Parts benchmark processing method, system and storage medium

Abstract

The present invention discloses a method, system and storage medium for part reference processing, the method comprising obtaining the current position of the operator and the current position of the robot; calculating the first coordinate transformation information according to the quantitative data of the current position of the operator and the current position of the robot; if the starting position of the part processing remains unchanged, calibrating the coordinates of the part detection reference point according to the first coordinate transformation information, and evenly dividing and numbering multiple operator areas and multiple robot placement areas counterclockwise with the detection device as the center, the operator area and the robot placement area number correspond one to one, the operator is located in any operator area, and the robot is located in any robot placement area. The present invention can simplify the workload of measurement programmers and measurement inspectors, and by redefining the detection standards and related benchmarks when the detection equipment position remains unchanged, the detection equipment can be quickly completed and put into production when the position remains completely unchanged.

Description

Technical Field

[0001] The present invention relates to the technical field of parts processing and detection, and in particular to a parts reference processing method, system and storage medium. Background Art

[0002] The upgrade of automated testing units in mold companies is revolutionizing industry standards. This process often involves the upgrade of precision testing instruments, the integration of automated robotic arms, and the optimization of workpiece flow systems. However, the constraints of the space design of old factories often require the clever arrangement of testing platforms without changing the building structure, and even the adjustment of equipment angles to match the collaboration needs of robots and racks.

[0003] However, such a transformation will initially bring about production disruptions, potentially reducing the speed of inspection, and equipment relocation may lead to increased costs and additional consumption of resources. Although this transformation aims to improve long-term efficiency, it may face a decline in profits in the short term, accompanied by the complexity of adjustment and training, which will put pressure on the company's operations and finances. Summary of the invention

[0004] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a part reference processing method, system and storage medium to solve the problem of adjusting the position of the detection platform to match the collaboration requirements of the robot and the material rack. The initial transition will bring about production interruptions and potentially reduce the detection speed. At the same time, equipment shifting may lead to increased costs and additional consumption of resources.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a part reference processing method, comprising: taking the detection device as the center, evenly dividing and numbering a plurality of operator areas and a plurality of robot placement areas in a counterclockwise direction, the operator areas and the robot placement area numbers correspond one to one, the operator is located in any operator area, and the robot is located in any robot placement area; the part is evenly divided into a plurality of processing starting positions in a counterclockwise direction, and the part detection reference point is located in any processing starting position;

[0006] The number of operator zones is the same as the number of machining start positions, and the labels of the fixtures that are defined to load the parts to be inspected are all facing the operator and the robot;

[0007] Get the operator's current position and the robot's current position;

[0008] Calculating first coordinate transformation information according to the quantified data of the current position of the operator and the current position of the robot;

[0009] The coordinates of the part detection reference point are calibrated according to the first coordinate transformation information.

[0010] As a further improvement of the present invention: it also includes:

[0011] Get the current processing start position and the last processing start position of the part;

[0012] Determine whether the current processing starting position of the part is the same as the last processing starting position;

[0013] If yes, the coordinates of the calibrated part detection reference points remain unchanged;

[0014] If not, second coordinate transformation information is determined according to the quantitative data of the current processing starting position of the part and the position of the part detection reference point, and the coordinates of the part reference point are calibrated again according to the second coordinate transformation information.

[0015] As a further improvement of the present invention: it also includes:

[0016] Get the current processing starting position of the part;

[0017] Determine whether the current processing starting position of the part and the part detection reference point are in the same area;

[0018] If so, the coordinates of the part detection reference point remain unchanged;

[0019] If not, the third coordinate transformation information is determined according to the quantitative data of the current processing starting position of the part and the position of the part detection reference point, and the coordinates of the part reference point are calibrated again according to the third coordinate transformation information.

