Adjustment method based on multi-size seal bar gripping

Abstract

The application relates to the technical field of seal strip grabbing and adjusting, and discloses a kind of adjusting method based on multi-size seal strip grabbing, which is applied to adjusting device, the adjusting device includes workbench, the top of the workbench is used to array place multiple seal strips;First light source assembly is arranged at one side of the opposite two sides of the workbench, for irradiating one end of the seal strip;The application starts the adjusting assembly according to the size of the seal strip, adjusts the first light source assembly and / or the second light source assembly, so that the first light source assembly directly opposite irradiates one end of the seal strip, and the second light source assembly directly opposite irradiates the other end of the seal strip, to realize accurate identification and grabbing of the seal strip by the grabbing device, and different sizes of seal strips can be identified and grabbed, the reliability and accuracy of seal strip identification and grabbing are improved, the universality is stronger, and the grabbing efficiency is higher.

Description

Technical Field

[0001] This invention relates to the field of sealing strip gripping and adjustment technology, and more specifically to an adjustment method based on gripping multi-size sealing strips. Background Technology

[0002] Sealing strips are typically made of rubber or plastic, possessing a certain degree of elasticity and durability. Because sealing strips are used in a variety of fields and scenarios, they come in a wide variety of sealing shapes. For example, refrigerator sealing strips require multiple sections to be welded together sequentially to form a door seal.

[0003] Currently, when welding multiple sets of sealing strips into a mold, manual or mechanical gripping is generally used. With the development of intelligent manufacturing, mechanical gripping is gradually replacing manual labor. Mechanical gripping devices identify and grasp the ends of the sealing strips. However, due to the wide variety of sealing strip sizes and types, mechanical gripping devices cannot accurately identify the ends of sealing strips of different sizes, thus reducing the reliability of sealing strip gripping. Summary of the Invention

[0004] The purpose of this invention is to overcome the problem of poor gripping stability of sealing strips in the prior art, and to provide an adjustment method based on gripping of multi-size sealing strips, which has the function of high gripping reliability of sealing strips.

[0005] To achieve the above objectives, the present invention provides an adjustment device based on multi-size sealing strip gripping, comprising: A workbench, the top of which is used to arrange multiple sealing strips in an array; The first light source assembly is disposed on one side of the opposite sides of the workbench and is used to irradiate one end of the sealing strip. The second light source assembly is located on the other side of the opposite sides of the workbench and is used to irradiate the other end of the sealing strip. An adjustment component, connected to the first light source component and / or the second light source component, is used to adjust the illumination position of the first light source component and / or the second light source component on the top of the worktable.

[0006] Optionally, the first light source component includes: The first support is shaped like a door. The first illumination lamp is mounted on the top of the first bracket and is used to illuminate the top of one side of the opposite sides of the workbench.

[0007] Optionally, the second light source assembly includes: The second support is shaped like a door. The second illumination lamp is located on the top of the second bracket and is used to illuminate the other side of the opposite sides of the workbench.

[0008] Optionally, the adjustment component includes: Two sets of slide rails are symmetrically arranged on the other two sides of the worktable and are distributed perpendicularly to the second support. Two sets of sliding plates are slidably connected to two sets of slide rails respectively, and one end of each sliding plate extends toward the second bracket and is fixedly connected to the second bracket; A drive assembly is disposed at the bottom of the worktable and connected to the two sets of slide plates, for driving the two sets of slide plates to move along the corresponding slide rails.

[0009] Optionally, the adjustment assembly further includes two sets of drive motors, which are respectively disposed on the top of the first bracket and the second bracket, and the output ends of the two sets of drive motors are respectively connected to the ends of the first illumination lamp and the second illumination lamp.

[0010] On the other hand, the present invention also provides an adjustment method using the above-described adjustment device, comprising: Obtain the dimensions of the sealing strip on the worktable; Determine whether the camera, which works in conjunction with the first illumination lamp, has detected one end of the sealing strip; If the camera that works with the first illumination lamp detects one end of the sealing strip, the tilt angle of the first illumination lamp is obtained. The irradiation position of the second irradiation lamp is adjusted according to the tilt angle of the first irradiation lamp and the size of the sealing strip; Determine whether the camera, which works in conjunction with the second illumination lamp, has detected the other end of the sealing strip; If the camera, which works in conjunction with the second illumination lamp, detects the other end of the sealing strip, the gripping device is activated to grip the sealing strip. If it is determined that the camera working with the first illuminator has not detected one end of the sealing strip, the drive motor corresponding to the first illuminator is started, and the tilt angle of the first illuminator and the exposure value of the camera working with it are adjusted. Return to determine whether the camera, which works in conjunction with the first illumination lamp, has detected one end of the sealing strip.

