A method and apparatus for edge covering

Abstract

The application discloses a kind of edge covering method and device, the method includes: obtaining the image information of product to be covered, and the contour point information of product to be covered is calculated according to image information;According to the initial position of first clamp, second clamp, first pressing rod and second pressing rod respectively calculated according to contour point information;According to the initial position of first clamp and the initial position of second clamp, the two ends of edge line band are clamped by first clamp and second clamp;Control product to be covered and edge line band move in the same horizontal plane, and according to the initial position of first pressing rod and second pressing rod, first pressing rod and second pressing rod are controlled respectively to press edge line band to the two sides of product to be covered, until finishing edge covering.The embodiment of the application calculates the contour point information of product to be covered by obtaining the image information of product to be covered, and the initial position of clamp and pressing rod is calculated according to contour point information, and the edge covering effect of product can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of edge binding technology, and in particular to an edge binding method and apparatus. Background Technology

[0002] In the production of products such as shoes, light guide plates, and mobile phone frames, side edge binding is required. Current edge binding methods typically involve directly attaching the edge tape to the side of the product using a fixed track. However, since the shapes of the products to be bound include, but are not limited to, squares, trapezoids, and arcs (polygons), and the initial position of the product is not fixed each time edge binding is performed, existing methods result in poor edge binding effects. Summary of the Invention

[0003] This invention provides an edge-binding method and apparatus to solve the technical problem that existing edge-binding methods have poor edge-binding effects on products.

[0004] The first embodiment of the present invention provides an edge-binding method, comprising:

[0005] Obtain image information of the product to be edged, and calculate the contour point information of the product to be edged based on the image information;

[0006] The initial positions of the first clamp, the second clamp, the first pressure bar, and the second pressure bar are calculated based on the contour point information.

[0007] The first and second clips are controlled to hold both ends of the edge strip according to the initial positions of the first and second clips;

[0008] The product to be edged and the edge strip are controlled to move towards each other on the same horizontal plane. Based on the initial positions of the first and second pressing rods, the first and second pressing rods are controlled to press the edge strip onto both sides of the product to be edged until the edge binding is completed.

[0009] Furthermore, before "acquiring image information of the product to be edged and calculating the contour point information of the product to be edged based on the image information", the process also includes:

[0010] A first Cartesian coordinate system is established, and the teaching image information of the product to be edged is obtained. Any point in the teaching image information is selected as a teaching point, and the teaching position coordinates of the teaching point are calculated according to the first Cartesian coordinate system.

[0011] Furthermore, the step of acquiring image information of the product to be edged and calculating the contour point information of the product to be edged based on the image information specifically involves:

[0012] By setting a camera to acquire image information of the product to be edged, the actual position coordinates of the teaching points in the image information in the first plane rectangular coordinate system are obtained. Based on the relationship between the teaching position coordinates and the actual position coordinates, the position information of all contour points of the product to be edged is calculated.

[0013] Furthermore, the initial positions of the first clamp, the second clamp, the first pressure bar, and the second pressure bar are calculated based on the contour point information, specifically as follows:

[0014] If the contact area between the product to be bound and the edge strip is the contact point, a second Cartesian coordinate system is established with the contact point as the origin; if the contact area between the bound product and the edge strip is a parallel line, a second Cartesian coordinate system is established with the midpoint of the parallel line as the origin.

[0015] The product to be edged is divided into two parts by the Y-axis of the second planar rectangular coordinate system. The two parts include the product to be edged on the left side of the Y-axis and the product to be edged on the right side of the Y-axis.

[0016] The origin of the coordinate system is taken as the initial position of the first and second pressure rods;

[0017] Based on the outline point information of the product to be edged, calculate the length of the first edge of the product to be edged on the left side of the Y-axis and the length of the second edge of the product to be edged on the right side of the Y-axis respectively;

[0018] The initial positions of the first clip and the second clip are calculated based on the length of the first side line and the second side line.

[0019] Furthermore, the step of controlling the product to be bound and the edge tape to move towards each other on the same horizontal plane, and controlling the first and second pressing rods to press the edge tape to both sides of the product to be bound according to the initial positions of the first and second pressing rods, until the binding is completed, includes:

[0020] Control the first clamp, the second clamp, the first pressure bar, and the second pressure bar to move in the same step size.

