An automatic alignment device and method integrating workpiece identification, cleaning and clamping

Abstract

This invention belongs to the field of workpiece processing tooling technology, specifically relating to the clamping and alignment of workpieces before processing. This invention discloses an automatic alignment device and method integrating workpiece identification, cleaning, and clamping. The automatic alignment device includes a host computer, a measurement and operation module housed within a casing, an air shower system, a surface cleaning module, and a workpiece stage for carrying the workpiece to be processed. This invention can automatically identify the model of the workpiece to be processed, clean and dry it, then use a laser displacement sensor to acquire the workpiece's posture information data and process the data. The processing result is used as input to an electric striking device. Finally, through repeated iterations, the fully automatic workpiece clamping and alignment process is achieved, improving workpiece clamping efficiency and positioning accuracy, and reducing production costs.

Description

Technical Field

[0001] This invention belongs to the field of workpiece processing tooling technology, and relates to the clamping and alignment work before workpiece processing. Specifically, it relates to an automatic alignment device and method that integrates workpiece identification, cleaning and clamping. Background Technology

[0002] In manufacturing, accurate workpiece clamping is crucial for the success of the machining process. Traditional workpiece clamping techniques face a number of challenges, including but not limited to inaccurate positioning, low clamping efficiency, and operational complexity. While existing solutions have made some progress, limitations in accuracy and efficiency remain. Currently, the market demand for improved workpiece clamping alignment accuracy and efficiency is constantly increasing. With the development of manufacturing, the requirements for high automation, precision, and efficiency are rising, and traditional workpiece clamping methods can no longer meet these requirements.

[0003] In recent years, a number of advanced clamping technologies have emerged, covering machine vision, sensor technology, and automated control systems. However, these technologies still have some limitations, such as insufficient adaptability to complex workpieces and high system complexity.

[0004] In conclusion, the current market urgently needs an innovative workpiece clamping and alignment technology to improve positioning accuracy, reduce operational difficulty, increase automation levels, and better meet the demands of modern manufacturing for efficient and precision machining. Summary of the Invention

[0005] The technical problem this invention aims to solve is that existing workpiece clamping and alignment methods suffer from low positioning accuracy, low clamping efficiency, complex operation, and low automation levels, failing to meet the demands of modern manufacturing for efficient and precise machining. The purpose of this invention is to provide an automatic alignment device and method integrating workpiece identification, cleaning, and clamping. This invention can automatically identify the model of the workpiece to be processed, clean and dry it, then use a laser displacement sensor to acquire the workpiece's posture information data and process the data. The processing result is used as input to an electric striking device, and finally, through repeated iterations, the fully automated workpiece clamping and alignment process is achieved, improving workpiece clamping efficiency and positioning accuracy, and reducing production costs.

[0006] This invention is achieved through the following technical solution:

[0007] In a first aspect, the present invention provides an automatic alignment device integrating workpiece identification, cleaning, and clamping, the device comprising:

[0008] The automatic alignment device includes a host computer, a measurement operation module, an air shower system, and a workpiece table, all housed within the casing.

[0009] The measurement operation module includes an end effector that integrates measurement and operation, and a six-degree-of-freedom collaborative robotic arm. The end effector is connected to the six-degree-of-freedom collaborative robotic arm. The measurement operation module is used to acquire the three-dimensional point cloud data of the workpiece to be processed and transmit it to the host computer.

[0010] The air shower system includes air shower nozzles and air shower outlets located on opposite sides of the housing. After the model identification of the workpiece to be processed is completed, the workpiece to be processed is cleaned for the first time. Air is blown from the air shower nozzles to the outer surface of the workpiece to be processed, blowing away residual chips and cutting fluid from the surface of the workpiece. At the same time, the stable airflow can carry away and collect the blown-away dirt from the air shower outlet and dry the surface of the workpiece to be processed.

[0011] The workpiece stage is used to hold the workpiece to be processed and automatically clamp and release the accompanying fixture, while also having the function of providing vacuum negative pressure to the accompanying fixture.

[0012] The host computer is used to make judgments and identifications based on 3D point cloud data to obtain the model of the workpiece to be processed; and to receive the runout data measured by the measurement operation module during the workpiece rotation, determine the offset of the workpiece to be processed based on the runout data and adjust its attitude to complete the alignment.

[0013] Furthermore, the end effector of the six-degree-of-freedom collaborative robotic arm is equipped with a three-dimensional depth camera, a non-contact laser displacement sensor, and an electric striking device.

[0014] After the workpiece to be processed is loaded, the six-degree-of-freedom collaborative robotic arm automatically controls the three-dimensional depth camera to move to the designated position and acquire the three-dimensional point cloud data of the workpiece to be processed. The three-dimensional point cloud data is then transmitted to the host computer via wireless communication. The host computer performs data processing such as filtering, clustering, and fitting on the three-dimensional point cloud data through its program to identify the features of the workpiece to be processed. Based on the features of the workpiece to be processed, the model of the workpiece to be processed is determined.