[0011] Optionally, adjusting the illumination position of the second illumination lamp according to the tilt angle of the first illumination lamp includes: Obtain the vertical height of the first illumination lamp relative to one edge of the worktable; The horizontal distance between one end of the sealing strip and one edge of the workbench is obtained according to Formula 1. Formula 1 in, The horizontal distance between one end of the sealing strip and one edge of the workbench. The vertical height between the first illumination lamp and one edge of the workbench. The tilt angle of the first illumination lamp; The horizontal distance between the other end of the sealing strip and the other edge of the workbench is obtained according to Formula 2. Formula 2 in, The horizontal distance between the other end of the sealing strip and the other edge of the workbench. The distance between one edge and the other edge of the worktable. The length of the sealing strip.

[0012] Optionally, adjusting the illumination position of the second illumination lamp according to the tilt angle of the first illumination lamp further includes: The tilt angle of the second illumination lamp and the exposure value of the corresponding camera are preset; The horizontal distance between the center of the second illumination lamp on the workbench and the second support is obtained according to Formula 3. Formula 3 in, The horizontal distance between the center of the second illumination lamp on the workbench and the second support is [missing information]. The vertical height between the second illumination lamp and the other edge of the workbench. The tilt angle of the second illumination lamp; The horizontal movement distance of the second bracket is obtained according to Formula 4. Formula 4 in, This refers to the horizontal movement distance of the second support. The second support is moved according to the moving distance of the second support.

[0013] Optionally, adjusting the illumination position of the second illumination lamp according to the tilt angle of the first illumination lamp further includes: The tilt angle of the second illumination lamp is obtained according to Formula 5. Formula 5 in, The tilt angle of the second illumination lamp. The vertical height between the second illumination lamp and the other edge of the workbench; The exposure value of the camera used in conjunction with the second illumination lamp is obtained according to Formula 6. Formula Six in, This is the camera's exposure value; The drive motor corresponding to the second illumination lamp is started and adjusted according to the tilt angle of the second illumination lamp; The camera's exposure value is adjusted according to the exposure value of the camera used in conjunction with the second illumination lamp.

[0014] Optionally, adjusting the tilt angle of the first illumination lamp and the exposure value of the corresponding camera includes: Preset angle value change interval; The angle to be adjusted for the first illumination lamp is obtained according to Formula 7. Formula 7 in, For the first illumination lamp The angle to be adjusted in this adjustment. Let be the initial tilt angle of the first illumination lamp. The interval for the change of the angle value is... The current angle adjustment count of the first illumination lamp is an integer. Increment the current angle adjustment count of the first illumination lamp by one; The horizontal distance between one end of the current sealing strip and one edge of the workbench is obtained according to Formula 1. The exposure value of the camera currently engaged with the first illumination lamp is obtained based on the horizontal distance between one end of the current sealing strip and one edge of the workbench, and Formula Six.

[0015] Through the above technical solution, the adjustment method for gripping multi-size sealing strips provided by the present invention activates the adjustment component according to the size of the sealing strip, and adjusts the first light source component and / or the second light source component so that the first light source component is directly illuminating one end of the sealing strip and the second light source component is directly illuminating the other end of the sealing strip, so as to realize the precise identification and gripping of the sealing strip by the gripping device, and can identify and grip sealing strips of different sizes, thereby improving the reliability and accuracy of sealing strip identification and gripping, making it more versatile and more efficient. Attached Figure Description