[0021] A second embodiment of the present invention provides an edge-binding device, comprising:

[0022] The first calculation module is used to acquire image information of the product to be edged, and calculate the contour point information of the product to be edged based on the image information;

[0023] The second calculation module is used to calculate the initial positions of the first clamp, the second clamp, the first pressing rod, and the second pressing rod respectively based on the contour point information;

[0024] The first control module is used to control the first clamp and the second clamp to hold the two ends of the edge strip according to the initial position of the first clamp and the initial position of the second clamp;

[0025] The second control module is used to control the product to be edged and the edge strip to move towards each other on the same horizontal plane, and to control the first and second pressing rods to press the edge strip to both sides of the product to be edged according to the initial positions of the first pressing rod and the second pressing rod, until the edge binding is completed.

[0026] Furthermore, the edge-binding device also includes a third calculation module, used to establish a first planar rectangular coordinate system, acquire teaching image information of the product to be edged, select any point of the teaching image information as a teaching point, and calculate the teaching position coordinates of the teaching point according to the first rectangular coordinate system.

[0027] Furthermore, the first calculation module is specifically used to: acquire image information of the product to be edged by setting a camera, acquire the actual position coordinates of the teaching point in the image information in the first plane rectangular coordinate system, and calculate the position information of all contour points of the product to be edged based on the relationship between the teaching position coordinates and the actual position coordinates.

[0028] Furthermore, the second calculation module is specifically used for: if the contact area between the product to be bound and the edge strip is a contact point, establishing a second Cartesian coordinate system with the contact point as the origin; if the contact area between the bound product and the edge strip is a parallel line, establishing a second Cartesian coordinate system with the midpoint of the parallel line as the origin.

[0029] The product to be edged is divided into two parts by the Y-axis of the second planar rectangular coordinate system. The two parts include the product to be edged on the left side of the Y-axis and the product to be edged on the right side of the Y-axis.

[0030] The origin of the coordinate system is taken as the initial position of the first and second pressure rods;

[0031] Based on the outline point information of the product to be edged, calculate the length of the first edge of the product to be edged on the left side of the Y-axis and the length of the second edge of the product to be edged on the right side of the Y-axis respectively;

[0032] The initial positions of the first clip and the second clip are calculated based on the length of the first side line and the second side line.

[0033] Furthermore, the second control module includes controls the first clamp, the second clamp, the first pressure bar, and the second pressure bar to move in the same step size.

[0034] This invention provides an embodiment of the invention that obtains the image information of the product to be edged and calculates the outline point information of the product. Based on the outline point information, the initial positions of the first clip and the second clip are calculated respectively, so that the first clip and the second clip can hold the edge strip of accurate length, and can effectively improve the accuracy of the edge strip edged on the product.

[0035] Furthermore, in this embodiment of the invention, the initial positions of the first pressing rod and the second pressing rod are calculated based on the contour point information, and the first pressing rod and the second pressing rod are controlled to press the edge strip onto both sides of the product to be edged until the edge binding is completed. In this embodiment of the invention, the pressing operation of the edge strip by the first pressing rod and the second pressing rod can press the edge strip onto the side surface of the product to be edged, thereby effectively solving the problem of arbitrary irregularities and concavities in the edge binding process, and thus effectively improving the edge binding effect. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating an edge-binding method provided in the first embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the edge-binding method provided in the first embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the first plane rectangular coordinates of an edge-binding method provided in the first embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of the second plane rectangular coordinates of an edge-binding method provided in the first embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the structure of an edge-binding device provided in the second embodiment of the present invention. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] In the description of this application, it should be understood that 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 indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0043] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0044] Please see Figure 1 The first embodiment of the present invention provides an edge-binding method, comprising:

[0045] S1. Obtain the image information of the product to be edged, and calculate the outline point information of the product to be edged based on the image information;

[0046] For example, image information of the product to be edged is acquired by setting a camera in the upper or lower area of ​​the product to be edged.