[0015] During the rotation of the workpiece, the six-degree-of-freedom collaborative robotic arm controls the non-contact laser displacement sensor and the electric striking device to move to the designated position, synchronously collecting the measurement data of the non-contact laser displacement sensor and the position data of the rotating spindle of the automatic alignment device, and transmitting the measurement data and position data to the host computer.

[0016] Furthermore, the process by which the host computer obtains the model number of the workpiece to be processed is as follows:

[0017] The support surface point cloud data in the 3D point cloud data is filtered out by the height filtering method to obtain the filtered 3D point cloud data.

[0018] The optics density clustering algorithm is used to calculate the distance and local density between data points in the filtered 3D point cloud data to generate a decision map; based on the decision map, the clustering structure is identified.

[0019] Based on the clustering structure, noisy point cloud data in the 3D point cloud data is removed, and the point cloud data of the target workpiece is extracted.

[0020] Least squares fitting is performed on the point cloud data of the target workpiece. The three-dimensional coordinate data of the point cloud data of the target workpiece is used as input, and the spatial shape equation of the point cloud data of the target workpiece is used as the fitting function to obtain the key parameters of the workpiece to be tested.

[0021] By comparing key parameters with database data, the model of the workpiece to be processed can be identified.

[0022] Furthermore, the automatic alignment device also includes a surface cleaning module disposed within the housing;

[0023] The surface cleaning module includes a two-degree-of-freedom robotic arm, with a cleaning head at the end of the two-degree-of-freedom robotic arm. The cleaning head is equipped with a compressed air nozzle and a dust suction port at the end of the cleaning head.

[0024] The surface cleaning module is used for a second cleaning of the workpiece. It sprays high-speed airflow through compressed air nozzles, while the suction port uses negative pressure to suck away residual chips and other particulate contaminants. It also controls a two-degree-of-freedom robotic arm and cleaning head to move the compressed air nozzles and suction port close to the surface contour of the workpiece to clean chips, cutting fluid and other contaminants adhering to the inner and outer surfaces of the workpiece.

[0025] Furthermore, the automatic alignment device also includes a vacuum suction device, a zero-point positioning system sub-disc, and a zero-point positioning system master disc mounted on the workpiece stage;

[0026] When the workpiece is loaded, the automatic door of the automatic alignment device opens, and the workpiece to be processed is adsorbed onto the zero-point positioning system sub-panel under the action of the vacuum suction. Then, together with the zero-point positioning system sub-panel, it is installed on the zero-point positioning system master plate, and then the automatic door is closed.

[0027] Secondly, the present invention provides an automatic alignment method integrating workpiece identification, cleaning, and clamping, which is based on the aforementioned automatic alignment device integrating workpiece identification, cleaning, and clamping; the method includes:

[0028] The measurement operation module acquires the three-dimensional point cloud data of the workpiece to be processed after loading, and transmits the three-dimensional point cloud data to the host computer.

[0029] The host computer performs data processing such as filtering, clustering, and fitting on the 3D point cloud data through the host computer program, and identifies the features of the workpiece to be processed; based on the features of the workpiece to be processed, the model of the workpiece to be processed is identified.

[0030] After the model identification of the workpiece to be processed is completed, the workpiece is cleaned for the first time. Air is blown from the air shower nozzle to the outer surface of the workpiece to be processed, blowing away the residual chips and cutting fluid from the surface of the workpiece. At the same time, the stable airflow can carry away and collect the blown-away dirt from the air shower outlet and dry the surface of the workpiece to be processed.

[0031] During the workpiece rotation, the host computer receives the runout data measured by the measurement operation module, determines the offset of the workpiece to be processed based on the runout data, and adjusts its posture.

[0032] The workpiece to be processed, the vacuum suction device, and the zero-point positioning system sub-panel, after being adjusted in posture, are taken out together and installed on the precision machining tool, and the automatic alignment process is completed.

[0033] Furthermore, the 3D point cloud data includes workpiece point cloud data and interference point cloud data, and the interference point cloud data includes support surface point cloud data and noise point cloud data.

[0034] Further, the model of the workpiece to be processed is identified, and the specific steps are as follows:

[0035] The support surface point cloud data in the 3D point cloud data is filtered out by the height filtering method to obtain the filtered 3D point cloud data.

[0036] The optics density clustering algorithm is used to calculate the distance and local density between data points in the filtered 3D point cloud data to generate a decision map; based on the decision map, the clustering structure is identified.

[0037] Based on the clustering structure, noisy point cloud data in the 3D point cloud data is removed, and the point cloud data of the target workpiece is extracted.

[0038] Least squares fitting is performed on the point cloud data of the target workpiece. The three-dimensional coordinate data of the point cloud data of the target workpiece is used as input, and the spatial shape equation of the point cloud data of the target workpiece is used as the fitting function to obtain the key parameters of the workpiece to be tested.