[0020] As a further improvement of the present invention:

[0021] Determining the first coordinate transformation information includes:

[0022] The operator areas and robot placement areas have the same number and are numbered in counterclockwise order to determine the quantized values ​​of the transformation of adjacent operator areas;

[0023] Determining whether the current position of the operator and the current position of the robot are located in the same area;

[0024] If yes, the first coordinate transformation information is 0;

[0025] If not, obtain the operator area number corresponding to the operator's current position, and obtain the robot placement area number corresponding to the robot's current position, and calculate the difference between the operator area number and the robot placement area number;

[0026] Determine the rotation angle of the first coordinate transformation information as difference value*quantization value;

[0027] If the difference is a negative number, the rotation angle of the first coordinate transformation information is determined to be counterclockwise; if the difference is a positive number, the rotation angle of the first coordinate transformation information is determined to be clockwise.

[0028] As a further improvement of the present invention:

[0029] Determining the second coordinate transformation information includes:

[0030] When the current machining starting position of the part is the same as the last machining starting position, the second coordinate transformation information is 0;

[0031] When the current processing starting position of the part is different from the previous processing starting position, the difference between the serial number of the current processing starting position of the part and the serial number of the previous processing starting position is calculated to obtain the quantized value of the adjacent processing starting position;

[0032] Determine the rotation angle of the second coordinate transformation information as the serial number difference*quantization value;

[0033] If the difference is a positive number, it is determined that the rotation direction of the second coordinate transformation information is counterclockwise; if the difference is a negative number, it is determined that the rotation direction of the second coordinate transformation information is clockwise.

[0034] As a further improvement of the present invention:

[0035] Determining the third coordinate transformation information includes:

[0036] When the current processing starting position of the part and the part detection reference point are in the same area, the third coordinate transformation information is 0;

[0037] When the current processing starting position of the part and the part detection reference point are not in the same area, the number corresponding to the current processing starting position of the part and the number corresponding to the position of the part detection reference point are calculated, and the number difference is calculated;

[0038] Also obtaining the quantized values ​​of adjacent processing start positions, and determining the rotation angle of the third coordinate transformation information as the serial number difference*quantized value;

[0039] If the difference is a positive number, it is determined that the rotation direction of the third coordinate transformation information is counterclockwise; if the difference is a negative number, it is determined that the rotation direction of the third coordinate transformation information is clockwise.

[0040] As a further improvement of the present invention: a material rack is placed in the operator area, a fixture for loading the parts to be inspected is placed on the material rack, and a QR code, a barcode or an RFID tag is attached to the fixture.

[0041] As a further improvement of the present invention: four operator areas, four robot placement areas, four processing start positions, and four detection reference points are each provided.

[0042] A part reference processing system, comprising:

[0043] An acquisition module is used to obtain the current position of the operator and the current position of the robot;

[0044] A determination module, configured to calculate first coordinate transformation information according to the quantitative data of the current position of the operator and the current position of the robot;

[0045] A processing module, used for calibrating the coordinates of the part detection reference point according to the first coordinate transformation information;

[0046] Taking the detection equipment as the center, multiple operator areas and multiple robot placement areas are evenly divided and numbered counterclockwise. The operator areas and robot placement area numbers correspond one to one. The operator is located in any operator area, and the robot is located in any robot placement area. The part is evenly divided into multiple processing starting positions along the counterclockwise direction, and the part detection reference point is located at any processing starting position. The number of operator areas is the same as the number of processing starting positions, and the fixture labels for loading the parts to be detected are defined to face the operator and the robot.

[0047] A computer storage medium includes a stored program, and a processor executes the program to implement the above-mentioned part reference processing method.

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

[0049] In the existing equipment layout and factory environment, the present invention evenly divides and numbers multiple operator areas and multiple robot placement areas counterclockwise with the detection equipment as the center, and the operator areas correspond to the robot placement area numbers one by one. The parts are evenly divided into multiple processing starting positions in the counterclockwise direction, and the first coordinate transformation information is calculated based on the quantitative data of the operator's current position and the robot's current position to calibrate the coordinates of the part detection reference point. In the case of the detection equipment position remaining unchanged, the detection standard and related benchmarks are redefined, and the automatic line assembly and production are quickly completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 The figure is a flow chart of a method for processing part benchmarks according to an embodiment of the present invention.

