41 from point A to point D, the circular motion can be decomposed into several linear motions. It should be noted that the more segments are decomposed, the closer the running trajectory is to the circular arc. Fig.11 As shown, the arc moving trajectory of arc AD is decomposed into the trajectory of straight line AB plus straight line BC plus straight line CD. The trajectory of arc AD is evenly decomposed into three straight line trajectories, and point-to-point motion is performed.

[0085] The first step is to move the pin along the trajectory of line AB. Let the coordinates of point A be (X, Y), the position of point B be (X1, Y1), and decompose the linear motion into movement in the X direction and the Y direction. The relative distance of movement along the X axis is dx, and the relative distance of movement along the Y axis is dy. Let α be ∠AOB, β be ∠ABE, then:

[0086] dx=Rsinα, dy=sinαtanβ;

[0087] X1=X+dx, Y1=Y-dy.

[0088] It can be seen that when the coordinates of point A, the length of the radius OA of the arc AD, and the angles α and β are known, the coordinates of point B can be calculated.

[0089] After the coordinates of point B are obtained, the mobile module 8 can be directly driven to move the pin 41 to point B. When decomposed into the movement of the first mobile component 81 and the second mobile component 82, the first mobile component 81 moves to the X1 position on the X axis, and the second mobile component 82 moves to the Y1 position on the Y axis.

[0090] The second step is to move the pin 41 to point C along the trajectory of line BC. Assume that the position of point C is (X2, Y2). Calculate the coordinates of point C, such as Figure 8 As shown, the length of BF is the same as dy, and the length of FC is the same as dx. When the arc is rotated counterclockwise by 30°, point B coincides with point A, and point C coincides with point B. Therefore, to calculate the coordinates of point C, first rotate the coordinate system counterclockwise by 30°, calculate the coordinates of point C' based on the coordinates of point B' after the coordinate change, and then rotate the coordinate system clockwise by 30° to convert the coordinates of C' to the coordinates of point C. After calculating the coordinates of point C, directly drive the mobile module 8 to move the pin 41 to point C. Similarly, the coordinates of point D can be calculated. Specifically, the coordinate system can be rotated by 2*30°.

[0091] The more decompositions are made, the smaller the rotation angle is. According to the number of times the coordinate system rotates n, the angle nα that the coordinate system needs to rotate is calculated, where α is ∠AOB.

[0092] Coordinate transformation can be calculated using matrices, so that the coordinate system can be restored by calculating the inverse matrix. The change matrix of the coordinate system, let the angle between a point and the origin and the X-axis be b, take the origin as the center, rotate counterclockwise through a, the length of the line connecting the origin and the point is R, [x, y] is the coordinate before transformation, [X, Y] is the coordinate after transformation.

[0093] X=Rcos(b)

[0094] Y=Rsin(b)

[0095] X=Rcos(a+b)=Rcosacosb-Rsinasinb=xcosa-ysina

[0096] Y=Rsin(a+b)=Rsinacosb+Rcosasinb=xsina+ycosa

[0097] Represented as a matrix:

[0098]

[0099] matrix Matrix G is a rotation matrix. The coordinates of point B are (X1, Y1). After the coordinate system rotates 30°, point B moves to the position of point A. The method for calculating the position of point C is the same as that of point B. The values ​​of dx and dy remain unchanged. After calculating the coordinates of point C1, let the coordinates of point C1 be (X c , Y c ).

[0100] Coordinates of point C: (X2, Y2, 1) = (X c , Y c ,1)G -1 ,

[0101] Similarly, the coordinates of point D are calculated, and then the X-axis and Y-axis are moved to control the moving trajectory of the pin 41. When the arc is decomposed into more segments, the moving trajectory of the pin 41 is closer to the arc.

[0102] As a feasible implementation method, regarding the calculation of the arc angle: after translation, the line between the two positioning holes is OA, but the target position is the straight line OD, so it is necessary to walk the arc AD. The camera sends the relative distance difference between point A (initial coordinates) and point D (target coordinates) (the deviation value in the X direction and the deviation value in the Y direction, respectively) to the PLC. The PLC calculates the coordinates of point A based on the coordinates of point D (the target position is fixed), and then the size of the arc angle ∠AOD can be calculated based on the coordinate value of point O.