[0039] By comparing key parameters with database data, the model of the workpiece to be processed can be identified.

[0040] Furthermore, the specific steps for attitude adjustment are as follows:

[0041] By matching the distance data of the non-contact laser displacement sensor with the position data of the rotating spindle of the automatic alignment device, the runout data of each data point measured by the non-contact laser displacement sensor is obtained.

[0042] And perform a fast Fourier transform on the jump data of each data point to accurately determine the offset of the workpiece to be processed;

[0043] The offset is judged. If the accuracy requirement is met, the attitude adjustment ends. Otherwise, the offset value is transmitted to the lower computer as the input to control the striking amplitude of the electric striking device.

[0044] Repeat the attitude adjustment until the offset meets the accuracy requirements.

[0045] Furthermore, the method also includes:

[0046] The workpiece is cleaned a second time by spraying high-speed airflow through compressed air nozzles, while the dust suction port uses negative pressure to suck away residual chips and other particulate matter.

[0047] Furthermore, by controlling the two-degree-of-freedom robotic arm and the cleaning head, the compressed air nozzle and the dust suction port are moved close to the surface contour of the workpiece to be tested, cleaning the chips, cutting fluid and other dirt adhering to the inner and outer surfaces of the workpiece to be processed.

[0048] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0049] This invention discloses an automatic alignment device and method integrating workpiece identification, cleaning, and clamping. This invention solves the problems of low workpiece clamping and alignment efficiency and poor repeatability in current methods. While ensuring clamping efficiency, it achieves full automation of the clamping and alignment process, significantly improving workpiece machining accuracy and efficiency. Specifically, this invention can automatically identify the model of the workpiece to be processed, clean and dry it, then use a laser displacement sensor to acquire and process the workpiece's posture information data. The processing result is used as input to an electric striking device, and finally, through repeated iterations, the fully automated workpiece clamping and alignment process is achieved, improving workpiece clamping efficiency and positioning accuracy, and reducing production costs. Attached Figure Description

[0050] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0051] Figure 1 This is an overall assembly drawing of an automatic alignment device integrating workpiece identification, cleaning, and clamping according to the present invention.

[0052] Figure 2 This is a schematic diagram of the main functions of an automatic alignment device integrating workpiece identification, cleaning, and clamping according to the present invention.

[0053] Figure 3 This is the original three-dimensional depth image of the present invention;

[0054] Figure 4 This is the original three-dimensional point cloud image of the present invention;

[0055] Figure 5 This is the optics density clustering decision map of the present invention;

[0056] Figure 6 This refers to the three-dimensional point cloud image of the target workpiece (i.e., the point cloud data of the target workpiece) of this invention.

[0057] Figure 7 This is a left-side view of the cleaning module of the automatic alignment device of the present invention;

[0058] Figure 8 This is a right-side view of the cleaning module of the automatic alignment device of the present invention;

[0059] Figure 9 This is a flowchart of an automatic alignment method integrating workpiece identification, cleaning, and clamping, according to the present invention.

[0060] Figure reference numerals and corresponding component names:

[0061] 1-End effector, 2-Six-DOF collaborative robotic arm, 3-Air shower system, 4-Surface cleaning module, 5-Workpiece to be processed, 6-3D depth camera, 7-Non-contact laser displacement sensor, 8-Electric tapping device, 9-Two-DOF robotic arm, 10-Cleaning head, 11-Compressed air nozzle, 12-Dust suction port, 13-Vacuum suction device, 14-Zero point positioning system sub-panel, 15-Zero point positioning system master pan, 16-Air shower nozzle, 17-Air shower outlet. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0063] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that these specific details are not necessary to practice the invention. In other instances, well-known structures, circuits, materials, or methods have not been specifically described in order to avoid obscuring the invention.

[0064] Throughout this specification, references to "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment of the invention. Therefore, the phrases "an embodiment," "an example," "an example," or "an example" appearing in various places throughout the specification do not necessarily refer to the same embodiment or example. Furthermore, specific features, structures, or characteristics can be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. Moreover, those skilled in the art will understand that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0065] In the description of this invention, it should be understood that the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0066] Existing workpiece clamping and alignment methods suffer from problems such as low positioning accuracy, low clamping efficiency, complex operation, and low level of automation, which cannot meet the needs of modern manufacturing for efficient and precise machining.

[0067] Therefore, the current market urgently needs an innovative workpiece clamping and alignment technology to improve positioning accuracy, reduce operational difficulty, increase automation levels, and better meet the demands of modern manufacturing for efficient and precise machining. Based on this market demand and technological background, the present invention possesses significant innovation and application prospects, effectively solving the problems existing in current technologies and bringing new technological breakthroughs to the field of workpiece clamping and alignment.

