Positioning method and rotating tube replacement system
By combining binocular monitoring components and processing modules, efficient alignment is achieved during the rotating tube replacement process in pharmaceutical glass tube production, solving the problem of low alignment efficiency between equipment and reducing downtime and operator injury.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- 东旭药玻(北京)科技有限公司
- Filing Date
- 2022-10-08
- Publication Date
- 2026-06-19
AI Technical Summary
In the production of pharmaceutical glass tubes, the alignment efficiency between equipment is low during the tube changing process, resulting in long downtime and high-temperature operation causing harm to operators.
The device employs a binocular monitoring component to capture images and perform 3D measurements of the equipment position. The processing module calculates and adjusts the data to achieve efficient alignment of the preheating furnace, danner machine, and muffle furnace. This includes selecting a group of positioning points and image processing based on a 3D model, providing adjustment data for rapid docking of the rotating tube.
It improves the alignment efficiency between equipment, shortens the replacement time of rotating tubes, and reduces the harm to operators caused by high-temperature operations.
Smart Images
Figure CN117884850B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of glass tube manufacturing technology, and in particular to a positioning method and a rotating tube replacement system. Background Technology
[0002] The production process of pharmaceutical glass tubes mainly involves mixing materials and feeding them into a kiln, then through a distribution channel and a feeding channel, and finally into a muffle furnace for forming. During the forming stage, due to the corrosiveness of the molten glass, the rotating tube needs to be replaced every month.
[0003] The main equipment involved in the replacement of the rotating tube includes the Dynamo machine, the preheating furnace, and the muffle furnace. Before the rotating tube is replaced, the preheating furnace is needed to heat the rotating tube and the rotating shaft. Then, the preheated rotating tube and the rotating shaft are installed on the Dynamo machine. Finally, the installed rotating tube is pushed into the muffle furnace.
[0004] Since each replacement of the rotary tube involves alignment between the Dynamo machine and the preheating furnace, and between the Dynamo machine and the muffle furnace, and requires line shutdown, and the replacement site is a high-temperature operation, the longer the replacement time, the greater the harm to the operators. Therefore, how to improve the alignment efficiency between equipment and shorten the downtime is an urgent problem to be solved. Summary of the Invention
[0005] One of the technical problems this disclosure aims to solve is: how to improve the alignment efficiency between devices in order to shorten downtime.
[0006] To address the aforementioned technical problems, this disclosure provides a positioning method, which includes: determining the initial positions of the preheating furnace, the danner machine, and the muffle furnace, as well as the position of the binocular monitoring component;
[0007] A set of positioning points is selected, which includes: a first positioning point on the preheating furnace, a second and a third positioning point on the Dana machine, and a fourth positioning point on the muffle furnace. The binocular camera of the binocular monitoring component can capture each positioning point included in the positioning point set.
[0008] The binocular camera captures the first image, and based on the preset 3D model and the 3D coordinates of the first, second, and third positioning points in the first image, the first adjustment data for the preheating furnace and the Dana machine are determined.
[0009] Adjust the positions of the preheating furnace and the Dana machine based on the first adjustment data so that the docking positions of the preheating furnace and the Dana machine correspond, install the rotating shaft and rotating tube to the Dana machine, rotate the main shaft connecting device of the Dana machine to face the muffle furnace, and adjust the included angle between the worktable of the Dana machine and the angle support base to the preset angle.
[0010] The binocular camera captures a second image, and based on the preset 3D model and the 3D coordinates of the third and fourth positioning points in the second image, the second adjustment data of the Dynaudio machine is determined.
[0011] Adjust the position of the Danner machine based on the second adjustment data so that the muffle furnace and the Danner machine are aligned, and push the rotating tube into the muffle furnace.
[0012] In some embodiments, in the initial state, the danner machine and the muffle furnace are spaced apart in a first direction, the furnace door of the muffle furnace is opposite to the main shaft connecting device of the danner machine, the muffle furnace and the preheating furnace are spaced apart in a second direction, and the main shaft fastening device of the preheating furnace faces the danner machine, wherein the first direction is perpendicular to the second direction, and the first direction and the second direction are respectively perpendicular to the longitudinal direction, and the spacing between the danner machine and the muffle furnace and the spacing between the danner machine and the preheating furnace are respectively greater than the length of the rotating tube;
[0013] The binocular monitoring component is positioned between the preheating furnace and the Dana machine in the second direction, and the distance between the binocular monitoring component and the muffle furnace in the first direction is greater than the distance between the Dana machine and the muffle furnace.
[0014] Before the binocular camera captures the first image, the process also includes rotating the main shaft connection device of the Dana machine toward the preheating furnace.
[0015] In some embodiments, the first positioning point is any point on the locking device on the main shaft fastening device of the preheating furnace;
[0016] The second positioning point is any point where the plane of the rotating shaft of the Dana machine is connected to the rotating fixed device, and the third positioning point is the intersection of the rotating device of the Dana machine and the center line of the shaft.