[0016] Figure 1This is a schematic diagram of the structure of an adjustment device based on multi-size sealing strip gripping according to an embodiment of the present invention; Figure 2 It is based on Figure 1 Enlarged view of region A in the middle; Figure 3 This is a schematic diagram showing the connection between the drive motor and the illumination lamp in an adjustment device based on multi-size sealing strip gripping according to an embodiment of the present invention; Figure 4 This is a schematic diagram showing the connection between the drive assembly and the slide plate in an adjustment device based on multi-size sealing strip gripping according to an embodiment of the present invention; Figure 5 This is a flowchart of an adjustment method based on multi-size sealing strip gripping according to an embodiment of the present invention; Figure 6 This is a flowchart illustrating the identification and positioning of the other end of a sealing strip in an adjustment method based on multi-size sealing strip gripping according to an embodiment of the present invention. Figure 7 This is a flowchart illustrating the identification and positioning of the other end of a sealing strip in an adjustment method based on multi-size sealing strip gripping according to an embodiment of the present invention. Figure 8 This is a flowchart illustrating the identification and positioning of one end of a sealing strip in an adjustment method based on multi-size sealing strip gripping according to an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures Detailed Implementation

[0018] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0019] Figure 1 This is a schematic diagram of the structure of an adjustment device based on multi-size sealing strip gripping according to an embodiment of the present invention. Figure 1 The adjustment device may include a worktable 1, a first light source assembly 4, a second light source assembly 7, and an adjustment assembly.

[0020] The top of the workbench 1 is used to arrange multiple sealing strips in an array. A first light source assembly 4 is located on one of the opposite sides of the workbench 1 to illuminate one end of the sealing strip. A second light source assembly 7 is located on the other side of the opposite sides of the workbench 1 to illuminate the other end of the sealing strip. An adjustment assembly is connected to the first light source assembly 4 and / or the second light source assembly 7 to adjust the illumination position of the first light source assembly 4 and / or the second light source assembly 7 on the top of the workbench 1.

[0021] When it is necessary to grasp the sealing strip on the workbench 1, the first light source assembly 4 and the second light source assembly 7 are activated to illuminate the sealing strip. Specifically, considering the stability and reliability of the grasping device in grasping the sealing strip, the grasping device generally grasps the area near both ends of the sealing strip. Therefore, the first light source assembly 4 and the second light source assembly 7 illuminate both ends of the sealing strip respectively, so that the recognition camera on the grasping device can accurately and efficiently identify the two ends of the sealing strip. When it is necessary to illuminate and recognize sealing strips of different sizes, the adjustment assembly is activated to adjust the illumination position of the first light source assembly 4 and the second light source assembly 7, so as to achieve illumination of the two ends of sealing strips of different sizes on the workbench 1, thereby ensuring the recognition effect of the recognition camera on the area near the two ends of the sealing strip.

[0022] Traditional mechanical gripping devices identify and grasp the ends of sealing strips. However, due to the wide variety of sealing strip sizes and types, mechanical gripping devices cannot accurately identify the ends of sealing strips of different sizes, thus reducing the reliability of sealing strip gripping. In this embodiment of the invention, the first light source assembly 4 and the second light source assembly 7 are used to illuminate both ends of the sealing strip respectively, effectively improving the camera's accurate identification and positioning of the sealing strip gripping position, thereby facilitating reliable gripping of the sealing strip. Furthermore, by using an adjustment assembly to adjust the illumination positions of the first light source assembly 4 and the second light source assembly 7, reliable gripping of sealing strips of different sizes can be achieved, resulting in greater versatility and higher gripping efficiency.

[0023] In this embodiment of the invention, such as Figure 1 As shown, the first light source assembly 4 may include a first bracket 3 and a first illumination lamp 2.

[0024] The first support 3 is in the shape of a door, and the first illumination lamp 2 is set on the top of the first support 3 for illuminating the top of one side of the opposite sides of the workbench 1.

[0025] When it is necessary to irradiate one end of the sealing strip, simply turn on the first irradiation lamp 2.

[0026] In this embodiment of the invention, such as Figure 1 As shown, the second light source assembly 7 may include a second bracket 5 and a second illumination lamp 6.

[0027] The second support 5 is door-shaped, and the second illumination lamp 6 is located on the top of the second support 5 to illuminate the other side of the opposite sides of the workbench 1.

[0028] When it is necessary to irradiate the other end of the sealing strip, simply turn on the second irradiation lamp 6.

[0029] In this embodiment of the invention, such as Figure 1 , Figure 2 and Figure 4 As shown, the adjustment assembly may include two sets of slide rails 9, two sets of slide plates 8, and a drive assembly 13.