[0103] In an embodiment of the present invention, the arc decomposition formula simplifies the calculation of moving trajectory points by using a matrix-changing coordinate system. The simplified calculation formula can increase the computer's operating speed and focus the calculation time on increasing the number of decompositions, so that the arc can be decomposed more smoothly.

[0104] In this embodiment, the arc motion of the part to be positioned may include:

[0105] With one of the first positioning hole and the second positioning hole as the center and the distance between the first positioning hole and the second positioning hole as the radius, an arc motion is performed along the arc trajectory so that the straight line where the first positioning hole and the second positioning hole are located is parallel to the straight line where the first target coordinate and the second target coordinate are located.

[0106] Specifically, Fig. 9 As shown, when making an arc motion first, take one of the first positioning hole 91 and the second positioning hole 92 as the center of the circle, the distance between the first positioning hole 91 and the second positioning hole 92 as the radius, select an arc with a central angle less than 180° as the arc trajectory, and make an arc motion along the arc trajectory so that the straight line where the first positioning hole 91 and the second positioning hole 92 are located is parallel to the straight line where the first target coordinate and the second target coordinate are located, so as to facilitate the translation of the part 9 to be positioned and move the part 9 to be positioned to the target position.

[0107] Specifically, Fig.10 As shown, when a translational motion is performed first, the first positioning hole 91 or the second positioning hole 92 of the part to be positioned 9 will coincide with its corresponding target coordinate position after the translational motion. In order to reduce the number of times the part to be positioned 9 is moved, the positioning hole that coincides with its target coordinate position is taken as the center of the circle, and the distance between the first positioning hole 91 and the second positioning hole 92 is taken as the radius, and an arc motion is performed along the arc trajectory to move to the target position.

[0108] In an embodiment of the present invention, after the part to be positioned is moved to the target position, it may also include: controlling the pin assembly to withdraw the two pins from the first positioning hole and the second positioning hole; controlling the moving module to move the camera module to the initial position, and using the camera module to detect whether the offset distance of the part to be positioned meets the preset conditions; if the preset conditions are met, notifying the unloading station to pick up the material; if the preset conditions are not met, issuing an alarm prompt message.

[0109] Specifically, after the part 9 to be positioned moves to the target position, it can be detected whether the position of the part 9 to be positioned after the deviation correction operation meets the preset conditions. More specifically, after the pin assembly 4 is controlled to withdraw the pin 41 from the first positioning hole 91 and the second positioning hole 92, the mobile module 8 is controlled to move the camera module 2 to the initial position, and the camera module 2 is used to detect whether the offset distance of the part 9 to be positioned meets the preset conditions (the calculation process of the offset distance is as described above). If the preset conditions are met, the material unloading station is notified to pick up the material; if the preset conditions are not met, an alarm prompt message is issued. Verifying the part 9 to be positioned after the deviation correction operation can further reduce the error rate of the position of the part 9 to be positioned, improve the position accuracy of the part 9 to be positioned, reduce the impact on the subsequent production line, and improve the yield rate of the part 9 to be positioned.

[0110] For better effect, a vacuum suction cup is further provided on the support platform 300 for adsorbing the part to be positioned 9 after the part to be positioned 9 is corrected, so as to keep the relative position of the part to be positioned 9 unchanged.

[0111] The correction method provided by the present invention calculates the offset distance of the part to be positioned and adopts a combination of circular motion and translational motion to move the part to be positioned to the target position, thereby achieving accurate positioning of the part to be positioned. In the process of correction, it can be ensured that the relative distance between the two pins remains unchanged during the movement, and no extrusion-type damage is caused to the positioning hole of the part to be positioned.

[0112] The invention provides a deviation correcting device.

[0113] The correction device 100 is used for a correction device 1000 , and the correction device 1000 includes a placement table 3 , a moving module 8 and a camera module 2 . Fig.12 FIG. 1 is a schematic diagram of the structure of a deviation correction device according to an embodiment of the present invention. Fig.12 As shown, the correction device 100 includes a calculation module 101 and a control module 102 .

