Mold calibration method, device and vulcanization system

Abstract

The present invention discloses a mold calibration method, a mold calibration device, and a vulcanization system. The mold calibration method includes determining mold reference coordinates, which are the coordinates of the installed reference mold in a first coordinate system; determining mold reference coordinates located outside the mold installation position in the first coordinate system and a movement path from the mold reference coordinates to the mold reference coordinates; placing a calibration piece capable of identifying coordinates on the reference mold; moving the calibration piece according to the movement path; identifying the first coordinates of the calibration piece in a second coordinate system; placing the calibration piece on a replacement mold; moving the calibration piece according to the movement path; identifying the second coordinates of the calibration piece in the second coordinate system; and calibrating the coordinates of the replacement mold based on the coordinate deviation between the second coordinate and the first coordinate and the mold reference coordinates. The present invention solves the problems of large errors and low efficiency in coordinate calibration of replacement molds by transferring the coordinates of the mold to coordinates within an external coordinate system and calibrating the coordinates of the replacement mold, thereby improving calibration efficiency and accuracy.

Description

Technical Field

[0001] The present invention belongs to the technical field of production equipment, and in particular relates to a mold calibration method, a device and a vulcanization system. Background Art

[0002] In the current production process for pharmaceutical rubber stoppers, the vulcanizing mold in the vulcanizing press needs to be regularly replaced. The spatial position of the replaced mold in the specified coordinate system inevitably deviates from the original mold's position. This deviation can cause the robot's positioning during loading and unloading within the vulcanizing press to shift, affecting the accuracy of material placement and gripping. Therefore, after mold replacement, the position must be recalibrated to ensure the robot can accurately place and grip materials.

[0003] Currently, calibration after each mold change is performed by installing an auxiliary positioning structure on the robot and manually aligning the auxiliary positioning structure with the mold's four corners to obtain the mold's position coordinates. These coordinates are then compared with the previous four corner coordinates for calibration. Since each mold change requires repeated installation and removal of the auxiliary positioning structure and manual alignment of the auxiliary positioning structure with the mold's four corners within the vulcanizer, this is not only inefficient, but also disassembly and assembly errors affect calibration accuracy, resulting in poor calibration stability. Summary of the Invention

[0004] The present invention provides a mold calibration method, device and vulcanization system. By transferring the coordinates of the mold inside the machine to the coordinates in the coordinate system outside the machine, the coordinates of the replacement mold are calibrated, thereby solving the problems of small space in the vulcanizer, large error in mold replacement coordinate calibration and low efficiency, and improving calibration efficiency, accuracy and stability.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A mold calibration method, comprising:

[0007] Determine the mold reference coordinates, which are the coordinates of the installed reference mold in the first coordinate system;

[0008] Determining a mold reference coordinate located outside the mold installation position and a moving path from the mold reference coordinate to the mold reference coordinate in the first coordinate system;

[0009] Setting a second coordinate system; placing a calibration piece with identifiable coordinates on the reference mold; moving the calibration piece according to the movement path; identifying the coordinates of the calibration piece in the second coordinate system and recording them as first coordinates;

[0010] Placing the calibration piece on the installed replacement mold; moving the calibration piece according to the moving path; identifying the coordinates of the calibration piece in the second coordinate system, recording them as second coordinates;

[0011] The coordinates of the replaced mold that has been installed are calibrated according to the coordinate deviation between the second coordinate and the first coordinate and the mold reference coordinate.

[0012] In one embodiment,

[0013] The reference mold is a mold that is installed at the installation position for the first time;

[0014] The first coordinate system is a robot coordinate system; the mold reference coordinates are read by the robot after manually operating the robot to correspond to the reference mold.

[0015] In one embodiment, when the calibration piece is placed on the installed reference mold or the replacement mold, the center position of the calibration piece corresponds to the center position of the reference mold and the replacement mold.

[0016] In one embodiment, the mold base coordinates, the mold reference coordinates, the first coordinates, and the second coordinates all include x-direction coordinates, y-direction coordinates, and rotation angles in the xy plane.

[0017] In some embodiments, the calibration piece includes a flat plate structure, and a plurality of identification points are provided on one side surface of the flat plate structure; when the calibration piece is placed on the reference mold or the replacement mold, the side of the flat plate structure on which the plurality of identification points are provided faces upward; the first coordinate and the second coordinate are obtained by taking a photo of the calibration piece with a camera provided at the mold reference coordinate and identifying each of the identification points in the photo.