[0017] The fourth positioning point is the apex of the rotary tube inlet on the muffle furnace door.
[0018] In some embodiments, after selecting the group of positioning points, the method further includes:
[0019] Three-dimensional models of the preheating furnace, Danner machine, and muffle furnace were obtained respectively. Coordinate origins at the same height were selected on the preheating furnace, Danner machine, and muffle furnace, and the three-dimensional coordinates of each positioning point of the positioning point group were obtained.
[0020] In some embodiments, before the binocular camera captures the first image, the method further includes:
[0021] Target plates were set on the Dynamo camera and the muffle furnace respectively, and the binocular camera was calibrated by the target plates.
[0022] In some embodiments, the first adjustment data for the preheating furnace and the Dana machine are determined based on a preset three-dimensional model and the three-dimensional coordinates of the first positioning point, the second positioning point, and the third positioning point in the first image, specifically as follows:
[0023] Obtain the three-dimensional coordinates of the first, second, and third positioning points in the first image;
[0024] Based on the coordinates of the first and second positioning points in the first direction, first data for adjusting the Dana machine is obtained so that the docking positions of the preheating furnace and the Dana machine correspond in the first direction.
[0025] Based on the coordinates of the first and third positioning points in the second direction, second data for adjusting the preheating furnace is obtained so that the docking positions of the preheating furnace and the Dana machine correspond in the second direction.
[0026] Based on the longitudinal coordinates of the first and third positioning points, the third data for adjusting the Dana machine is obtained so that the docking positions of the preheating furnace and the Dana machine correspond longitudinally.
[0027] The first adjustment data includes: first data, second data, and third data.
[0028] In some embodiments, the second adjustment data of the Dynamo machine is determined based on a preset three-dimensional model and the three-dimensional coordinates of the third and fourth positioning points in the second image, specifically as follows:
[0029] Obtain the three-dimensional coordinates of the third and fourth positioning points in the second image;
[0030] Based on the coordinates of the third and fourth positioning points in the second direction, fourth data is obtained for adjusting the danner machine so that the docking positions of the danner machine and the muffle furnace correspond in the second direction.
[0031] Based on the coordinates of the third and fourth positioning points in the first direction, the fifth data for adjusting the Dynamo machine is obtained so that the docking positions of the Dynamo machine and the muffle furnace correspond in the first direction.
[0032] The second adjustment data includes the fourth and fifth data.
[0033] In some embodiments, after adjusting the positions of the preheating furnace and the Danner machine based on the first adjustment data, and installing the rotating shaft and rotating tube to the Danner machine, the method further includes:
[0034] The binocular camera captures a third image, stores the third image, and obtains the three-dimensional coordinates of the first positioning point, the second positioning point, and the third positioning point in the third image.
[0035] After adjusting the position of the Dana unit based on the second adjustment data, the following is also included:
[0036] The binocular camera captures a fourth image, stores the fourth image, and obtains the three-dimensional coordinates of the third and fourth positioning points in the fourth image.
[0037] This disclosure also provides a rotary tube replacement system, which includes a muffle furnace, a danner machine, and a preheating furnace. The danner machine and the muffle furnace are spaced apart in a first direction, and the muffle furnace and the preheating furnace are spaced apart in a second direction. The first direction is perpendicular to the second direction, and the first and second directions are perpendicular to the longitudinal direction, respectively. The distance between the danner machine and the muffle furnace and the distance between the danner machine and the preheating furnace are both greater than the length of the rotary tube.
[0038] A binocular monitoring component is positioned in the second direction between the preheating furnace and the Dynamo machine, and the distance between the binocular monitoring component and the muffle furnace in the first direction is greater than the distance between the Dynamo machine and the muffle furnace. The binocular monitoring component includes: a binocular camera; and
[0039] The processing module is used to store the three-dimensional models of the preheating furnace, the danner machine and the muffle furnace, as well as the three-dimensional coordinates of each positioning point in the positioning point group. It is connected to the binocular camera signal to acquire images captured by the binocular camera and to calculate the first adjustment data and the second adjustment data based on the three-dimensional coordinates of each positioning point in the image.
[0040] In some embodiments, the binocular monitoring component includes at least: a pole, a binocular camera disposed on the top of the pole, a power supply and a data transmission module, wherein the power supply provides power to the binocular camera, and the binocular camera is signal-connected to the processing module through the data transmission module.