[0047] S2. Calculate the initial positions of the first clamp, the second clamp, the first pressure bar, and the second pressure bar based on the contour point information;

[0048] Please see Figure 2 The first clamp and the second clamp are used to clamp the two ends of the edge strip, that is, the length of the edge strip clamped by the first clamp and the second clamp is the total length of the side of the product to be edged; when performing the edge binding operation, the edge strip near the first clamp end and the edge strip near the second clamp end are edged on the left and right sides of the product to be edged at the same time. The first pressing rod and the second pressing rod act on the edge strip on the left and right sides of the product to be edged, and when the edge strip contacts the product to be edged, the edge strip is pressed onto the product to be edged with a preset step length.

[0049] S3. Control the first and second clamps to hold the two ends of the edge strip according to the initial position of the first clamp and the initial position of the second clamp;

[0050] S4. Control the product to be edged and the edge strip to move towards each other on the same horizontal plane, and control the first and second pressing rods to press the edge strip to both sides of the product to be edged according to the initial positions of the first pressing rod and the second pressing rod, until the edge binding is completed.

[0051] This invention provides an embodiment of the invention that obtains the image information of the product to be edged and calculates the outline point information of the product. Based on the outline point information, the initial positions of the first clip and the second clip are calculated respectively, so that the first clip and the second clip can hold the edge strip of accurate length, and can effectively improve the accuracy of the edge strip edged on the product.

[0052] Furthermore, in this embodiment of the invention, the initial positions of the first and second pressing rods are calculated based on the contour point information, and the first and second pressing rods are controlled to press the edge strip onto both sides of the product to be edged until the edge binding is completed. By pressing the edge strip onto the side surface of the product to be edged using the first and second pressing rods, this embodiment of the invention can effectively solve the problem of arbitrary irregularities and concavities in the edge binding process, thereby effectively improving the edge binding effect.

[0053] As a specific implementation of this invention, before "acquiring the image information of the product to be edged and calculating the contour point information of the product to be edged based on the image information", the method further includes:

[0054] Establish a first plane rectangular coordinate system, obtain the teaching image information of the product to be edged, select any point in the teaching image information as the teaching point, and calculate the teaching position coordinates of the teaching point according to the first rectangular coordinate system.

[0055] As a specific implementation of this invention, image information of the product to be edged is obtained, and contour point information of the product to be edged is calculated based on the image information, specifically as follows:

[0056] By setting up a camera to acquire image information of the product to be edged, the actual position coordinates of the teaching points in the image information in the first plane rectangular coordinate system are obtained. Based on the relationship between the teaching position coordinates and the actual position coordinates, the position information of all contour points of the product to be edged is calculated.

[0057] Please see Figure 3 Let the coordinates of the teaching position in the teaching image information be A(S0, T0), and the coordinates of any teaching contour point in the teaching image information be Bi(Xi, Yi). After obtaining the actual image information of the product to be edged, the actual position coordinates of the teaching point in the first plane rectangular coordinate system are determined to be A1(S1, T1). According to the coordinate transformation formula, the rotation angle for transforming the teaching position coordinates to the actual position coordinates is θ. Based on this rotation angle, the coordinate transformation relationship between the teaching position coordinates and the actual position coordinates can be obtained. By translating and rotating the coordinates of the teaching contour point according to this coordinate transformation relationship, the coordinates of the actual contour point can be obtained. Based on the above principle, the position information of all contour points of the product to be edged is calculated.

[0058] As a specific implementation of this invention, the initial positions of the first clamp, the second clamp, the first pressure rod, and the second pressure rod are calculated based on the contour point information, specifically as follows:

[0059] If the contact area of ​​the product to be bound near the edge strip is the contact point, a second plane rectangular coordinate system is established with the contact point as the origin; if the contact area of ​​the product with the edge strip near the edge strip is a parallel line, a second plane rectangular coordinate system is established with the midpoint of the parallel line as the origin.

[0060] The product to be edged is divided into two parts by the Y-axis of the second plane rectangular coordinate system. The two parts include the product to be edged on the left side of the Y-axis and the product to be edged on the right side of the Y-axis.