[0114] Among them, the calculation module 101 is used to determine that after the part to be positioned is placed on the placement table, the camera module is used to detect the offset distance of the positioning holes on the part to be positioned relative to the target position, and the positioning holes include a first positioning hole and a second positioning hole respectively arranged at both ends of the part to be positioned; the control module 102 is used to determine the moving trajectory of the part to be positioned according to the offset distance when the offset distance does not meet the preset conditions, and the moving trajectory includes an arc trajectory and / or a translation trajectory, and the arc trajectory is an arc motion with the first positioning hole or the second positioning hole as the center and the distance between the two holes as the radius; the moving module is controlled to move the part to be positioned to the target position according to the moving trajectory.

[0115] It should be noted that other specific implementations of the correction device of the embodiment of the present invention can refer to the specific implementation of the correction method of the above embodiment of the present invention.

[0116] The correction device of the embodiment of the present invention calculates the offset distance of the part to be positioned and adopts a combination of circular motion and translational motion to move the part to be positioned to the target position, thereby achieving accurate positioning of the part to be positioned, and during the correction process, no extrusion-type damage is caused to the positioning hole of the part to be positioned.

[0117] The present invention also provides a computer-readable storage medium.

[0118] In this embodiment, a computer program is stored on a computer-readable storage medium. The computer program corresponds to the above-mentioned cleaning method of the water purification system. When the computer program is executed by the processor, the above-mentioned correction method is implemented.

[0119] The invention also provides a deviation correction device.

[0120] Fig.13 FIG. 1 is a schematic diagram of the structure of a deviation correction device according to an embodiment of the present invention. Fig.13 As shown, the deflection correction device 1000 includes a placement table 3, a moving module 8, a camera module 2, and the above-mentioned deflection correction device 100.

[0121] The correction device of the embodiment of the present invention calculates the offset distance of the part to be positioned and adopts a combination of circular motion and translational motion to move the part to be positioned to the target position, thereby achieving accurate positioning of the part to be positioned, and in the process of correction, no extrusion-type damage is caused to the positioning hole of the part to be positioned.

[0122] The invention also provides a plate stacking production line.

[0123] Fig.14 FIG. 1 is a schematic diagram of the structure of a plate stacking production line according to an embodiment of the present invention. Fig.14 As shown, the lamination production line 2000 includes a product plate feeding device and a pad plate feeding device, and the product plate feeding device includes the correction device 1000 as described above.

[0124] The stacking production line 2000 of the embodiment of the present invention provides a deviation correction device 1000 in the product plate feeding device to accurately position the product plate, thereby improving the yield rate of the product plate and the processing accuracy.

[0125] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0126] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0127] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0128] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0129] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0130] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0131] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0132] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A deviation correction method, characterized in that: For use in a deviation correction device, the deviation correction device includes a placement table, a moving module and a camera module, and the method includes: After determining that the part to be positioned is placed on the placement table, using the camera module to detect the offset distance of the positioning holes on the part to be positioned relative to the target position, the positioning holes include a first positioning hole and a second positioning hole respectively provided at two ends of the part to be positioned; When the offset distance does not meet the preset condition, the moving trajectory of the to-be-positioned part is determined according to the offset distance, and the moving trajectory includes an arc trajectory and a translation trajectory, and the arc trajectory is an arc motion with the first positioning hole or the second positioning hole as the center and the distance between the two holes as the radius, and the arc motion includes: selecting a plurality of trajectory points on the arc trajectory; taking the position of one of the first positioning hole and the second positioning hole as the starting point, keeping the position of the other of the first positioning hole and the second positioning hole unchanged, and controlling the moving module so that the first positioning hole or the second positioning hole as the starting point is linearly translated through all trajectory points in sequence until the end point of the arc trajectory; The moving module is controlled to move the positioning hole on the to-be-positioned part to the target position according to the moving trajectory.

2. The correction method according to claim 1, characterized in that: Before determining that the part to be positioned is placed on the placement platform, the method further includes: The moving module is controlled to move the camera module to an initial position, and the camera module and / or a sensor on the placement table are used to detect whether the part to be positioned is placed on the placement table.