[0068] This invention designs an automatic alignment device and method that integrates workpiece identification, cleaning, and clamping. This invention can automatically identify the model of the workpiece to be processed, clean and dry the workpiece, then use a laser displacement sensor to acquire the workpiece's posture information data and process the data. The processing result is used as the input of an electric tapping device. Finally, through repeated iterations, the workpiece clamping and alignment work is fully automated, improving workpiece clamping efficiency and positioning accuracy, and reducing production costs.

[0069] Example 1

[0070] like Figure 1 and Figure 2 As shown, Figure 1This is the overall assembly drawing of the automatic alignment device. Figure 2 This is a schematic diagram of the main functions of the automatic alignment device. It should be noted that... Figure 1 The host computer is not shown in the figure, and the host computer can be located either nearby or remotely outside the housing; the present invention is an automatic alignment device that integrates workpiece identification, cleaning and clamping. The automatic alignment device includes a host computer, a housing, and a measurement operation module, an air shower system 3, a surface cleaning module 4 and a workpiece table set in the housing.

[0071] The measurement operation module includes an end effector 1 integrating measurement and operation and a six-degree-of-freedom collaborative robotic arm 2. The end effector 1 is connected to the six-degree-of-freedom collaborative robotic arm 2. The end effector of the six-degree-of-freedom collaborative robotic arm 2 is equipped with a 3D depth camera 6, a non-contact laser displacement sensor 7, and an electric tapping device 8. The air shower system 3 includes air shower nozzles 16 and air shower outlets 17 located on opposite sides of the housing. The surface cleaning module 4 includes a two-degree-of-freedom robotic arm 9, a cleaning head 10, a compressed air nozzle 11, and a dust suction port 12. It also includes a vacuum suction device 13, a zero-point positioning system sub-disc 14, and a zero-point positioning system master disc 15. When the workpiece is loaded, the automatic alignment device opens its automatic door, and the workpiece, under the action of the vacuum suction device 13, is adsorbed onto the zero-point positioning system sub-disc 14. Subsequently, the workpiece, along with the zero-point positioning system sub-disc 14, is mounted on the zero-point positioning system master disc 15, and then the automatic door closes. Wherein:

[0072] The measurement operation module is used to acquire the three-dimensional point cloud data of the workpiece 5 to be processed and transmit it to the host computer.

[0073] The air shower system 3 is used to perform the first cleaning of the workpiece 5 after the model identification of the workpiece 5 is completed. Air is blown from the air shower nozzle 16 to the outer surface of the workpiece 5, blowing away residual chips and cutting fluid from the surface of the workpiece 5. At the same time, the stable airflow can carry away and collect the blown-away dirt from the air shower outlet 17 and dry the surface of the workpiece 5.

[0074] The workpiece stage is used to hold the workpiece 5 to be processed, and automatically clamps and releases the accompanying fixture. It also has the function of providing vacuum negative pressure to the accompanying fixture.

[0075] The host computer is used to make judgments and identifications based on three-dimensional point cloud data to obtain the model of the workpiece 5 to be processed; and to receive the runout data measured by the measurement operation module during the rotation of the workpiece, determine the offset of the workpiece 5 to be processed based on the runout data and perform attitude adjustment to complete the alignment.

[0076] In this embodiment, a three-dimensional depth camera 6, a non-contact laser displacement sensor 7, and an electric striking device 8 are installed in the end effector of the six-degree-of-freedom collaborative robotic arm 2.

[0077] After the workpiece is loaded, the six-degree-of-freedom collaborative robotic arm 2 automatically controls the 3D depth camera 6 on the end effector to move to the designated position and acquire the 3D point cloud data of the workpiece. The 3D point cloud data is then transmitted to the host computer via wireless communication. The host computer performs data processing such as filtering, clustering, and fitting on the 3D point cloud data through its program to identify the features of the workpiece. Based on the features of the workpiece, the model of the workpiece is determined, and the corresponding subsequent operation process is then determined.

[0078] During the rotation of the workpiece, the six-degree-of-freedom collaborative robotic arm 2 controls the non-contact laser displacement sensor 7 and the electric striking device 8 to move to the designated position, enabling the automatic alignment device spindle to rotate. Simultaneously, it collects measurement data from the non-contact laser displacement sensor 7 and the position data of the rotating spindle of the automatic alignment device, transmitting the measurement and position data to the host computer. The host computer processes the acquired data to obtain the required workpiece offset. The offset is then evaluated; if it does not meet the accuracy requirements, the attitude adjustment ends. Otherwise, the offset value is transmitted to the lower-level computer as input to control the striking amplitude of the electric striking device. After the electric striking device completes its striking, the data measurement and analysis are repeated until the accuracy requirements are met.