[0018] A mold calibration device, comprising:

[0019] A mold reference coordinate acquisition module is used to obtain the coordinates of the installed reference mold in the first coordinate system, which are recorded as mold reference coordinates;

[0020] a calibration piece, which can be mounted corresponding to the reference mold or the replacement mold and whose coordinates in a set coordinate system are identifiable;

[0021] a calibration piece moving module, which is used to move the calibration piece placed on the reference mold or the replacement mold from the mold reference coordinates to the mold reference coordinates according to a specified moving path;

[0022] an identification module, which is arranged at the mold reference coordinates and is set with a second coordinate system, and is used to identify the coordinates of the calibration piece in the second coordinate system; the coordinates of the calibration piece moved from the reference mold to the mold reference coordinates in the second coordinate system are first coordinates; the coordinates of the calibration piece moved from the replacement mold to the mold reference coordinates in the second coordinate system are second coordinates;

[0023] A calibration module is connected to the mold reference coordinate acquisition module and the identification module to obtain the mold reference coordinate, the first coordinate, and the second coordinate, and calibrate the coordinates of the replacement mold according to the mold reference coordinate and the coordinate deviation between the second coordinate and the first coordinate.

[0024] In one embodiment, the calibration piece includes a flat plate structure having a plurality of identification points disposed on one side thereof; when the calibration piece is mounted on the reference mold or the replacement mold, the side of the flat plate structure having the plurality of identification points disposed thereon faces upward;

[0025] The recognition module includes a camera and a first controller; the camera is arranged above the mold reference coordinates and connected to the first controller, and is used to take a photo of the calibration part and transmit it to the first controller; the first controller analyzes the coordinates of each recognition point on the received photo to obtain the first coordinate or the second coordinate;

[0026] The mold reference coordinate acquisition module, the calibration part movement module, and the calibration module are shared as a robot, which includes an actuator, a second controller, and a robotic manual device; the actuator is connected to the second controller and the robotic manual device respectively; the second controller controls the action of the actuator so that the robotic manual device moves the calibration part according to the moving path; the second controller is communicated with the first controller to obtain the first coordinate, the second coordinate, and calibrate the coordinates of the replacement mold.

[0027] In some embodiments, the identification point is formed by the intersection of multiple contrasting blocks; and the vertex where the contrasting blocks intersect is a sharp angle, and the colors of adjacent contrasting blocks are respectively set to contrasting colors.

[0028] In some embodiments, a partial nine-square grid pattern, a complete nine-square grid pattern, or a pattern larger than a complete nine-square grid pattern is provided on the upper side of the flat structure, which includes a plurality of adjacently arranged squares; the colors of any square and the squares adjacent to its sides are set to contrasting colors.

[0029] A vulcanization system includes the above-mentioned mold calibration device.

[0030] Compared with the prior art, the advantages and positive effects of the present invention are: the mold calibration method, mold calibration device and vulcanization system of the present invention are used to transfer the coordinates of the difficult-to-determine reference mold to a second coordinate system where the coordinates are easier to determine and quantify, and the coordinates of the replaced mold are transferred to the second coordinate system through the same moving path and quantified, thereby solving the problem that the internal space of the machine where the mold is installed is small, and calibration is difficult, inefficient, low in accuracy and poor stability due to the need for positioning and calibration each time the mold is replaced, thereby improving the calibration efficiency and accuracy and improving the calibration stability; then, the mold reference coordinates are the coordinates of the reference mold in the first coordinate system and the first coordinates of the calibration part on the reference mold in the second coordinate system when it is moved to the mold reference coordinates, both of which only need to be performed once, which not only solves the problem of difficulty and low efficiency in obtaining the mold reference coordinates, but also the calibration of the coordinates of the replaced mold is based on the same mold reference coordinates and first coordinates, thereby reducing the calibration error after each mold replacement and improving the calibration accuracy, efficiency and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is a flow chart of an embodiment of a mold calibration method proposed by the present invention;

[0033] Figure 2 This is a schematic diagram of functional module connections of an embodiment of a mold calibration device proposed by the present invention;

[0034] Figure 3 It is a structural schematic diagram of an embodiment of a vulcanization system proposed by the present invention;

[0035] Figure 4 It is a schematic diagram of the movement of the calibration parts on the reference mold;

[0036] Figure 5 This is a schematic diagram of the movement of the calibration parts on the replaced mold;

[0037] Figure 6 It is a structural diagram of an example of a calibration part.