[0030] Two sets of slide rails 9 are symmetrically arranged on the other two sides of the worktable 1 and are perpendicular to the second support 5. Two sets of slide plates 8 are slidably connected to the two sets of slide rails 9 respectively, with one end of the slide plate 8 extending toward the second support 5 and fixed to the second support 5. The drive assembly 13 is located at the bottom of the worktable 1 and is connected to the two sets of slide plates 8, used to drive the two sets of slide plates 8 to move along the corresponding slide rails 9.

[0031] When the sealing strip is placed on the worktable 1, the first illumination lamp 2 and the second illumination lamp 6 illuminate both ends of the sealing strip, so that the recognition camera on the gripping device can accurately and efficiently identify both ends of the sealing strip. When the size of the sealing strip on the worktable 1 changes, that is, when gripping sealing strips of different sizes, one end of the sealing strip is placed within the illumination range of the first illumination lamp 2, and the drive assembly 13 is activated. The drive assembly 13 drives the two sets of sliding plates 8 to move along the corresponding slide rails 9, so that the second support 5 moves closer to or further away from the worktable 1. As the second support 5 moves closer to or further away from the worktable 1, the illumination range of the second illumination lamp 6 on the worktable 1 also moves continuously until it is directly illuminating the other end of the sealing strip. Therefore, the drive assembly 13 can adjust the illumination position of the second illumination lamp 6 according to the size of the sealing strip to adapt to the illumination and recognition needs of sealing strips of different sizes, thus providing wider adaptability.

[0032] In this embodiment of the invention, the specific structure of the drive assembly 13 includes, but is not limited to, cylinders, ball screws, etc. Furthermore, a five-star handle 10 is provided on the outer side of the slide plate 8, which allows workers to manually adjust the position of the second bracket 5, thereby facilitating the storage and deployment of the illumination lamp.

[0033] In this embodiment of the invention, in order to further improve the stability and reliability of the second support 5 during movement, a fuma wheel 11 is provided at the bottom of the second support 5.

[0034] In this embodiment of the invention, such as Figure 3As shown, the adjustment assembly may further include two sets of drive motors 12. Specifically, the two sets of drive motors 12 are respectively disposed on the top of the first bracket 3 and the second bracket 5, and the output ends of the two sets of drive motors 12 are respectively connected to the ends of the first illumination lamp 2 and the second illumination lamp 6. Specifically, the two sets of drive motors 12 can adjust the illumination angle of the first illumination lamp 2 and the second illumination lamp 6 respectively, so that even when the sealing strip is not fixed in position on the workbench 1, both ends of the sealing strip can be reliably illuminated, further improving the reliability and convenience of illumination identification of both ends of the sealing strip.

[0035] On the other hand, considering that the light intensity / illuminance of the first light source component 4 and the second light source component 7 alone may not be sufficient to meet the recognition requirements of the recognition camera in the gripping device, it is necessary to synchronously adjust the camera's exposure value to achieve accurate recognition and positioning of the sealing strip end. Specifically, such as Figure 5 As shown, the adjustment method may include: In step S10, the dimensions of the sealing strip on workbench 1 are obtained. During production, sealing strips of the same model are typically welded in batches, and their models and dimensions are consistent. Therefore, the dimensions can be obtained directly based on the model during production changeover. Alternatively, direct measurement can be achieved using devices including, but not limited to, distance measuring devices.

[0036] In step S11, it is determined whether the camera working in conjunction with the first illumination lamp 2 has detected one end of the sealing strip. The illumination angle of the first illumination lamp 2 and the exposure value of the camera working in conjunction with it are corresponding; that is, at this illumination angle and exposure value, the camera can detect the end of the sealing strip for positioning.

[0037] In step S12, if it is determined that the camera cooperating with the first illumination lamp 2 has detected one end of the sealing strip, the tilt angle of the first illumination lamp 2 is obtained.

[0038] In step S13, the illumination position of the second illumination lamp 6 is adjusted according to the tilt angle of the first illumination lamp 2 and the size of the sealing strip. The illumination position of the first illumination lamp 2 is determined by its tilt angle, which is also the position of one end of the sealing strip. Combined with the size of the sealing strip, the illumination position of the second illumination lamp 6 can then be determined.