[0079] In this embodiment, Figure 3 The image information of the workpiece 5 to be processed, captured by the 3D depth camera 6. Figure 4 The original 3D point cloud information is extracted based on 3D depth information. It includes not only the workpiece point cloud but also interference point clouds such as those from support surfaces and noise. To accurately obtain the 3D point cloud of the target workpiece, the support surface point cloud, which has the largest number of points, must first be filtered out to reduce the complexity of subsequent point cloud processing.

[0080] Specifically, the steps for the host computer to obtain the model number of the workpiece to be processed are as follows:

[0081] The support surface point cloud data in the 3D point cloud data is filtered out by using the height filtering method. That is, the depth information obtained by the depth camera is used to filter out the point cloud with excessive depth value, and the filtered 3D point cloud data is obtained.

[0082] The optics density clustering algorithm is used to calculate the distances and local densities between data points in the filtered 3D point cloud data, generating a decision map, such as... Figure 5 As shown; the local density between different clusters is relatively low, which is reflected in the decision map as the peak values ​​between different troughs, based on which the cluster structure can be identified; at the same time, noisy point cloud data in the 3D point cloud data is removed, and the target workpiece point cloud data is extracted, such as Figure 6 As shown;

[0083] The target workpiece point cloud data is fitted with least squares. The three-dimensional coordinate data of the target workpiece point cloud data is used as input, and the spatial shape equation of the target workpiece point cloud data is used as the fitting function to obtain the key parameters of the workpiece to be tested, such as the radius of the target workpiece point cloud data (spherical shell).

[0084] By comparing key parameters with database data, the model of workpiece 5 to be processed can be identified.

[0085] In this embodiment, Figure 7 and Figure 8 This is a schematic diagram of the air shower system 3 of the automatic alignment device. After the workpiece model is identified, the workpiece needs to be cleaned to remove debris, cutting fluid, and other contaminants from its surface to ensure the smooth progress of the finishing process. Air is blown from the air shower nozzle 16 onto the outer surface of the workpiece, blowing away residual chips and cutting fluid. At the same time, the stable airflow carries away and collects the blown-off contaminants and dries the surface of the workpiece.

[0086] To ensure further cleaning of the workpiece surface, a surface cleaning module 4 is used to perform a second cleaning of the workpiece 5 to be treated. The surface cleaning module 4 includes a two-degree-of-freedom robotic arm 9, a cleaning head 10, a compressed air nozzle 11, and a dust suction port 12. The cleaning head 10 is located at the end of the two-degree-of-freedom robotic arm 9. The cleaning head 10 is equipped with a compressed air nozzle 11, and the dust suction port 12 is located at the end of the cleaning head 10. Specifically, a high-speed airflow is ejected through the compressed air nozzle 11, while the dust suction port 12 sucks away residual chips and other particulate contaminants through negative pressure. By controlling the two-degree-of-freedom robotic arm 9 and the cleaning head 10, the compressed air nozzle 11 and the dust suction port 12 are moved close to the surface contour of the workpiece 5 to be tested, thereby cleaning the chips, cutting fluid, and other contaminants adhering to the inner and outer surfaces of the workpiece 5 to be treated.

[0087] In this embodiment, the workpiece stage includes a precision air-floating rotary platform and a fixture base that cooperates with the accompanying fixture. It can automatically clamp and release the accompanying fixture, and also has the function of providing vacuum negative pressure to the accompanying fixture.

[0088] In this embodiment, the outer casing includes equipment brackets, outer casing, etc., and is equipped with an automatic door to facilitate automated loading and unloading by external robots.

[0089] In this embodiment, when the workpiece is loaded, the automatic door of the automatic alignment device opens, and the workpiece 5 to be processed is adsorbed onto the zero-point positioning system sub-disc 14 under the action of the vacuum suction device 13. Then, together with the zero-point positioning system sub-disc 14, it is installed on the zero-point positioning system master disk 15, and then the automatic door is closed.

[0090] In practice, the workpiece to be processed is a spherical shell, with the outer spherical surface of the shell being the surface to be machined. The radius of the outer spherical surface of the shell is 85mm. The specific implementation steps are as follows:

[0091] (1) Feeding:

[0092] The automatic door of the automatic alignment device is opened, and the workpiece 5 to be processed is adsorbed onto the zero-point positioning system sub-panel 14 under the action of the vacuum suction device 13. Then, together with the zero-point positioning system sub-panel 14, it is installed on the zero-point positioning system master plate 15, and then the automatic door is closed.

[0093] (2) Identify the model of the workpiece to be processed:

[0094] A six-DOF collaborative robotic arm 2 controls a 3D depth camera 6 to move to a designated position and acquire 3D point cloud data of the workpiece to be processed. The 3D point cloud data is transmitted to a host computer via wireless communication. The host computer program processes the 3D point cloud data, identifies the features of the workpiece to be processed, and thus determines the model of the workpiece to determine the corresponding subsequent operation procedure.