[0061] The origin of the coordinate system is used as the initial position of the first and second pressure rods;

[0062] Based on the outline point information of the product to be bound, calculate the length of the first edge line of the product to be bound on the left side of the Y-axis and the length of the second edge line of the product to be bound on the right side of the Y-axis.

[0063] The initial positions of the first and second clamps are calculated based on the length of the first and second sidelines.

[0064] Please see Figure 4 This invention establishes a second Cartesian coordinate system based on two contact methods between the product to be bound and the edge strip. Specifically, during the binding process, the area where the product to be bound initially contacts the edge strip is a point or a parallel line parallel to the edge strip. A second Cartesian coordinate system is established with the contact point or the midpoint of the parallel line as the origin. The product to be bound is divided into two parts, and the positional relationship between the first clip and the second clip in the second Cartesian coordinate system can be accurately determined by the edge lengths of the left and right parts, thereby accurately obtaining the initial positions of the first clip and the second clip.

[0065] Preferably, during the hemming process, the edge strip first contacts the contact point or parallel line of the product to be hemmed. Using the origin of the second plane rectangular coordinate system as the initial position of the first and second pressing rods effectively ensures that the edge strip is pressed against both sides of the product during the hemming process. It should be noted that the initial positions of the first and second clips are their initial clamping positions, and the initial positions of the first and second pressing rods are their initial pressing positions against the edge strip. In one specific embodiment, the first and second pressing rods are parallel to the X-axis of the second plane rectangular coordinate system, and the pressing direction is from the left-right direction towards the Y-axis.

[0066] As a specific embodiment of the present invention, the product to be edged and the edge tape are controlled to move towards each other on the same horizontal plane, and the first and second pressing rods are controlled to press the edge tape to both sides of the product to be edged according to the initial positions of the first pressing rod and the second pressing rod, until the edge binding is completed, including:

[0067] Control the first clamp, the second clamp, the first pressure bar, and the second pressure bar to move in the same step size.

[0068] As a specific implementation method, let Ly1 be the unit step length of the distance the product to be hemmed moves along the Y-axis of the second Cartesian coordinate system. The step length that the first clip needs to move can then be calculated. Specifically, if the product to be hemmed moves along the Y-axis of the second Cartesian coordinate system in a straight line segment, the step length that the first clip needs to move is: Lx1 = Ly1 / cosα, where α is the angle between the moving direction and the Y-axis. If the product to be hemmed moves along the Y-axis of the second Cartesian coordinate system in an arc segment, the step length that the first clip needs to move is calculated by dividing the arc segment into several smaller segments and treating the angle α as a tangent. Similarly, the second clip, the first pressing rod, and the second pressing rod are all calculated in the same way, and will not be described in detail again.

[0069] Implementing the embodiments of the present invention has the following beneficial effects:

[0070] This invention provides an embodiment of the invention that obtains the image information of the product to be edged and calculates the outline point information of the product. Based on the outline point information, the initial positions of the first clip and the second clip are calculated respectively, so that the first clip and the second clip can hold the edge strip of accurate length, and can effectively improve the accuracy of the edge strip edged on the product.

[0071] Furthermore, in this embodiment of the invention, the initial positions of the first and second pressing rods are calculated based on the contour point information, and the first and second pressing rods are controlled to press the edge strip onto both sides of the product to be edged until the edge binding is completed. By pressing the edge strip onto the side surface of the product to be edged using the first and second pressing rods, this embodiment of the invention can effectively solve the problem of arbitrary irregularities and concavities in the edge binding process, thereby effectively improving the edge binding effect.

[0072] Please see Figure 5 A second embodiment of the present invention provides an edge-binding device, comprising:

[0073] The first calculation module 10 is used to acquire image information of the product to be edged and calculate the contour point information of the product to be edged based on the image information.

[0074] For example, image information of the product to be edged is acquired by setting a camera in the upper or lower area of ​​the product to be edged.

[0075] The second calculation module 20 is used to calculate the initial positions of the first clamp, the second clamp, the first pressing rod, and the second pressing rod based on the contour point information.