[0039] In step S14, it is determined whether the camera that works with the second illumination lamp 6 has detected the other end of the sealing strip.

[0040] In step S15, if the camera, in conjunction with the second illumination lamp 6, detects the other end of the sealing strip, the gripping device is activated to grip the sealing strip. Specifically, if the first illumination lamp 2 and the second illumination lamp 6 can respectively illuminate both ends of the sealing strip, the camera can be adjusted to the corresponding exposure value to accurately identify and locate both ends of the sealing strip.

[0041] In step S16, if it is determined that the camera working with the first illumination lamp 2 has not detected one end of the sealing strip, the drive motor 12 corresponding to the first illumination lamp 2 is activated to adjust the tilt angle of the first illumination lamp 2 and the exposure value of the camera working with it. Specifically, if the camera working with the first illumination lamp 2 has not detected one end of the sealing strip, it means that the first illumination lamp 2 is not illuminating one end of the sealing strip, and the tilt angle of the first illumination lamp 2 needs to be adjusted. Specifically, the tilt angle of the first illumination lamp 2 can be adjusted according to a preset value.

[0042] In step S17, it is determined whether the camera that works with the first illumination lamp 2 has detected one end of the sealing strip.

[0043] In steps S10 to S17, the dimensions of the sealing strip on the workbench 1 are first obtained, and it is determined whether one end of the sealing strip is recognized by the camera. If one end of the sealing strip is recognized by the camera, it is further determined whether the other end of the sealing strip is recognized by the camera. If both ends of the sealing strip are recognized and positioned, a reliable gripping operation is performed on the sealing strip. If the other end of the sealing strip is not recognized and positioned, the illumination position of the second illumination lamp 6 is adjusted; if one end of the sealing strip is not recognized and positioned, the illumination position of the first illumination lamp 2 is adjusted.

[0044] In this embodiment of the invention, after determining the position of one end of the sealing strip, it is also necessary to adjust the irradiation position of the second irradiation lamp 6 so that it irradiates the other end of the sealing strip. The specific adjustment steps can be as follows: Figure 6 As shown. Specifically, in Figure 6 In addition, the adjustment method may also include: In step S20, the vertical height between the first illumination lamp 2 and one edge of the worktable 1 is obtained. This vertical height is a fixed value, which is the height difference between the top of the first support 3 and the top of the worktable 1.

[0045] In step S21, the horizontal distance between one end of the sealing strip and one edge of the workbench 1 is obtained according to Formula 1. Formula 1 in, The horizontal distance between one end of the sealing strip and one edge of the workbench 1. The vertical height between the first illumination lamp 2 and one edge of the worktable 1. The tilt angle of the first illumination lamp 2. Specifically, one of the edges is also the edge of one of the opposite sides of the workbench 1.

[0046] In step S22, the horizontal distance between the other end of the sealing strip and the other edge of the workbench 1 is obtained according to Formula 2. Formula 2 in, This refers to the horizontal distance between the other end of the sealing strip and the other edge of the workbench 1. The distance between one edge and the other edge of workbench 1. This refers to the length of the sealing strip.

[0047] In step S23, the tilt angle of the second illumination lamp 6 and the exposure value of the corresponding camera are preset. The tilt angle is the illumination distance between the second illumination lamp 6 and the top of the worktable 1. This illumination distance corresponds to a corresponding exposure value. That is, under the above conditions, if the end of the sealing strip is located at the center of the illumination distance, it will be identified and located by the camera.

[0048] In step S24, the horizontal distance between the illumination center of the second illumination lamp 6 on the workbench 1 and the second support 5 is obtained according to Formula 3. Formula 3 in, The horizontal distance between the center of the second illumination lamp 6 on the workbench 1 and the second support 5. The vertical height between the second illumination lamp 6 and the other edge of the workbench 1. The tilt angle of the second illumination lamp 6.

[0049] In step S25, the horizontal movement distance of the second support 5 is obtained according to Formula 4. Formula 4 in, This refers to the horizontal movement distance of the second support 5.

[0050] In step S26, the second support 5 is moved according to the moving distance of the second support 5.