[0095] (3) Workpiece cleaning:

[0096] First cleaning: Air is blown from the air shower nozzle 16 to the outer surface of the workpiece, blowing away residual chips and cutting fluid from the workpiece surface. At the same time, the stable airflow carries away and collects the blown-away dirt.

[0097] Second cleaning: High-speed airflow is ejected from compressed air nozzle 11, and dust suction port 12 sucks away chips and other particulate contaminants through negative pressure. By controlling the two-degree-of-freedom robotic arm 9 and cleaning head 10, the compressed air nozzle 11 and dust suction port 12 are moved close to the surface contour of the workpiece to clean the chips, cutting fluid and other contaminants adhering to the inner and outer surfaces of the workpiece to be treated.

[0098] (4) Measurement of bounce data:

[0099] The six-degree-of-freedom collaborative robotic arm 2 controls the non-contact laser displacement sensor 7 and the electric tapping device 8 to move to the designated position. The automatic alignment device's spindle rotation is enabled, synchronously collecting measurement data from the non-contact laser displacement sensor 7 and position data from the automatic alignment device's spindle, and transmitting the measurement data and position data to the host computer.

[0100] (5) Posture adjustment:

[0101] The host computer program processes the acquired agitation data to obtain the required offset for the workpiece. The offset is then evaluated; if it does not meet the accuracy requirements, the attitude adjustment ends. Otherwise, the offset value is transmitted to the slave computer as input to control the striking amplitude of the electric striking device 8. This attitude adjustment process is repeated until the required accuracy is met.

[0102] (6) Feeding

[0103] The automatic door opens, and the workpiece 5 to be processed, the vacuum suction device 13, and the zero-point positioning system sub-panel 14 are taken out together and installed on the precision machining tool. The automatic alignment device finishes its work.

[0104] Workpiece clamping and alignment is a crucial step before machining, and its quality directly affects the final workpiece accuracy. This invention solves the current problems of low efficiency and poor repeatability in workpiece clamping and alignment. While ensuring clamping efficiency, it achieves full automation of the clamping and alignment process, which has a significant positive impact on improving workpiece machining accuracy and high-efficiency machining.

[0105] Example 2

[0106] like Figure 9 As shown, the difference between this embodiment and Embodiment 1 is that this embodiment provides an automatic alignment method integrating workpiece identification, cleaning, and clamping. This method is based on an automatic alignment device integrating workpiece identification, cleaning, and clamping as described in Embodiment 1. The method includes:

[0107] Step 1: Obtain the 3D point cloud data of the workpiece 5 to be processed after loading through the measurement operation module, and transmit the 3D point cloud data to the host computer.

[0108] Step 2: The host computer performs data processing such as filtering, clustering, and fitting on the 3D point cloud data through the host computer program to identify the features of the workpiece 5 to be processed; based on the features of the workpiece 5 to be processed, the model of the workpiece 5 to be processed is identified.

[0109] Step 3: After completing the model identification of the workpiece 5 to be processed, the workpiece to be processed is cleaned for the first time. Air is blown from the air shower nozzle 16 to the outer surface of the workpiece 5 to be processed, blowing away the residual chips and cutting fluid from the surface of the workpiece 5. At the same time, the stable airflow can carry away and collect the blown-away dirt from the air shower outlet 17 and dry the surface of the workpiece 5 to be processed.

[0110] Step 4: During the workpiece rotation process, the host computer receives the runout data measured by the measurement operation module, determines the offset of the workpiece to be processed based on the runout data, and adjusts the attitude.

[0111] Step 5: Take out the workpiece 5 to be processed after attitude adjustment, the vacuum suction device 13 and the zero-point positioning system sub-panel 14 together and install them onto the precision machining tool. The automatic alignment work is completed.

[0112] As a further implementation, the three-dimensional point cloud data includes workpiece point cloud data and interference point cloud data, and the interference point cloud data includes support surface point cloud data and noise point cloud data;

[0113] As a further step, the model of the workpiece to be processed is identified, and the specific steps are as follows:

[0114] The support surface point cloud data in the 3D point cloud data is filtered out by the height filtering method to obtain the filtered 3D point cloud data.

[0115] The optics density clustering algorithm is used to calculate the distance and local density between data points in the filtered 3D point cloud data to generate a decision map; based on the decision map, the clustering structure is identified.

[0116] Based on the clustering structure, noisy point cloud data in the 3D point cloud data is removed, and the point cloud data of the target workpiece is extracted.

[0117] Least squares fitting is performed on the point cloud data of the target workpiece. The three-dimensional coordinate data of the point cloud data of the target workpiece is used as input, and the spatial shape equation of the point cloud data of the target workpiece is used as the fitting function to obtain the key parameters of the workpiece to be tested.

[0118] By comparing the key parameters with the database data, the model of workpiece 5 to be processed was identified.

[0119] As a further implementation, the specific steps for attitude adjustment are as follows:

[0120] By matching the distance data of the non-contact laser displacement sensor 7 with the position data of the rotating spindle of the automatic alignment device, the jump data of each data point measured by the non-contact laser displacement sensor 7 is obtained.