[0076] Please see Figure 2 The first clamp and the second clamp are used to clamp the two ends of the edge strip, that is, the length of the edge strip clamped by the first clamp and the second clamp is the total length of the side of the product to be edged; when performing the edge binding operation, the edge strip near the first clamp end and the edge strip near the second clamp end are edged on the left and right sides of the product to be edged at the same time. The first pressing rod and the second pressing rod act on the edge strip on the left and right sides of the product to be edged, and when the edge strip contacts the product to be edged, the edge strip is pressed onto the product to be edged with a preset step length.

[0077] The first control module 30 is used to control the first clamp and the second clamp to hold the two ends of the edge strip according to the initial position of the first clamp and the initial position of the second clamp;

[0078] The second control module 40 is used to control the product to be edged and the edge strip to move towards each other on the same horizontal plane, and to control the first and second pressing rods to press the edge strip to both sides of the product to be edged according to the initial positions of the first pressing rod and the second pressing rod, until the edge binding is completed.

[0079] This invention provides an embodiment of the invention that obtains the image information of the product to be edged and calculates the outline point information of the product. Based on the outline point information, the initial positions of the first clip and the second clip are calculated respectively, so that the first clip and the second clip can hold the edge strip of accurate length, and can effectively improve the accuracy of the edge strip edged on the product.

[0080] Furthermore, in this embodiment of the invention, the initial positions of the first and second pressing rods are calculated based on the contour point information, and the first and second pressing rods are controlled to press the edge strip onto both sides of the product to be edged until the edge binding is completed. By pressing the edge strip onto the side surface of the product to be edged using the first and second pressing rods, this embodiment of the invention can effectively solve the problem of arbitrary irregularities and concavities in the edge binding process, thereby effectively improving the edge binding effect.

[0081] As a specific embodiment of the present invention, the edge-binding device further includes a third calculation module, which is used to establish a first planar rectangular coordinate system, obtain teaching image information of the product to be edged, select any point of the teaching image information as a teaching point, and calculate the teaching position coordinates of the teaching point according to the first rectangular coordinate system.

[0082] As a specific implementation of this invention, the first calculation module 10 is specifically used to: acquire image information of the product to be edged by setting a camera, acquire the actual position coordinates of the teaching point in the image information in the first plane rectangular coordinate system, and calculate the position information of all contour points of the product to be edged based on the relationship between the teaching position coordinates and the actual position coordinates.

[0083] Please see Figure 3 Let the coordinates of the teaching position in the teaching image information be A(S0, T0), and the coordinates of any teaching contour point in the teaching image information be Bi(Xi, Yi). After obtaining the actual image information of the product to be edged, the actual position coordinates of the teaching point in the first plane rectangular coordinate system are determined to be A1(S1, T1). According to the coordinate transformation formula, the rotation angle for transforming the teaching position coordinates to the actual position coordinates is θ. Based on this rotation angle, the coordinate transformation relationship between the teaching position coordinates and the actual position coordinates can be obtained. By translating and rotating the coordinates of the teaching contour point according to this coordinate transformation relationship, the coordinates of the actual contour point can be obtained. Based on the above principle, the position information of all contour points of the product to be edged is calculated.

[0084] As a specific implementation of this invention, the second calculation module 20 is specifically used for: if the contact area of ​​the product to be bound near the edge strip is the contact point, establishing a second plane rectangular coordinate system with the contact point as the origin; if the contact area of ​​the bound product near the edge strip is a parallel line, establishing a second plane rectangular coordinate system with the midpoint of the parallel line as the origin.

[0085] The product to be edged is divided into two parts by the Y-axis of the second plane rectangular coordinate system. The two parts include the product to be edged on the left side of the Y-axis and the product to be edged on the right side of the Y-axis.

[0086] The origin of the coordinate system is used as the initial position of the first and second pressure rods;

[0087] Based on the outline point information of the product to be bound, calculate the length of the first edge line of the product to be bound on the left side of the Y-axis and the length of the second edge line of the product to be bound on the right side of the Y-axis.

[0088] The initial positions of the first and second clamps are calculated based on the length of the first and second sidelines.