[0051] In steps S20 to S26, the horizontal distance between one end of the sealing strip and one edge of the worktable 1 is first calculated based on the vertical height between the first illumination lamp 2 and one edge of the worktable 1. Then, the horizontal distance between the other end of the sealing strip and another edge is calculated based on the dimensions of the sealing strip. Next, the position of the illumination center of the second illumination lamp 6 is calculated and subtracted from the horizontal distance between the other end of the sealing strip and the other edge of the worktable 1 to obtain the horizontal distance between them. Finally, the illumination center of the second illumination lamp 6 is moved to the other end of the sealing strip according to this horizontal distance, so that the other end of the sealing strip can be identified and positioned by the camera.

[0052] In this embodiment of the invention, after determining the position of one end of the sealing strip, it is also necessary to adjust the irradiation position of the second irradiation lamp 6 so that it irradiates the other end of the sealing strip. The specific adjustment steps can be as follows: Figure 7 As shown. Specifically, in Figure 7 In addition, the adjustment method may also include: In step S30, the tilt angle of the second illumination lamp 6 is obtained according to Formula 5. Formula 5 in, The tilt angle of the second illumination lamp 6. This refers to the vertical distance between the second illumination lamp 6 and the other edge of the worktable 1. Specifically, the horizontal distance between the second illumination lamp 6 and the other end of the sealing strip is the same as the horizontal distance between the other end of the sealing strip and the other edge of the worktable 1.

[0053] In step S31, the exposure value of the camera used in conjunction with the second illumination lamp 6 is obtained according to Formula 6. Formula Six in, This refers to the camera's exposure value. Specifically, the relationship between the illumination distance of the illumination lamp and the camera's exposure value can be obtained based on the camera's recognition status. Specifically, by obtaining the relevant parameters of the ends of sealing strips of different models / sizes when facing the illumination, taking an edge distance of 1200mm between opposite sides of workbench 1 and a vertical distance of 450mm between the first illumination lamp 2 and the second illumination lamp 6 and the top of workbench 1, the data is shown in Table 1. Table 1. Relationship between the distance between the end of the sealing strip and the edge of the worktable and the camera exposure value.

[0054] The data shown in Table 1 indicates that the end of the sealing strip can be identified and positioned by the camera under the above conditions. Since the luminous flux of the illumination lamps is fixed, the illumination distance between the first illumination lamp 2 and the second illumination lamp 6 increases with the distance, leading to a decrease in illuminance and thus requiring a larger exposure value. Specifically, Formula 6 is derived by fitting the discrete data of the white sealing strip shown in Table 1, achieving a fitting degree of 99.1%. Because different colored sealing strips require different exposure values, this adjustment method can also include: Step 1: Determine if the sealing strip is white. The color of the sealing strip can be determined based on the grayscale values ​​of the image.

[0055] Step 2: If the sealing strip is white, calculate the required exposure value for the camera based on the distance between the end of the sealing strip and the edge of the worktable 1 according to Formula 6.

[0056] Step 3: If the sealing strip is not white, determine if the sealing strip is gray.

[0057] Step four: If the sealing strip is determined to be gray, obtain the required exposure value for the camera according to formula eight. Formula 8 in, This represents the required exposure value for the camera when the sealing strip is gray.

[0058] Step 5: Assuming the sealing strip is not gray, obtain the required exposure value for the camera using Formula 9. Formula Nine in, This is the required exposure value for the camera when the sealing strip is black.

[0059] In step S32, the drive motor 12 corresponding to the second illumination lamp 6 is started and adjusted according to the tilt angle of the second illumination lamp 6.

[0060] In step S33, the exposure value of the camera is adjusted according to the exposure value of the camera that is used in conjunction with the second illumination lamp 6.

[0061] In steps S30 to S33, the present invention can also directly adjust the tilt angle of the second illumination lamp 6 and simultaneously adjust the camera's exposure value, so that the camera can accurately and reliably identify the other end of the sealing strip, which is simple and convenient. Furthermore, the present invention provides corresponding methods for obtaining exposure values ​​for different colors of the sealing strip, further improving the versatility and identification reliability of the present invention.

[0062] In this embodiment of the invention, if the camera cooperating with the first illumination lamp 2 fails to detect one end of the sealing strip, it indicates that one end of the sealing strip is not in the illumination center of the first illumination lamp 2. Therefore, it is necessary to adjust the illumination center of the first illumination lamp 2. The specific adjustment steps can be as follows: Figure 8 As shown. Specifically, in Figure 8 In addition, the adjustment method may also include: In step S40, the preset angle value change interval is set.