[0121] And perform a fast Fourier transform on the jump data of each data point to accurately determine the offset of the workpiece 5 to be processed;

[0122] The offset is judged. If the accuracy requirement is met, the attitude adjustment ends. Otherwise, the offset value is transmitted to the lower computer as the input to control the striking amplitude of the electric striking device 8.

[0123] Repeat the attitude adjustment until the offset meets the accuracy requirements.

[0124] As a further implementation, after the first cleaning is completed, the method also includes:

[0125] The workpiece 5 to be processed is cleaned a second time. High-speed airflow is sprayed out through compressed air nozzle 11, while the dust suction port 12 sucks away residual chips and other particulate dirt through negative pressure.

[0126] Furthermore, by controlling the two-degree-of-freedom robotic arm 9 and the cleaning head 10, the compressed air nozzle 11 and the dust suction port 12 are moved close to the surface contour of the workpiece 5 to be tested, cleaning the chips, cutting fluid and other dirt attached to the inner and outer surfaces of the workpiece 5 to be processed.

[0127] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0128] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0129] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0130] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0131] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic alignment device integrating workpiece identification, cleaning and clamping, characterized in that, The automatic alignment device includes a host computer, a measurement operation module, an air shower system (3), and a workpiece table for carrying the workpiece to be processed (5) inside the housing; The measurement operation module includes an end effector (1) that integrates measurement and operation and a six-degree-of-freedom collaborative robotic arm (2). The end effector (1) is connected to the six-degree-of-freedom collaborative robotic arm (2). The measurement operation module is used to acquire the three-dimensional point cloud data of the workpiece (5) to be processed and transmit it to the host computer. The air shower system includes air shower nozzles (16) and air shower outlets (17) disposed on opposite sides of the housing. After the model identification of the workpiece (5) is completed, the workpiece (5) is cleaned for the first time. Air is blown from the air shower nozzles (16) to the outer surface of the workpiece (5) to blow away residual chips and cutting fluid from the surface of the workpiece (5). At the same time, the airflow carries away and collects the blown-away dirt from the air shower outlets (17) and dries the surface of the workpiece (5). The host computer is used to make a judgment and identification based on the three-dimensional point cloud data to obtain the model of the workpiece (5) to be processed; and to receive the runout data measured by the measurement operation module during the rotation of the workpiece, and to determine the offset of the workpiece (5) to be processed based on the runout data and to adjust the attitude to complete the alignment. The automatic alignment device also includes a surface cleaning module (4) installed inside the housing; The surface cleaning module (4) includes a two-degree-of-freedom robotic arm (9), and a cleaning head (10) is provided at the end of the two-degree-of-freedom robotic arm (9). The cleaning head (10) is provided with a compressed air nozzle (11) and a dust suction port (12) is provided at the end of the cleaning head (10). The surface cleaning module (4) is used to perform a second cleaning of the workpiece (5) to be treated. High-speed airflow is sprayed out through the compressed air nozzle (11), and the dust suction port (12) sucks away residual chips and other particulate dirt through negative pressure. The compressed air nozzle (11) and the dust suction port (12) are moved close to the surface contour of the workpiece (5) to be treated by controlling the two-degree-of-freedom robotic arm (9) and the cleaning head (10) to clean the chips, cutting fluid and other dirt attached to the inner and outer surfaces of the workpiece (5).

2. The automatic alignment device of claim 1, wherein the device is configured to identify the workpiece and clean the workpiece simultaneously. The end effector of the six-degree-of-freedom collaborative robotic arm (2) is equipped with a three-dimensional depth camera (6), a non-contact laser displacement sensor (7), and an electric striking device (8). After the workpiece to be processed is loaded, the six-degree-of-freedom collaborative robotic arm (2) automatically controls the three-dimensional depth camera (6) to move to the designated position and acquire the three-dimensional point cloud data of the workpiece to be processed, and transmits the three-dimensional point cloud data to the host computer; the host computer processes the three-dimensional point cloud data through the host computer program, identifies the features of the workpiece to be processed; and determines the model of the workpiece to be processed based on the features of the workpiece to be processed. During the rotation of the workpiece to be processed, the six-degree-of-freedom collaborative robotic arm (2) controls the non-contact laser displacement sensor (7) and the electric striking device (8) to move to the designated position, synchronously collects the measurement data of the non-contact laser displacement sensor (7) and the position data of the rotating spindle of the automatic alignment device, and transmits the measurement data and position data to the host computer.