[0089] Please see Figure 4This invention establishes a second Cartesian coordinate system based on two contact methods between the product to be bound and the edge strip. Specifically, during the binding process, the area where the product to be bound initially contacts the edge strip is a point or a parallel line parallel to the edge strip. A second Cartesian coordinate system is established with the contact point or the midpoint of the parallel line as the origin. The product to be bound is divided into two parts, and the positional relationship between the first clip and the second clip in the second Cartesian coordinate system can be accurately determined by the edge lengths of the left and right parts, thereby accurately obtaining the initial positions of the first clip and the second clip.

[0090] Preferably, during the hemming process, the edge strip first contacts the contact point or parallel line of the product to be hemmed. Using the origin of the second plane rectangular coordinate system as the initial position of the first and second pressing rods effectively ensures that the edge strip is pressed against both sides of the product during the hemming process. It should be noted that the initial positions of the first and second clips are their initial clamping positions, and the initial positions of the first and second pressing rods are their initial pressing positions against the edge strip. In one specific embodiment, the first and second pressing rods are parallel to the X-axis of the second plane rectangular coordinate system, and the pressing direction is from the left-right direction towards the Y-axis.

[0091] As a specific embodiment of the present invention, the second control module 40 includes a control module for controlling the first clamp, the second clamp, the first pressure rod, and the second pressure rod to move with the same step size.

[0092] As a specific implementation method, let Ly1 be the unit step length of the distance the product to be hemmed moves along the Y-axis of the second Cartesian coordinate system. The step length that the first clip needs to move can then be calculated. Specifically, if the product to be hemmed moves along the Y-axis of the second Cartesian coordinate system in a straight line segment, the step length that the first clip needs to move is: Lx1 = Ly1 / cosα, where α is the angle between the moving direction and the Y-axis. If the product to be hemmed moves along the Y-axis of the second Cartesian coordinate system in an arc segment, the step length that the first clip needs to move is calculated by dividing the arc segment into several smaller segments and treating the angle α as a tangent. Similarly, the second clip, the first pressing rod, and the second pressing rod are all calculated in the same way, and will not be described in detail again.

[0093] Implementing the embodiments of the present invention has the following beneficial effects:

[0094] This invention provides an embodiment of the invention that obtains the image information of the product to be edged and calculates the outline point information of the product. Based on the outline point information, the initial positions of the first clip and the second clip are calculated respectively, so that the first clip and the second clip can hold the edge strip of accurate length, and can effectively improve the accuracy of the edge strip edged on the product.

[0095] Furthermore, in this embodiment of the invention, the initial positions of the first and second pressing rods are calculated based on the contour point information, and the first and second pressing rods are controlled to press the edge strip onto both sides of the product to be edged until the edge binding is completed. By pressing the edge strip onto the side surface of the product to be edged using the first and second pressing rods, this embodiment of the invention can effectively solve the problem of arbitrary irregularities and concavities in the edge binding process, thereby effectively improving the edge binding effect.

[0096] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for edge binding, characterized in that, include: Obtain image information of the product to be edged, and calculate the contour point information of the product to be edged based on the image information; The initial positions of the first clamp, the second clamp, the first pressure bar, and the second pressure bar are calculated based on the contour point information. The first and second clips are controlled to hold both ends of the edge strip according to the initial positions of the first and second clips; The product to be edged and the edge strip are controlled to move towards each other on the same horizontal plane. Based on the initial positions of the first and second pressing rods, the first and second pressing rods are controlled to press the edge strip onto both sides of the product to be edged until the edge binding is completed.

2. The edge-binding method as described in claim 1, characterized in that, Before "acquiring image information of the product to be edged and calculating the contour point information of the product to be edged based on the image information", the process also includes: A first Cartesian coordinate system is established, and the teaching image information of the product to be edged is obtained. Any point in the teaching image information is selected as a teaching point, and the teaching position coordinates of the teaching point are calculated according to the first Cartesian coordinate system.