[0038] In the figure,

[0039] 1. Mold reference coordinate acquisition module; 2. Calibration part movement module; 3. Identification module; 31. Camera; 32. Placement table; 4. Calibration module; 5. Reference mold; 6. Calibration part; 61. Identification point; 7. Mold replacement; 8. Vulcanizer; 9. Robot arm; 91. Actuator; 92. Robot manual assembly. DETAILED DESCRIPTION

[0040] The following describes embodiments of the present invention in detail, 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 are not to be construed as limiting the present invention.

[0041] Reference Figure 1 、 Figure 4 、 Figure 5 The present invention discloses a mold calibration method, which includes the following steps.

[0042] Determine the mold reference coordinates, which are the coordinates of the reference mold 5 in the existing first coordinate system when the installation is completed.

[0043] Determine the mold reference coordinates in the first coordinate system and the moving path from the mold base coordinates to the mold reference coordinates.

[0044] Set up a second coordinate system; place a calibration member 6 with identifiable coordinates on the reference mold 5 in a predetermined manner, ensuring that its position relative to the reference mold 5 remains stable; move the calibration member 6 along the movement path; after the calibration member 6 has been moved to its destination along the aforementioned movement path, identify it and determine the coordinates of the calibration member 6 in the second coordinate system, which are recorded as the first coordinates. These are the reference coordinates of the calibration member 6 in the second coordinate system. The first coordinates only need to be identified once.

[0045] Place the calibration piece 6 on the installed replacement mold 7 in the agreed manner so that its position relative to the replacement mold 7 remains stable; move the calibration piece 6 according to the above-mentioned moving path; identify the calibration piece 6 after it has been moved, and obtain the coordinates of the calibration piece 6 in the second coordinate system, which are recorded as the second coordinates.

[0046] The coordinates of the replacement mold 7 installed in the machine are calibrated according to the coordinate deviation between the second coordinate and the first coordinate and the mold reference coordinate.

[0047] In the mold calibration method of the present invention, the position of the reference mold 5 is located when the installation is completed, and its coordinates in the first coordinate system are determined, which are recorded as the mold reference coordinates, and are the basic coordinates for coordinate calibration of the replacement mold 7; the mold reference coordinates are obtained only once, which solves the problems of low positioning efficiency and low accuracy caused by the difficulty in positioning the mold due to the small space in the machine when the mold is installed.

[0048] The calibration part 6 on the positioned reference mold 5 is moved to the mold reference coordinate in the first coordinate system through a set movement path. The mold reference coordinate is located outside the mold installation position; its first coordinate in the second coordinate system is identified; the mold reference coordinate in the first coordinate system is established with the first coordinate in the second coordinate system through the movement path. The calibration part 6 on the installed replacement mold 7 is moved from the mold reference coordinate to the mold reference coordinate. The movement at this time refers to the point on the calibration part 6 on the replacement mold 7 corresponding to the mold reference coordinate being moved from the mold reference coordinate to the mold reference coordinate. The second coordinate of the calibration part 6 in the second coordinate system is identified, which represents the position of the replacement mold 7 in the second coordinate system. The coordinate deviation of the second coordinate relative to the first coordinate is calculated, which can calibrate the coordinate deviation of the position of the replacement mold 7 relative to the reference mold 5. Therefore, the coordinate of the replacement mold 7 can be obtained by the sum of the coordinate deviations of the mold reference coordinate and the second coordinate from the first coordinate. The calibration reference and calibration process of the replacement mold 7 are the same, which reduces the calibration error and improves the calibration accuracy, efficiency and stability.

[0049] After the calibration part 6 is installed on the replacement mold 7, it does not need to be accurately positioned when being carried and moved by the replacement mold 7. It only needs to be fixed to the moving device, thereby improving calibration efficiency.

[0050] The specific steps and principles of the mold calibration method of the present invention are described in detail below through specific embodiments.

[0051] Reference Figure 1 、 Figure 3 The reference mold 5 in the step of determining the mold reference coordinates is the mold that is installed for the first time at the mold installation position inside the machine; the movement of the calibration part is completed by the robot; the first coordinate system is the robot coordinate system; the mold reference coordinates are manually operated by the robot 9 to make it correspond to the reference mold 5 and then read by the robot 9.