[0041] Through the above technical solutions, the positioning method and rotary tube replacement system provided in this disclosure capture images and perform three-dimensional measurements of the positions of each device using a binocular monitoring component. The processing module, connected to the binocular monitoring component, receives images and calculates adjustment data. This provides adjustment data for the alignment of the danner machine and the preheating furnace, as well as the alignment of the danner machine and the muffle furnace. Operators can then quickly and efficiently adjust the positions of the preheating furnace and the danner machine based on this adjustment data, achieving efficient rotary tube replacement. This reduces downtime required for rotary tube replacement and also minimizes the harm to operators caused by high-temperature operations. Attached Figure Description
[0042] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0043] Figure 1 This is a flowchart illustrating the positioning method disclosed in an embodiment of this disclosure;
[0044] Figure 2 This is a schematic diagram of the rotary tube replacement system disclosed in this embodiment;
[0045] Figure 3 This is a schematic diagram of the structure of the preheating furnace of the rotary tube replacement system disclosed in this embodiment;
[0046] Figure 4 This is a schematic diagram of the structure of the Dana machine of the rotary tube replacement system disclosed in this embodiment;
[0047] Figure 5 This is a schematic diagram of the structure of the muffle furnace of the rotary tube replacement system disclosed in this embodiment;
[0048] Figure 6 This is a right-side structural schematic diagram of the preheating furnace of the rotary tube replacement system disclosed in this embodiment;
[0049] Figure 7 This is a schematic diagram of the structure of the binocular monitoring component of the rotary tube replacement system disclosed in this embodiment.
[0050] Explanation of reference numerals in the attached figures:
[0051] 1. Preheating furnace; 11. Main shaft fastening device; 12. Locking device; 2. Danner machine; 21. Main shaft connecting device; 22. Workbench; 23. Angle support base; 24. Rotation fixing device; 25. Main shaft rotation device; 26. Rotating main shaft plane; 3. Muffle furnace; 31. Muffle furnace door; 32. Rotating tube inlet; 4. Binocular monitoring component; 41. Binocular camera; 42. Upright pole; 43. Data transmission module; A. First positioning point; B. Second positioning point; C. Third positioning point; D. Fourth positioning point; X. First direction; Y. Second direction; Z. Longitudinal. Detailed Implementation
[0052] The embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of this disclosure by way of example, but should not be used to limit the scope of this disclosure. This disclosure can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.
[0053] These embodiments are provided to make the disclosure thorough and complete, and to fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values set forth in these embodiments should be interpreted as exemplary only and not as limiting.
[0054] It should be noted that, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationship, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0055] Furthermore, the terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error. Terms such as "including" or "contains" mean that the element preceding the word encompasses the element listed after the word, and do not exclude the possibility of encompassing other elements as well.
[0056] It should also be noted that, in the description of this disclosure, unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" 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 direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this disclosure depending on the specific circumstances. When a particular device is described as being located between a first device and a second device, an intermediary device may or may not be present between the particular device and the first or second device.
[0057] All terms used in this disclosure have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.
[0058] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.
[0059] Currently, during the molding stage of pharmaceutical glass tube production, due to the corrosiveness of molten glass, the factory needs to replace the rotating tubes monthly. The main equipment involved in the installation and replacement of rotating tubes includes the Danner machine 2, the preheating furnace 1, and the muffle furnace 3. Before replacement, the rotating tube and the rotating shaft need to be heated in the preheating furnace 1. Then, the preheated rotating tube, together with the rotating shaft, is installed on the Danner machine 2. Finally, the installed rotating tube is pushed into the muffle furnace 3. In existing technologies, each time the rotating tube is replaced, the production line must be stopped. Furthermore, the installation positions of the rotating tube and rotating shaft in the Danner machine 2 and preheating furnace 1 require precise positioning, which is time-consuming. After the rotating tube and rotating shaft are installed, the Danner machine 2 needs to accurately position the rotating tube within the muffle furnace 3, which also takes time. Since each rotating tube replacement is a hot installation, the rotating tube's temperature is high, making the replacement process a high-temperature operation. The longer the replacement time, the greater the harm to the operators. Therefore, improving the alignment efficiency between different pieces of equipment and shortening the downtime during rotating tube replacement is a pressing issue that needs to be addressed.
[0060] Example 1
[0061] Reference Appendix Figure 1 and appendix Figure 2-7 To improve the positioning efficiency between various devices during the replacement of the rotating tube, Embodiment 1 of the present invention proposes a positioning method. This positioning method is used for positioning the preheating furnace 1 and the Danner machine 2 during the replacement of the rotating tube in the glass tube Danner process, as well as positioning the Danner machine 2 and the muffle furnace 3. The positioning method specifically includes the following steps:
[0062] Step 101: Determine the initial positions of the preheating furnace 1, the danner 2, and the muffle furnace 3, as well as the position of the binocular monitoring component 4.