[0063] In step S41, the angle to be adjusted for the first illumination lamp 2 is obtained according to Formula 7. Formula 7 in, For the first illumination lamp 2 The angle to be adjusted in this adjustment. The initial tilt angle of the first illumination lamp 2. The interval for the change in angle value. This represents the current number of angle adjustments for the first illumination lamp 2, and it must be an integer. Specifically, the addition or subtraction in Formula 7 can be determined based on the current tilt angle of the first illumination lamp 2. If the current tilt angle of the first illumination lamp 2 is large, a subtraction sign is used; otherwise, an addition sign is used.

[0064] In step S42, the current angle adjustment count of the first illumination lamp 2 is incremented by one.

[0065] In step S43, the horizontal distance between one end of the current sealing strip and one edge of the workbench 1 is obtained according to Formula 1.

[0066] In step S44, the exposure value of the camera currently cooperating with the first illumination lamp 2 is obtained based on the horizontal distance between one end of the current sealing strip and one edge of the worktable 1 and Formula 6.

[0067] In steps S40 to S44, a preset angle change value for the first illumination lamp 2 is established. As the angle change value of the first illumination lamp 2 changes, the exposure value of the corresponding camera is simultaneously adjusted. Then, it is determined whether the corresponding camera has detected one end of the sealing strip. If the corresponding camera still has not detected it, the angle is adjusted further until the corresponding camera can detect one end of the sealing strip. Using this method, one end of the sealing strip can be accurately and reliably identified and located.

[0068] Through the above technical solution, the adjustment method for gripping multi-size sealing strips provided by the present invention activates the adjustment component according to the size of the sealing strip, and adjusts the first light source component 4 and / or the second light source component 7 so that the first light source component 4 is directly illuminating one end of the sealing strip and the second light source component 7 is directly illuminating the other end of the sealing strip, so as to realize the precise identification and gripping of the sealing strip by the gripping device, and can identify and grip sealing strips of different sizes, thereby improving the reliability and accuracy of sealing strip identification and gripping, making it more versatile and more efficient.

[0069] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0070] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An adjustment method based on multi-size sealing strip gripping, characterized in that, Applied to an adjusting device, wherein the adjusting device includes: A workbench (1), the top of which is used to arrange multiple sealing strips in an array; The first light source assembly (4) is disposed on one side of the opposite sides of the workbench (1) and is used to irradiate one end of the sealing strip. The second light source assembly (7) is disposed on the other side of the opposite sides of the workbench (1) and is used to irradiate the other end of the sealing strip. An adjustment component, connected to the first light source component (4) and / or the second light source component (7), is used to adjust the illumination position of the first light source component (4) and / or the second light source component (7) on the top of the worktable (1); The adjustment method includes: Obtain the dimensions of the sealing strip on the workbench (1); Determine whether the camera, which works in conjunction with the first illumination lamp (2), has detected one end of the sealing strip; If the camera that works with the first illuminator (2) detects one end of the sealing strip, the tilt angle of the first illuminator (2) is obtained. Adjust the irradiation position of the second irradiation lamp (6) according to the tilt angle of the first irradiation lamp (2) and the size of the sealing strip; Obtain the vertical height between the first illumination lamp (2) and one edge of the workbench (1); The horizontal distance between one end of the sealing strip and one edge of the workbench (1) is obtained according to Formula 1. Formula 1 in, The horizontal distance between one end of the sealing strip and one edge of the workbench (1) is given. The vertical height between the first illumination lamp (2) and one edge of the workbench (1) is given. The tilt angle of the first illumination lamp (2); The horizontal distance between the other end of the sealing strip and the other edge of the workbench (1) is obtained according to Formula 2. Formula 2 in, The horizontal distance between the other end of the sealing strip and the other edge of the workbench (1) is... The distance between one edge and the other edge of the workbench (1) is the distance between them. The length of the sealing strip; Determine whether the camera, which works in conjunction with the second illumination lamp (6), has detected the other end of the sealing strip; If the camera, which works in conjunction with the second illumination lamp (6), detects the other end of the sealing strip, the gripping device is activated to grip the sealing strip. If it is determined that the camera that cooperates with the first illuminator (2) has not recognized one end of the sealing strip, the drive motor (12) corresponding to the first illuminator (2) is started, and the tilt angle of the first illuminator (2) and the exposure value of the camera that cooperates with it are adjusted. Return to determine whether the camera that works with the first illumination lamp (2) has detected one end of the sealing strip.