[0052] The mold calibration method of this embodiment enables the production equipment to determine the mold reference coordinates when it is first installed and used. The calibration operation after the mold is replaced in the future only requires automated movement, identification, and calibration, without the need for repeated manual debugging within the machine, simplifying after-sales maintenance work, reducing maintenance costs, and improving user experience.

[0053] Preferably, when the calibration piece 6 is on the reference mold or the replacement mold 7, its center position corresponds to the center position of the mold.

[0054] The mold calibration method of this embodiment can be achieved by setting up and installing an adaptive positioning structure on the calibration piece 6 and the mold; the center position of the calibration piece 6 corresponds to the center position of the mold, so that the placement of the calibration piece 6 on the mold is more stable and not easy to be misplaced, and it is easier to approach the center of the calibration piece 6 when carrying it for movement, making the carrying and movement stable and increasing the accuracy and stability of the mold calibration.

[0055] Preferably, the xy planes of the first coordinate system and the second coordinate system are arranged in parallel; the mold base coordinate, the mold reference coordinate, the first coordinate, and the second coordinate all include the x-direction coordinate, the y-direction coordinate, and the rotation angle in the xy plane.

[0056] The mold calibration method of this embodiment sets the mold base coordinates, mold reference coordinates, first coordinates, and second coordinates in the xy plane, simplifying the movement path of the reference mold 5 and the calibration part 6 on the replacement mold 7, thereby improving calibration efficiency and accuracy.

[0057] Preferably, the xy planes of the first coordinate system and the second coordinate system are set in the same plane, which further simplifies the movement path of the calibration member 6 and further improves the calibration efficiency and accuracy.

[0058] The rotation angle in the embodiment calibrates the rotation angle of the calibration part 6 on the reference mold 5 in the second coordinate system after the movement and the rotation angle of the replacement mold 7 in the second coordinate system after the movement, calibrates the coordinates of the replacement mold 7, and improves the accuracy of the coordinates of the replacement mold 7.

[0059] In some embodiments, reference Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 The calibration piece 6 includes a flat plate structure, and a plurality of identification points 61 are arranged on one side of the flat plate structure; when the calibration piece is placed on the reference mold 5 or the replacement mold 7, the side with the plurality of identification points 61 is facing upward; the first coordinate and the second coordinate are obtained by taking a picture of the calibration piece 6 by a camera 31 set at the mold reference coordinate and identifying each identification point 61 in the picture.

[0060] The mold calibration method of this embodiment obtains the first coordinate and the second coordinate by photographing the calibration part 6 and identifying each identification point 61 on the photograph, which is accurate, efficient and low-cost.

[0061] Preferably, the camera 31 is a visual camera.

[0062] Reference Figure 2 、 Figure 3 、 Figure 4 、 Figure 5A mold calibration device of the present invention includes a mold reference coordinate acquisition module 1, a calibration piece moving module 2, an identification module 3, a calibration module 4, and a calibration piece 6.

[0063] The mold reference coordinate acquisition module 1 is used to acquire the coordinates of the reference mold 5 in the first coordinate system and record them as mold reference coordinates.

[0064] The calibration part 6 can be installed corresponding to the reference mold 5 and the replacement mold 7, and the coordinates in the set coordinate system can be identified.

[0065] The calibration piece moving module 2 is used to move the calibration piece 6 placed on the reference mold 5 or the replacement mold 7 according to a specified moving path, so as to move it from the mold reference coordinates to the mold reference coordinates.

[0066] The identification module 3 is arranged at the mold reference coordinate and is provided with a second coordinate system for identifying the coordinates of the calibration part 6 placed near the mold reference coordinate in the second coordinate system; the coordinates of the calibration part 6 moved from the reference mold 5 in the second coordinate system are marked as first coordinates; the coordinates of the calibration part 6 moved from the replacement mold 7 in the second coordinate system are marked as second coordinates.

[0067] The calibration module 4 is in communication with the mold reference coordinate acquisition module 1 and the identification module 3 to obtain the mold reference coordinate, the first coordinate, and the second coordinate, and calibrates the coordinates of the replacement mold 7 according to the coordinate deviation between the mold reference coordinate and the second coordinate and the first coordinate.

[0068] Specifically, the coordinates of the replacement mold 7 are equal to the sum of the mold reference coordinates and the coordinate deviation.