3. The edge-binding method as described in claim 2, characterized in that, The process of acquiring image information of the product to be edged and calculating the contour point information of the product to be edged based on the image information specifically involves: By setting a camera to acquire image information of the product to be edged, the actual position coordinates of the teaching points in the image information in the first plane rectangular coordinate system are obtained. Based on the relationship between the teaching position coordinates and the actual position coordinates, the position information of all contour points of the product to be edged is calculated.

4. The edge-binding method as described in claim 1, characterized in that, The initial positions of the first clamp, the second clamp, the first pressure bar, and the second pressure bar are calculated based on the contour point information, specifically as follows: If the contact area between the product to be bound and the edge strip is the contact point, a second Cartesian coordinate system is established with the contact point as the origin; if the contact area between the product to be bound and the edge strip is a parallel line, a second Cartesian coordinate system is established with the midpoint of the parallel line as the origin. The product to be edged is divided into two parts by the Y-axis of the second planar rectangular coordinate system. The two parts include the product to be edged on the left side of the Y-axis and the product to be edged on the right side of the Y-axis. The origin of the coordinate system is taken as the initial position of the first and second pressure rods; Based on the outline point information of the product to be edged, calculate the length of the first edge of the product to be edged on the left side of the Y-axis and the length of the second edge of the product to be edged on the right side of the Y-axis respectively; The initial positions of the first clip and the second clip are calculated based on the lengths of the first and second sidelines.

5. The edge-binding method as described in claim 1, characterized in that, The control of the product to be bound and the edge tape to move towards each other on the same horizontal plane, and the control of the first and second pressing rods to press the edge tape to both sides of the product to be bound according to the initial positions of the first and second pressing rods until the binding is completed, includes: Control the first clamp, the second clamp, the first pressure bar, and the second pressure bar to move in the same step size.

6. An edge-binding device, characterized in that, include: The first calculation module is used to acquire image information of the product to be edged, and calculate the contour point information of the product to be edged based on the image information; The second calculation module is used to calculate the initial positions of the first clamp, the second clamp, the first pressing rod, and the second pressing rod respectively based on the contour point information; The first control module is used to control the first clamp and the second clamp to hold the two ends of the edge strip according to the initial position of the first clamp and the initial position of the second clamp; The second control module is used to control the product to be edged and the edge strip to move towards each other on the same horizontal plane, and to control the first and second pressing rods to press the edge strip to both sides of the product to be edged according to the initial positions of the first pressing rod and the second pressing rod, until the edge binding is completed.

7. The edge-binding device as described in claim 6, characterized in that, It also includes a third calculation module, which is used to establish a first plane rectangular coordinate system, obtain teaching image information of the product to be edged, select any point of the teaching image information as a teaching point, and calculate the teaching position coordinates of the teaching point according to the first plane rectangular coordinate system.

8. The edge-binding device as described in claim 7, characterized in that, The first calculation module is specifically used to: acquire image information of the product to be edged by setting a camera, acquire the actual position coordinates of the teaching point in the image information in the first plane rectangular coordinate system, and calculate the position information of all contour points of the product to be edged based on the relationship between the teaching position coordinates and the actual position coordinates.

9. The edge-binding device as described in claim 6, characterized in that, The second calculation module is specifically used for: if the contact area of ​​the product to be bound near the edge strip is a contact point, establishing a second plane rectangular coordinate system with the contact point as the origin; if the contact area of ​​the product to be bound near the edge strip is a parallel line, establishing a second plane rectangular coordinate system with the midpoint of the parallel line as the origin. The product to be edged is divided into two parts by the Y-axis of the second planar rectangular coordinate system. The two parts include the product to be edged on the left side of the Y-axis and the product to be edged on the right side of the Y-axis. The origin of the coordinate system is taken as the initial position of the first and second pressure rods; Based on the outline point information of the product to be edged, calculate the length of the first edge of the product to be edged on the left side of the Y-axis and the length of the second edge of the product to be edged on the right side of the Y-axis respectively; The initial positions of the first clip and the second clip are calculated based on the lengths of the first and second sidelines.

10. The edge-binding device as described in claim 6, characterized in that, The second control module is used to control the first clamp, the second clamp, the first pressure bar, and the second pressure bar to move in the same step size.

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