[0063] Specifically, the positioning method provided in this embodiment requires the use of a binocular monitoring component 4 to capture images and perform three-dimensional measurements of the positions of each device. The processing module, which is connected to the binocular monitoring component 4, receives images and calculates adjustment data. This processing module can be a backend PC. First, the position of the binocular monitoring component 4 needs to be determined based on the initial positions of the preheating furnace 1, the danner 2, and the muffle furnace 3. In the initial state, refer to the attached... Figure 2 As shown in the figure, the preheating furnace 1, the danner machine 2, and the muffle furnace 3 are positioned as follows: the muffle furnace 3 and the danner machine 2 are spaced apart in the first direction X, with the furnace door of the muffle furnace 3 facing the danner machine 2. The main shaft connecting device 21 of the danner machine 2 can initially face the muffle furnace 3. The preheating furnace 1 is positioned facing the danner machine 2, specifically with the main shaft fastening device 11 of the preheating furnace 1 facing the danner machine 2. The preheating furnace 1 and the danner machine 2 are spaced apart in the second direction Y, where the second direction Y is perpendicular to the first direction X. Both the first direction X and the second direction Y are perpendicular to the longitudinal direction Z. The aforementioned muffle furnace... The intervals between muffle furnace 3 and Danner machine 2, and between Danner machine 2 and preheating furnace 1, need to be slightly greater than the lengths of the rotating tube and the main rotating shaft. The position of the binocular monitoring component 4 needs to ensure that the binocular camera 41 can simultaneously capture images of muffle furnace 3, Danner machine 2, and preheating furnace 1. Its position in the second direction Y can be set between preheating furnace 1 and Danner machine 2. Furthermore, the distance between the binocular monitoring component 4 and muffle furnace 3 in the first direction X needs to be greater than the distance between Danner machine 2 and muffle furnace 3 to avoid interference with the position of each device during the rotating tube replacement process. Additionally, it should be noted that the positions of preheating furnace 1, Danner machine 2, and muffle furnace 3 in both the first direction X and the second direction Y can be adjusted. However, during the rotating tube replacement process, muffle furnace 3 remains in its initial position and can serve as a positioning reference. The positions of preheating furnace 1 and Danner machine 2 need to be adjusted.
[0064] Step 102: Select a group of positioning points. The group of positioning points includes: the first positioning point A on the preheating furnace 1, the second positioning point B and the third positioning point C on the Danner machine 2, and the fourth positioning point D on the muffle furnace 3. The binocular camera 41 of the binocular monitoring component 4 can capture each positioning point included in the group of positioning points.
[0065] Specifically, after the initial positions of the preheating furnace 1, the tandem furnace 2, and the muffle furnace 3 are determined, a set of positioning points needs to be selected. This set of positioning points comprises the selected positioning points on the preheating furnace 1, the tandem furnace 2, and the muffle furnace 3. Specifically, the positioning point set includes: the first positioning point A on the preheating furnace 1, the second positioning point B and the third positioning point C on the tandem furnace 2, and the fourth positioning point D on the muffle furnace 3. It is necessary to ensure that the binocular camera 41 can simultaneously capture images of all positioning points in the positioning point set during shooting. Ideally, each positioning point should be positioned close to its respective equipment. The selection of the docking position with the corresponding equipment; in the technical solution adopted by the present invention, the first positioning point A can be any point on the locking device 12 on the main shaft fastening device 11 of the preheating furnace 1, the second positioning point B can be any point on the connection position between the rotating main shaft plane 26 of the Dana machine 2 and the rotating fixing device 24, the third positioning point C can be the intersection of the main shaft rotating device 25 of the Dana machine 2 and the center line of the main shaft, and the fourth positioning point D can be the vertex of the rotating tube inlet 32 on the muffle furnace door 31 of the muffle furnace 3, but is not limited to these.
[0066] Before step 103, the method further includes: step 102a, obtaining the three-dimensional models of preheating furnace 1, Danner machine 2 and muffle furnace 3 respectively, selecting the coordinate origin at the same height on preheating furnace 1, Danner machine 2 and muffle furnace 3, and obtaining the three-dimensional coordinates of each positioning point of the positioning point group.
[0067] Specifically, the processing module can acquire and store the 3D models of preheating furnace 1, Danner machine 2, and muffle furnace 3, and record the 3D dimensional data; see attached document. Figure 3 As shown in the figure, based on the three-dimensional model of preheating furnace 1, point O is set as the origin of the coordinate system, and the three-dimensional coordinates of the first positioning point A and the docking point with the Dana machine 2 are obtained; refer to the attached figure. Figure 4 As shown in the figure, based on the 3D model of Dana machine 2, point O' is set as the origin of the coordinate system, and the 3D coordinates of the second positioning point B, the third positioning point C, and the docking point with the preheating furnace 1 and the muffle furnace 3 are obtained; refer to the attached figure. Figure 4 and attached Figure 5 As shown in the figure, based on the three-dimensional model of the muffle furnace 3, point O” is set as the origin of the coordinate system, and the three-dimensional coordinates of the fourth positioning point D and the docking point with the muffle furnace 3 are obtained. By obtaining the three-dimensional coordinates of the docking point between the preheating furnace 1 and the danner machine 2, the coordinates of the docking points between the danner machine 2 and the preheating furnace 1 and the muffle furnace 3, and the coordinates of the docking point between the muffle furnace 3 and the danner machine 2, the three-dimensional coordinates of the positioning points can be compensated when positioning between devices based on the three-dimensional coordinates of each positioning point in the image captured by the binocular camera 41, so that the docking points of the corresponding devices can be aligned after positioning, thus achieving efficient and reliable positioning.