2. The adjustment method according to claim 1, characterized in that, The first light source component (4) includes: The first support (3) is in the shape of a door; The first illumination lamp (2) is set on the top of the first bracket (3) and is used to illuminate the top of one side of the opposite sides of the workbench (1).

3. The adjustment method according to claim 2, characterized in that, The second light source component (7) includes: The second support (5) is in the shape of a door; The second illumination lamp (6) is set on the top of the second bracket (5) and is used to illuminate the other side of the opposite sides of the workbench (1).

4. The adjustment method according to claim 3, characterized in that, The adjustment component includes: Two sets of slide rails (9) are symmetrically arranged on the other two sides of the workbench (1) and are distributed perpendicularly to the second support (5); Two sets of sliding plates (8) are slidably connected to two sets of sliding rails (9), and one end of the sliding plate (8) extends toward the second bracket (5) and is fixedly connected to the second bracket (5); A drive assembly (13) is disposed at the bottom of the workbench (1) and connected to the two sets of slide plates (8) for driving the two sets of slide plates (8) to move along the corresponding slide rails (9).

5. The adjustment method according to claim 4, characterized in that, The adjustment assembly also includes two sets of drive motors (12), which are respectively disposed on the top of the first bracket (3) and the second bracket (5), and the output ends of the two sets of drive motors (12) are respectively connected to the ends of the first illumination lamp (2) and the second illumination lamp (6).

6. The adjustment method according to claim 1, characterized in that, Adjusting the illumination position of the second illumination lamp (6) according to the tilt angle of the first illumination lamp (2) also includes: The tilt angle of the second illumination lamp (6) and the exposure value of the corresponding camera are preset; The horizontal distance between the illumination center of the second illumination lamp (6) on the workbench (1) and the second support (5) is obtained according to Formula 3. Formula 3 in, The horizontal distance between the center of the second illumination lamp (6) on the workbench (1) and the second support (5) is given. The vertical height between the second illumination lamp (6) and the other edge of the workbench (1) is given. The tilt angle of the second illumination lamp (6); The horizontal movement distance of the second support (5) is obtained according to Formula 4. Formula 4 in, This refers to the horizontal movement distance of the second support (5); The second support (5) is moved according to the moving distance of the second support (5).

7. The adjustment method according to claim 1, characterized in that, Adjusting the illumination position of the second illumination lamp (6) according to the tilt angle of the first illumination lamp (2) also includes: The tilt angle of the second illumination lamp (6) is obtained according to Formula 5. Formula 5 in, The tilt angle of the second illumination lamp (6) is... The vertical height between the second illumination lamp (6) and the other edge of the worktable (1); The exposure value of the camera used in conjunction with the second illumination lamp (6) is obtained according to Formula 6. Formula Six in, This is the camera's exposure value; The drive motor (12) corresponding to the second illumination lamp (6) is started and adjusted according to the tilt angle of the second illumination lamp (6); The exposure value of the camera is adjusted according to the exposure value of the camera that is used in conjunction with the second illumination lamp (6).

8. The adjustment method according to claim 7, characterized in that, Adjusting the tilt angle of the first illumination lamp (2) and the exposure value of the corresponding camera includes: Preset angle value change interval; The angle to be adjusted for the first illumination lamp (2) is obtained according to Formula 7. Formula 7 in, For the first illumination lamp (2) The angle to be adjusted in this adjustment. Let be the initial tilt angle of the first illumination lamp (2). The interval for the change of the angle value is... The current angle adjustment number of the first illumination lamp (2) is an integer; Increment the current angle adjustment count of the first illumination lamp (2) by one; The horizontal distance between one end of the current sealing strip and one edge of the workbench (1) is obtained according to Formula 1; The exposure value of the camera currently cooperating with the first illumination lamp (2) is obtained based on the horizontal distance between one end of the current sealing strip and one edge of the worktable (1) and Formula Six.

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