3. The automatic alignment device of claim 1, wherein the device is configured to identify the workpiece and clean the workpiece simultaneously. The process by which the host computer obtains the model number of the workpiece to be processed is as follows: The support surface point cloud data in the three-dimensional point cloud data is filtered out by a height filtering method to obtain filtered three-dimensional point cloud data. The optics density clustering algorithm is used to calculate the distance and local density between data points in the filtered 3D point cloud data to generate a decision map; based on the decision map, the clustering structure is identified. Based on the clustering structure, noisy point cloud data in the three-dimensional point cloud data is removed, and point cloud data of the target workpiece is extracted. The target workpiece point cloud data is fitted with least squares. The three-dimensional coordinate data of the target workpiece point cloud data is used as input, and the spatial shape equation of the target workpiece point cloud data is used as the fitting function to obtain the key parameters of the workpiece to be processed (5). The key parameters are compared with the database data to identify the model of the workpiece (5) to be processed.

4. The automatic alignment device of claim 1, wherein the device further comprises a workpiece identification and cleaning device. The automatic alignment device also includes a vacuum suction device (13), a zero-point positioning system sub-disc (14), and a zero-point positioning system master disc (15) mounted on the workpiece stage. When the workpiece is loaded, the automatic door of the automatic alignment device opens, and the workpiece (5) to be processed is adsorbed onto the zero-point positioning system sub-disk (14) under the action of the vacuum suction device (13). Then, together with the zero-point positioning system sub-disk (14), it is installed on the zero-point positioning system master disk (15), and then the automatic door is closed.

5. An automatic alignment method of integrating workpiece identification, cleaning and clamping, characterized in that, This method is based on the automatic alignment device integrating workpiece identification, cleaning, and clamping as described in claim 4; the method includes: The three-dimensional point cloud data of the workpiece (5) to be processed after loading is obtained by the measurement operation module, and the three-dimensional point cloud data is transmitted to the host computer. The host computer processes the three-dimensional point cloud data and identifies the features of the workpiece (5) to be processed; based on the features of the workpiece (5), the model of the workpiece (5) to be processed is identified. After completing the model identification of the workpiece (5) to be processed, the workpiece to be processed is cleaned for the first time. Air is blown from the air shower nozzle (16) to the outer surface of the workpiece (5) to be processed, blowing away the residual chips and cutting fluid from the surface of the workpiece (5). At the same time, the airflow carries away and collects the blown-away dirt from the air shower outlet (17) and dries the surface of the workpiece (5). During the workpiece rotation process, the host computer receives the runout data measured by the measurement operation module, determines the offset of the workpiece to be processed based on the runout data, and adjusts the attitude. The workpiece (5) to be processed after attitude adjustment, the vacuum suction cup (13) and the zero-point positioning system sub-panel (14) are taken out together and installed on the precision machining tool, and the automatic alignment work is completed.

6. The automatic alignment method of claim 5, wherein The three-dimensional point cloud data includes workpiece point cloud data and interference point cloud data, and the interference point cloud data includes support surface point cloud data and noise point cloud data.

7. The automatic alignment method of claim 6, wherein, The specific steps for identifying the model of the workpiece to be processed are as follows: The support surface point cloud data in the three-dimensional point cloud data is filtered out by a height filtering method to obtain filtered three-dimensional point cloud data. The optics density clustering algorithm is used to calculate the distance and local density between data points in the filtered 3D point cloud data to generate a decision map; based on the decision map, the clustering structure is identified. Based on the clustering structure, noisy point cloud data in the three-dimensional point cloud data is removed, and point cloud data of the target workpiece is extracted. The target workpiece point cloud data is fitted with least squares. The three-dimensional coordinate data of the target workpiece point cloud data is used as input, and the spatial shape equation of the target workpiece point cloud data is used as the fitting function to obtain the key parameters of the workpiece to be processed (5). The key parameters are compared with the database data to identify the model of the workpiece (5) to be processed.

8. The automatic alignment method of claim 5, wherein, The specific steps for attitude adjustment are as follows: By matching the distance data of the non-contact laser displacement sensor (7) with the position data of the rotating spindle of the automatic alignment device, the jump data of each data point measured by the non-contact laser displacement sensor (7) is obtained. And perform a fast Fourier transform on the jump data of each data point to determine the offset of the workpiece (5) to be processed; The offset is judged. If the accuracy requirement is met, the attitude adjustment is ended. Otherwise, the value of the offset is transmitted to the lower computer as the input to control the striking amplitude of the electric striking device (8). Repeat the attitude adjustment until the offset meets the accuracy requirements.

9. The automatic alignment method of claim 5, wherein, The method also includes: The workpiece (5) to be processed is cleaned a second time. High-speed airflow is sprayed out through the compressed air nozzle (11), while the dust suction port (12) sucks away residual chips and other particulate dirt through negative pressure. And by controlling the two-degree-of-freedom robotic arm (9) and the cleaning head (10), the compressed air nozzle (11) and the dust suction port (12) move close to the surface contour of the workpiece (5) to be treated, and clean the chips, cutting fluid and other dirt attached to the inner and outer surfaces of the workpiece (5).

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