[0068] Before step 103, the procedure also includes: step 102b, setting target plates on the Dynamo 2 and the muffle furnace 3 respectively, and calibrating the binocular camera 41 through the target plates.
[0069] Specifically, the calibration of the binocular camera 41 is the prerequisite and foundation for stereo vision measurement. Binocular camera calibration, by solving the camera's intrinsic and extrinsic parameters, obtains the camera's geometric model and the relative positional relationship between the left and right cameras, playing a crucial role in the shooting measurement. The binocular camera 41 can be calibrated using existing binocular camera 41 calibration methods. In the technical solution adopted in this invention, XY and ZY direction target plates can be configured separately. The target plates can be A4 or A3 size. The XY direction target plate is fixed to the Z-axis side of the Dana machine 2 bracket, and the ZY direction target plate is fixed to the upper right corner of the muffle furnace 3's furnace door, ensuring that both target plates are within the shooting range of the binocular camera 41. The target plates can be removed after the binocular camera 41 is calibrated.
[0070] Step 103: The binocular camera 41 captures the first image. Based on the preset three-dimensional model and the three-dimensional coordinates of the first positioning point A, the second positioning point B and the third positioning point C in the first image, the first adjustment data of the preheating furnace 1 and the Dana machine 2 are determined.
[0071] Specifically, after the initial positions of the preheating furnace 1, the danner machine 2, and the muffle furnace 3, as well as the position of the binocular monitoring component 4, are determined, and the positioning point group is selected and its three-dimensional coordinates are determined, the three-dimensional model is acquired, and the binocular camera 41 is calibrated, the positioning of the danner machine 2 and the preheating furnace 1 can be performed. Specifically, this can be done by: capturing a first image using the binocular camera 41, obtaining the three-dimensional coordinates of the first positioning point A, the second positioning point B, and the third positioning point C in the first image using the processing module, and determining the first adjustment data for the preheating furnace 1 and the danner machine 2 based on the corresponding three-dimensional model. Step 103 can specifically include:
[0072] Step 103a: Obtain the three-dimensional coordinates of the first positioning point A, the second positioning point B, and the third positioning point C in the first image;
[0073] Step 103b: Based on the coordinates of the first positioning point A and the second positioning point B in the first direction X, obtain the first data for adjusting the Dana machine 2 so that the docking positions of the preheating furnace 1 and the Dana machine 2 correspond in the first direction X.
[0074] Step 103c: Based on the coordinates of the first positioning point A and the third positioning point C in the second direction Y, obtain the second data for adjusting the preheating furnace 1 so that the docking positions of the preheating furnace 1 and the Dana machine 2 correspond in the second direction Y.
[0075] Step 103d: Based on the coordinates of the first positioning point A and the third positioning point C in the longitudinal direction Z, obtain the third data for adjusting the Dana machine 2 so that the docking positions of the preheating furnace 1 and the Dana machine 2 correspond in the longitudinal direction Z.
[0076] Specifically, the first adjustment data includes the first data, second data, and third data mentioned above. In step 103, after obtaining the three-dimensional coordinates of the first positioning point A, the second positioning point B, and the third positioning point C, based on the three-dimensional models of the preheating furnace 1 and the Dana machine 2, the three-dimensional coordinates of the docking point, etc., the first data that Dana machine 2 needs to adjust in the first direction X, the second data that preheating furnace 1 needs to adjust in the second direction Y, and the third data that Dana machine 2 needs to adjust in the longitudinal direction Z are calculated respectively, so that the docking positions of the preheating furnace 1 and the Dana machine 2 correspond.
[0077] Step 104: Adjust the positions of the preheating furnace 1 and the Danner machine 2 based on the first adjustment data so that the docking positions of the preheating furnace 1 and the Danner machine 2 correspond, and install the rotating shaft and rotating tube to the Danner machine 2. Then, rotate the shaft connecting device 21 of the Danner machine 2 to face the muffle furnace 3, and adjust the angle between the worktable 22 of the Danner machine 2 and the angle support base 23 to the preset angle.
[0078] Specifically, after obtaining the first adjustment data, the operator adjusts the positions of the preheating furnace 1 and the danner machine 2 according to the first adjustment data to make the positions of the preheating furnace 1 and the danner machine 2 correspond. Then, the rotating shaft and rotating tube are installed to the shaft connecting device 21 of the danner machine 2. After installation, the preheating furnace 1 is moved back a certain distance away from the danner machine 2 along the second direction Y. This distance is not less than the length of the rotating tube and the rotating shaft. Then, the shaft connecting device 21 of the danner machine 2 can be rotated to face the muffle furnace 3. And according to the process requirements, the included angle between the worktable 22 of the danner machine 2 and the angle support base 23 is adjusted to a preset angle. This included angle is attached. Figure 4 The β angle shown.