[0069] The mold calibration device of the present invention obtains the mold reference coordinates of the reference mold 5 in the first coordinate system, moves the calibration part 6 on the reference mold 5 to the mold reference coordinates through a specified moving path, and identifies the first coordinates of the calibration part 6 at the mold reference coordinates in the second coordinate system through the identification module 3, so that the mold reference coordinates in the first coordinate system and the coordinates of the reference coordinates in the second coordinate system establish a fixed relationship; then after the mold is replaced, the calibration part 6 on the replacement mold 7 is moved in the same way to obtain its second coordinate in the second coordinate system and its coordinate deviation from the first coordinate; that is, the coordinate deviation between the replacement mold 7 and the reference mold 5 is obtained, so that the calibration coordinates of the replacement mold 7 are the sum of the mold reference coordinates and the coordinate deviation; the reference coordinates and automated calibration of the calibration operation are unified, the difficulty of coordinate calibration of the replacement mold 7 is reduced, the calibration efficiency, calibration accuracy and stability are improved, and the calibration error is reduced.

[0070] In one embodiment, referring to Figure 3 、 Figure 4 、 Figure 5 、 Figure 6The calibration piece 6 includes a flat plate structure, one side of which is provided with a plurality of identification points 61. When the calibration piece 6 is mounted on the reference mold 5 or the replacement mold 7, the side of the flat plate structure provided with the identification points 61 faces upward.

[0071] The identification module 3 includes a camera 31 and a first controller; the camera 31 is arranged above the mold reference coordinate and is connected to the first controller, and is used to take photos of the calibration part 6 near the mold reference coordinate and transmit them to the first controller; the first controller analyzes the coordinates of each identification point 61 on the received photo to obtain the first coordinate and the second coordinate.

[0072] The mold reference coordinate acquisition module 1, calibration component movement module 2, and calibration module 4 share a common robot arm 9; the first coordinate system is the robot arm coordinate system. Robot arm 9 includes an actuator 91, a robotic hand assembly 92, and a second controller. Actuator 91 is connected to the second controller and its movements are controlled by the second controller. Robot hand assembly 92 is connected to actuator 91 and is used to secure calibration component 6 and move it along the movement path. The second controller communicates with the first controller to obtain the first and second coordinates, as well as the coordinate deviation between the second and first coordinates, and calculate the calibration coordinates for replacing mold 7.

[0073] Preferably, a placement table 32 is provided at the mold reference coordinate for placing the moved calibration piece 6 .

[0074] Preferably, the camera 31 is a visual camera.

[0075] Preferably, the identification point 61 is formed by the intersection of multiple contrast blocks, and the vertices of the intersection of the contrast blocks are sharp vertices, and the colors of adjacent contrast blocks are set to contrasting colors, thereby improving the identifiability and recognition accuracy of each identification point 61, and thereby improving the identifiability and recognition accuracy of the calibration part 6.

[0076] Preferably, refer to Figure 4 、 Figure 5 A partial nine-square grid structure pattern, a complete nine-square grid structure pattern, or a structure pattern larger than a complete nine-square grid structure pattern is set on one side of the flat structure, which includes multiple adjacent and intersecting squares; the colors of any square and the squares adjacent to its side are set to contrasting colors.

[0077] This embodiment simplifies the pattern setting of the calibration member 6 and improves the recognizability and recognition accuracy of the calibration member 6.

[0078] Preferably, the colors of the squares on adjacent sides are set to black and white respectively.

[0079] Of course, refer to Figure 6 The structural pattern on one side of the calibration piece 6 may also be other patterns including blocks with sharp vertex intersections.

[0080] The present invention also discloses a vulcanization system, referring to Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 The mold calibration device includes the above-mentioned mold calibration device, which has the beneficial effect of improving the calibration efficiency, calibration accuracy and calibration stability of the replacement mold 7.

[0081] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0082] 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 such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0083] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0084] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0085] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean 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 representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

Claims

1. A mold calibration method, characterized in that: include: Determine the mold reference coordinates, which are the coordinates of the installed reference mold in the first coordinate system; Determining a mold reference coordinate located outside the mold installation position and a moving path from the mold reference coordinate to the mold reference coordinate in the first coordinate system; Set the second coordinate system; Placing a calibration piece with identifiable coordinates on the reference mold, wherein the center position of the calibration piece corresponds to the center position of the reference mold; Moving the calibration object according to the moving path; identifying the coordinates of the calibration object in the second coordinate system and recording them as first coordinates; Placing the calibration piece on the installed replacement mold, with the center position of the calibration piece corresponding to the center position of the replacement mold; Moving the calibration object according to the moving path; identifying the coordinates of the calibration object in the second coordinate system, recording them as second coordinates; The coordinates of the replaced mold that has been installed are calibrated according to the coordinate deviation between the second coordinate and the first coordinate and the mold reference coordinate.