3. The deviation correction method according to claim 1, characterized in that: The deviation correction device further includes a pin assembly provided on the moving module, and controls the moving module to move the positioning hole on the to-be-positioned part to the target position according to the moving trajectory, including: Controlling the moving module to insert the pins in at least two groups of the pin assemblies into the first positioning holes and the second positioning holes respectively and correspondingly; The moving module is controlled to move the pin assembly according to the moving trajectory to drive the part to be positioned to first make an arc motion and then make a translational motion, or first make a translational motion and then make an arc motion, so as to move the positioning hole on the part to be positioned to the target position.

4. The correction method according to claim 1, characterized in that: The step of selecting a plurality of trajectory points on the circular arc trajectory comprises: Determine the number N of trajectory points to be selected, and determine the starting point coordinates and the end point coordinates of the arc trajectory, wherein the N trajectory points divide the arc trajectory into N+1 equal parts; Obtaining an arc angle of the arc trajectory according to the starting point coordinates, the end point coordinates, and the distance between the first positioning hole and the second positioning hole; Divide the arc angle into N+1 equal parts to obtain N+1 equally divided angles; The position coordinates of each track point are calculated according to the starting point coordinates or the end point coordinates, the bisecting angle, and the distance between the first positioning hole and the second positioning hole.

5. The deviation correction method according to any one of claims 1 to 4, characterized in that: The target position includes a first target coordinate and a second target coordinate, the first target coordinate corresponds to the first positioning hole, and the second target coordinate corresponds to the second positioning hole, wherein the camera module calculates the offset distance of the positioning hole on the part to be positioned relative to the target position, including: The camera module collects a first image of the part to be positioned; Obtaining first position coordinates of the first positioning hole and second position coordinates of the second positioning hole on the part to be positioned according to the first image; The offset distance of the positioning hole on the part to be positioned is calculated according to the first position coordinate, the second position coordinate, the first target coordinate and the second target coordinate.

6. The deviation correction method according to claim 5, characterized in that: The part to be positioned performs circular motion, including: With one of the first positioning hole and the second positioning hole as the center of the circle and the distance between the first positioning hole and the second positioning hole as the radius, an arc motion is performed along the arc trajectory so that the straight line where the first positioning hole and the second positioning hole are located is parallel to the straight line where the first target coordinate and the second target coordinate are located.

7. The deviation correction method according to claim 3, characterized in that: After the part to be positioned is moved to the target position, the method further comprises: Controlling the pin assembly to withdraw the two pins from the first positioning hole and the second positioning hole; Controlling the moving module to move the camera module to an initial position, and using the camera module to detect whether the offset distance of the part to be positioned meets the preset condition; If the preset conditions are met, the material unloading station is notified to pick up the material; If the preset conditions are not met, an alarm prompt message is issued.

8. A deviation correction device, characterized in that: Used in a deviation correction device, the deviation correction device includes a placement table, a moving module and a camera module, and the device includes: a calculation module, for determining, after the part to be positioned is placed on the placement platform, an offset distance of a positioning hole on the part to be positioned relative to a target position detected by the camera module, wherein the positioning hole comprises a first positioning hole and a second positioning hole respectively provided at two ends of the part to be positioned; A control module, used for determining the moving trajectory of the part to be positioned according to the offset distance when the offset distance does not meet the preset conditions, the moving trajectory including an arc trajectory and a translation trajectory, the arc trajectory being an arc motion with the first positioning hole or the second positioning hole as the center and the distance between the two holes as the radius; controlling the moving module to move the part to be positioned to the target position according to the moving trajectory, the arc motion including: selecting a plurality of trajectory points on the arc trajectory; taking the position of one of the first positioning hole and the second positioning hole as the starting point, keeping the position of the other of the first positioning hole and the second positioning hole unchanged, and controlling the moving module so that the first positioning hole or the second positioning hole as the starting point translates linearly through all trajectory points in sequence until the end point of the arc trajectory.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the correction method as described in any one of claims 1 to 7 is implemented.

10. A deviation correction device, characterized in that: It comprises a placement table, a moving module, a camera module, and the deviation correction device as claimed in claim 8.

11. A laminated plate production line, characterized in that: It comprises product sheet feeding equipment and pad sheet feeding equipment, and the product sheet feeding equipment comprises the deviation correction equipment as claimed in claim 10.

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