[0079] Step 105: The binocular camera 41 captures a second image. Based on the preset 3D model and the 3D coordinates of the third positioning point C and the fourth positioning point D in the second image, the second adjustment data of the Dana camera 2 is determined.
[0080] Specifically, during the positioning of the Dynamo 2 and the muffle furnace 3, the binocular camera 41 captures a second image. Based on the stored 3D model and the 3D coordinates of the third positioning point C and the fourth positioning point D in the second image, the second adjustment data of the Dynamo 2 is calculated. Step 105 may specifically include:
[0081] Step 105a: Obtain the three-dimensional coordinates of the third positioning point C and the fourth positioning point D in the second image;
[0082] Step 105b: Based on the coordinates of the third positioning point C and the fourth positioning point D in the second direction Y, obtain the fourth data for adjusting the Danner machine 2 so that the docking positions of the Danner machine 2 and the muffle furnace 3 correspond in the second direction Y.
[0083] Step 105c: Based on the coordinates of the third positioning point C and the fourth positioning point D in the first direction X, obtain the fifth data for adjusting the Danner machine 2 so that the docking positions of the Danner machine 2 and the muffle furnace 3 correspond in the first direction X.
[0084] Specifically, the second adjustment data includes the fourth and fifth data mentioned above. In step 103, after obtaining the three-dimensional coordinates of the third positioning point C and the fourth positioning point D, the fifth and fourth data that need to be adjusted by the Dana machine 2 in the first direction X and the second direction Y are calculated according to the three-dimensional models of the Dana machine 2 and the muffle furnace 3, the three-dimensional coordinates of the docking point, etc., so that the docking positions of the Dana machine 2 and the muffle furnace 3 correspond.
[0085] Step 106: Adjust the position of the Danner machine 2 based on the second adjustment data so that the muffle furnace 3 and the Danner machine 2 are aligned, and push the rotating tube into the muffle furnace 3.
[0086] Specifically, after obtaining the second adjustment data, the operator adjusts the position of the danner 2 according to the second adjustment data so that the positions of the danner 2 and the muffle furnace 3 correspond, and then pushes the rotating tube into the muffle furnace 3.
[0087] Based on the above, this embodiment of the invention proposes a positioning method. The method involves capturing images and performing three-dimensional measurements of the positions of each device using a binocular monitoring component 4. A processing module connected to the binocular monitoring component 4 receives images and calculates adjustment data. This provides adjustment data for the alignment of the Dynamo 2 and the preheating furnace 1, as well as the alignment of the Dynamo 2 and the muffle furnace 3. Operators can then quickly and efficiently adjust the positions of the preheating furnace 1 and the Dynamo 2 based on this data, enabling efficient replacement of the rotating tube. This reduces downtime required for rotating tube replacement and also minimizes the harm to operators caused by high-temperature operations.
[0088] Specifically, in order to achieve deep learning in the rotary tube replacement system, the technical solution adopted in this invention can be as follows: after the preheating furnace 1 and the Dynamo machine 2 are aligned, a third image can be captured by a binocular camera 41. The processing module stores the third image and obtains at least the three-dimensional coordinates of the first positioning point A, the second positioning point B, and the third positioning point C in the third image. After the Dynamo machine 2 and the muffle furnace 3 are aligned, a fourth image can be captured by a binocular camera 41. The processing module stores the fourth image and obtains at least the three-dimensional coordinates of the third positioning point C and the fourth positioning point D in the fourth image. Alternatively, after other steps are completed, images can also be captured by a binocular camera 41 and the three-dimensional coordinates of each positioning point in the positioning point group can be obtained for the system to perform deep learning, obtain the optimal adjustment value, and further improve the alignment of each device and the time for replacing the rotary tube.
[0089] Example 2
[0090] Reference Appendix Figure 2 - Appendix Figure 7 Embodiment 2 of the present invention proposes a rotating tube replacement system. This system is used for positioning the preheating furnace 1 and the danner machine 2, as well as the danner machine 2 and the muffle furnace 3, during the rotating tube replacement process in the glass tube danner forming stage. Specifically, the system includes: a muffle furnace 3, a danner machine 2, and a preheating furnace 1. The danner machine 2 and the muffle furnace 3 are spaced apart in a first direction X, and the muffle furnace 3 and the preheating furnace 1 are spaced apart in a second direction Y. The first direction X is perpendicular to the second direction Y, and both the first direction X and the second direction Y are perpendicular to the longitudinal direction Z. The spacing between the danner machine 2 and the muffle furnace 3, and the spacing between the danner machine 2 and the preheating furnace 1 are specified. The distances between the binocular monitoring components are greater than the lengths of the rotating tubes; and the binocular monitoring component 4 is located between the preheating furnace 1 and the danner machine 2 in the second direction Y, and the distance between the binocular monitoring component 4 and the muffle furnace 3 in the first direction X is greater than the distance between the danner machine 2 and the muffle furnace 3. The binocular monitoring component 4 includes: a binocular camera 41; and a processing module for storing the three-dimensional models of the preheating furnace 1, the danner machine 2 and the muffle furnace 3 and the three-dimensional coordinates of each positioning point in the positioning point group, and is signal-connected to the binocular camera 41 for acquiring images captured by the binocular camera 41, and calculating the first adjustment data and the second adjustment data based on the three-dimensional coordinates of each positioning point in the images.