2. The mold calibration method according to claim 1, characterized in that: The reference mold is a mold that is installed at the installation position for the first time; The first coordinate system is a robot coordinate system; the mold reference coordinates are read by the robot after manually operating the robot to correspond to the reference mold.

3. The mold calibration method according to claim 1, characterized in that: The mold base coordinates, the mold reference coordinates, the first coordinates, and the second coordinates all include x-direction coordinates, y-direction coordinates, and rotation angles in the xy plane.

4. The mold calibration method according to any one of claims 1 to 3, characterized in that: The calibration piece includes a flat plate structure, and a plurality of identification points are arranged on one side surface of the flat plate structure; when the calibration piece is placed on the reference mold or the replacement mold, the side of the flat plate structure on which the plurality of identification points are arranged faces upward; the first coordinate and the second coordinate are obtained by taking a photo of the calibration piece with a camera arranged at the mold reference coordinate and identifying each of the identification points in the photo.

5. A mold calibration device, characterized in that: include: A mold reference coordinate acquisition module is used to obtain the coordinates of the installed reference mold in the first coordinate system, which are recorded as mold reference coordinates; a calibration piece, which can be mounted at a corresponding center position of the reference mold or the replacement mold, and whose coordinates in a set coordinate system are identifiable; a calibration piece moving module, which is used to move the calibration piece placed on the reference mold or the replacement mold from the mold reference coordinates to the mold reference coordinates according to a specified moving path; an identification module, which is arranged at the mold reference coordinate and is set with a second coordinate system for identifying the coordinates of the calibration piece in the second coordinate system; the coordinates of the calibration piece whose center position corresponds to the center position of the reference mold when it is moved from the reference mold to the mold reference coordinate according to a specified movement path in the second coordinate system are first coordinates; the coordinates of the calibration piece whose center position corresponds to the center position of the replacement mold after it is moved according to the movement path in the second coordinate system are second coordinates; A calibration module is connected to the mold reference coordinate acquisition module and the identification module to obtain the mold reference coordinate, the first coordinate, and the second coordinate, and calibrate the coordinates of the replacement mold according to the mold reference coordinate and the coordinate deviation between the second coordinate and the first coordinate.

6. The mold calibration device according to claim 5, characterized in that: The calibration piece includes a flat plate structure, and a plurality of identification points are provided on one side of the flat plate structure; when the calibration piece is mounted on the reference mold or the replacement mold, the side of the flat plate structure provided with the plurality of identification points faces upward; The recognition module includes a camera and a first controller; the camera is arranged above the mold reference coordinates and connected to the first controller, and is used to take a photo of the calibration part and transmit it to the first controller; The first controller analyzes the coordinates of each identification point on the received photo to obtain the first coordinates or the second coordinates; The mold reference coordinate acquisition module, the calibration part movement module, and the calibration module are shared as a robot, which includes an actuator, a second controller, and a robotic manual device; the actuator is connected to the second controller and the robotic manual device respectively; the second controller controls the action of the actuator so that the robotic manual device moves the calibration part according to the moving path; the second controller is communicated with the first controller to obtain the first coordinate, the second coordinate, and calibrate the coordinates of the replacement mold.

7. The mold calibration device according to claim 6, characterized in that: The identification point is formed by the intersection of multiple contrasting blocks; the vertices of the intersection of the contrasting blocks are sharp corners, and the colors of the adjacent contrasting blocks are respectively set to contrasting colors.

8. The mold calibration device according to claim 6 or 7, characterized in that: The upper side of the flat structure is provided with a partial nine-square grid structure pattern, a complete nine-square grid structure pattern, or a larger-than-complete nine-square grid structure pattern, which includes a plurality of adjacently arranged squares; the colors of any square and the squares adjacent to its sides are respectively set to contrasting colors.

9. A vulcanization system, characterized in that: The mold calibration device comprises the mold calibration device according to any one of claims 5 to 8.

Images