[0091] Specifically, the system provided in this embodiment includes a muffle furnace 3, a danner 2, and a preheating furnace 1 involved in replacing the rotating tube, as well as a binocular monitoring component 4 and a processing module. The binocular monitoring component 4 is used to capture images and perform three-dimensional measurements of the positions of each device, and the processing module, which is connected to the binocular monitoring component 4, is used to receive images and perform data calculations. The processing module can be a background PC.
[0092] Specifically, the structure of the binocular monitoring component 4 may include: a pole 42, a binocular camera 41 set on the top of the pole 42, a power supply and data transmission module 43, etc. The power supply can provide power to the binocular camera 41, and the data transmission module 43 can realize the signal connection between the binocular camera 41 and the processing module to realize data transmission.
[0093] Specifically, servo motors can be installed on the muffle furnace 3, danner 2, and preheating furnace 1 respectively to control the movement of each device. The processing module can be connected to the servo motor signal, and the processing module can directly convert the adjustment data into a signal and send it to the servo motor. The servo motor can then automatically adjust the position of the device, further improving the efficiency of changing the rotary tube.
[0094] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.
[0095] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. In particular, as long as there is no structural conflict, the technical features mentioned in the various embodiments can be combined in any manner.
Claims
1. A positioning method, characterized by, include: Determine the initial positions of the preheating furnace (1), the danner (2), and the muffle furnace (3), as well as the position of the binocular monitoring assembly (4); A set of positioning points is selected, which includes: a first positioning point (A) on the preheating furnace (1), a second positioning point (B) and a third positioning point (C) on the Dynamo machine (2), and a fourth positioning point (D) on the muffle furnace (3). The binocular camera (41) of the binocular monitoring component (4) is capable of capturing each positioning point included in the set of positioning points. The binocular camera (41) captures a first image, and determines the first adjustment data of the preheating furnace (1) and the Dana machine (2) based on the preset three-dimensional model and the three-dimensional coordinates of the first positioning point (A), the second positioning point (B) and the third positioning point (C) in the first image; Based on the first adjustment data, adjust the positions of the preheating furnace (1) and the Dana machine (2) so that the docking positions of the preheating furnace (1) and the Dana machine (2) correspond, and install the rotating shaft and rotating tube to the Dana machine (2), then rotate the shaft connecting device (21) of the Dana machine (2) to face the muffle furnace (3), and adjust the angle between the worktable of the Dana machine (2) and the angle support base to a preset angle; The binocular camera (41) captures a second image, and the second adjustment data of the Dynamo (2) is determined based on the preset three-dimensional model and the three-dimensional coordinates of the third positioning point (C) and the fourth positioning point (D) in the second image; Adjust the position of the danner machine (2) based on the second adjustment data so that the muffle furnace (3) and the danner machine (2) are aligned, and push the rotating tube into the muffle furnace (3).
2. The positioning method according to claim 1, characterized in that, In the initial state, the danner (2) and the muffle furnace (3) are spaced apart in the first direction (X), the furnace door of the muffle furnace (3) is opposite to the main shaft connecting device (21) of the danner (2), the muffle furnace (3) and the preheating furnace (1) are spaced apart in the second direction (Y), the main shaft fastening device (11) of the preheating furnace (1) faces the danner (2), wherein the first direction (X) is perpendicular to the second direction (Y), and the first direction (X) and the second direction (Y) are perpendicular to the longitudinal direction, and the spacing between the danner (2) and the muffle furnace (3) and the spacing between the danner (2) and the preheating furnace (1) are respectively greater than the length of the rotating tube; The binocular monitoring component (4) is located between the preheating furnace (1) and the Dynamo machine (2) in the second direction (Y), and the distance between the binocular monitoring component (4) and the muffle furnace (3) in the first direction (X) is greater than the distance between the Dynamo machine (2) and the muffle furnace (3); Before the binocular camera (41) captures the first image, the process further includes rotating the main shaft connection device (21) of the Dynamo (2) toward the preheating furnace (1).
3. The positioning method according to claim 2, characterized in that, The first positioning point (A) is any point on the locking device (12) on the main shaft fastening device (11) of the preheating furnace (1); The second positioning point (B) is any point where the rotating shaft plane (26) of the Dana machine (2) is connected to the rotating fixing device (24), and the third positioning point (C) is the intersection of the rotating shaft device (25) of the Dana machine (2) and the center line of the shaft. The fourth positioning point (D) is the apex of the rotary tube inlet (32) on the muffle furnace door (31) of the muffle furnace (3).
4. The positioning method according to claim 2, characterized in that, Following the selection of the positioning point group, the method further includes: The three-dimensional models of the preheating furnace (1), the danner machine (2) and the muffle furnace (3) are obtained respectively. The coordinate origins located at the same height are selected on the preheating furnace (1), the danner machine (2) and the muffle furnace (3), and the three-dimensional coordinates of each positioning point of the positioning point group are obtained.
5. The positioning method according to claim 1, characterized in that, Before the binocular camera (41) captures the first image, the following is also included: Target plates are respectively set on the danner (2) and the muffle furnace (3) to calibrate the binocular camera (41).
6. The positioning method according to claim 4, characterized in that, The first adjustment data for the preheating furnace (1) and the Dana machine (2) is determined based on the preset three-dimensional model and the three-dimensional coordinates of the first positioning point (A), the second positioning point (B), and the third positioning point (C) in the first image. Specifically, the data is as follows: Obtain the three-dimensional coordinates of the first positioning point (A), the second positioning point (B), and the third positioning point (C) in the first image; Based on the coordinates of the first positioning point (A) and the second positioning point (B) in the first direction (X), first data for adjusting the Dana machine (2) is obtained so that the docking positions of the preheating furnace (1) and the Dana machine (2) correspond in the first direction (X); Based on the coordinates of the first positioning point (A) and the third positioning point (C) in the second direction (Y), second data for adjusting the preheating furnace (1) is obtained so that the docking positions of the preheating furnace (1) and the Dana machine (2) correspond in the second direction (Y); Based on the longitudinal coordinates of the first positioning point (A) and the third positioning point (C), third data for adjusting the Dana machine (2) is obtained so that the docking positions of the preheating furnace (1) and the Dana machine (2) correspond in the longitudinal direction. The first adjustment data includes: the first data, the second data, and the third data.
7. The positioning method according to claim 4 or 6, characterized in that, The second adjustment data of the Dynamo machine (2) is determined based on the preset three-dimensional model and the three-dimensional coordinates of the third positioning point (C) and the fourth positioning point (D) in the second image, specifically as follows: Obtain the three-dimensional coordinates of the third positioning point (C) and the fourth positioning point (D) in the second image; Based on the coordinates of the third positioning point (C) and the fourth positioning point (D) in the second direction (Y), fourth data for adjusting the danner machine (2) is obtained so that the docking positions of the danner machine (2) and the muffle furnace (3) correspond in the second direction (Y); Based on the coordinates of the third positioning point (C) and the fourth positioning point (D) in the first direction (X), fifth data for adjusting the danner machine (2) is obtained so that the docking positions of the danner machine (2) and the muffle furnace (3) correspond in the first direction (X); The second adjustment data includes the fourth data and the fifth data.
8. The positioning method according to claim 1, characterized in that, After adjusting the positions of the preheating furnace (1) and the Dana machine (2) based on the first adjustment data, and installing the rotating shaft and rotating tube to the Dana machine (2), the method further includes: The binocular camera (41) captures a third image, stores the third image, and obtains the three-dimensional coordinates of the first positioning point (A), the second positioning point (B), and the third positioning point (C) in the third image; After adjusting the position of the Dana machine (2) based on the second adjustment data, the method further includes: The binocular camera (41) captures a fourth image, stores the fourth image, and obtains the three-dimensional coordinates of the third positioning point (C) and the fourth positioning point (D) in the fourth image.
9. A rotary tube replacement system, employing the positioning method as described in any one of claims 1-8, characterized in that, include: A muffle furnace (3), a danner (2), and a preheating furnace (1) are provided. The danner (2) and the muffle furnace (3) are spaced apart in a first direction (X), and the muffle furnace (3) and the preheating furnace (1) are spaced apart in a second direction (Y). The first direction (X) is perpendicular to the second direction (Y), and the first direction (X) and the second direction (Y) are perpendicular to the longitudinal direction. The distance between the danner (2) and the muffle furnace (3) and the distance between the danner (2) and the preheating furnace (1) are both greater than the length of the rotating tube. A binocular monitoring component (4) is positioned in the second direction (Y) between the preheating furnace (1) and the Dynamo machine (2), and in the first direction (X) the distance between the binocular monitoring component (4) and the muffle furnace (3) is greater than the distance between the Dynamo machine (2) and the muffle furnace (3). The binocular monitoring component (4) includes: a binocular camera (41); and The processing module is used to store the three-dimensional models of the preheating furnace (1), the danner machine (2) and the muffle furnace (3) and the three-dimensional coordinates of each positioning point of the positioning point group. It is connected to the binocular camera (41) for acquiring the images captured by the binocular camera (41) and calculating the first adjustment data and the second adjustment data based on the three-dimensional coordinates of each positioning point in the images.
10. The rotary tube replacement system according to claim 9, characterized in that, The binocular monitoring component (4) includes at least: a pole, a binocular camera (41) disposed on the top of the pole, a power supply and a data transmission module, wherein the power supply is used to provide power to the binocular camera (41), and the binocular camera (41) is signal-connected to the processing module through the data transmission module.