[0051] Figure 2 Schematic diagram of the structure of the reference map according to the embodiment of the present invention.

[0052] Figure 3 Schematic diagram of the layout of the detection equipment according to the embodiment of the present invention.

[0053] Figure 4 Schematic diagram of the structure of the clamp according to the embodiment of the present invention.

[0054] Figure 5The figure is a logic diagram of a part benchmark processing method according to an embodiment of the present invention.

[0055] Figure 6 The present invention is a flowchart of a method for processing part benchmarks according to an embodiment of the present invention.

[0056] Figure 7 It is a schematic diagram of the structure of a part detection reference map according to an embodiment of the present invention.

[0057] Figure 8 It is a schematic diagram of the structure of the part position reference map according to an embodiment of the present invention.

[0058] Fig. 9 Schematic diagram of the structure of the operator reference map according to an embodiment of the present invention.

[0059] Fig.10 Schematic diagram of the structure of the robot reference map according to an embodiment of the present invention.

[0060] Reference numerals:

[0061] 1. Testing equipment, 2. Robot, 3. Material rack, 4. Fixture, 5. QR code, 6. Parts. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0063] In order to solve the technical problems in the prior art, the present invention is further described in conjunction with the accompanying drawings and embodiments:

[0064] like Figures 1 to 4 As shown, an embodiment of the present invention discloses a part benchmark processing method, comprising the following steps:

[0065] S1: Get the operator's current position and the robot's current position;

[0066] Taking the detection device 1 as the center, multiple operator areas and multiple robot placement areas are evenly divided and numbered counterclockwise. The operator areas and robot placement area numbers correspond one to one. The operator is located in any operator area, and the robot 2 is located in any robot placement area.

[0067] The operator's current position is different from the operator's last position, and the operator's position has changed; similarly, the robot's current position is different from the robot's last position, and the robot's position has changed.

[0068] Before replacing a new part 6 and placing it on the detection device 1 for detection, it is necessary to re-acquire the operator's current position, the robot's current position and the part detection reference point. In addition, after any position of the operator and the robot changes, it is also necessary to re-select and obtain the operator's current position and the robot's current position.

[0069] S2: Calculate and obtain first coordinate transformation information according to the quantitative data of the operator's current position and the robot's current position;

[0070] The first coordinate change information includes a rotation direction and a rotation angle.

[0071] A QR code 5, a barcode or an RFID tag is attached to the fixture 4 loaded with the part 6 to be inspected. Based on the detection principle that the QR code 5 is facing the direction of the operator and the robot 2, this embodiment exemplifies that when the operator and the robot 2 are in the same area, the robot 2 grabs the fixture 4 and rotates the fixture 4, so that after the part 6 is moved from the material rack to the inspection device 1, the processing starting position defined on the part 6 does not change in the reference map.

[0072] When the operator's position or the robot 2's position changes, after the part 6 is moved from the rack 3 to the detection device 1 by the robot 2, the defined starting position of the part 6 processing changes. In this way, the coordinates of the part detection reference point can be determined to change based on the relative quantitative data of the operator's current position and the robot 2's current position.

[0073] In addition, based on the detection principle that the QR code 5 is facing the direction of the operator and the robot 2, an example can also be given. When the operator and the robot 2 are not in the same area, the action of the robot 2 grabbing the fixture 4 and rotating the fixture 4 will also cause the part 6 to be moved from the rack 3 to the detection device 1, and the processing starting position defined on the part 6 will not change in the reference map.

[0074] For better understanding, this embodiment uses the actions of the robot 2 when the initially defined operator and the robot 2 are both in the same area as an example for explanation.

[0075] Usually, a material rack 3 is placed at the operator's position. For each mold part 6 to be inspected, a uniform standard fixture 4 is used to fix it and place it firmly on the material rack 3. For example, Figure 2 It is worth noting that each standard fixture 4 is attached with a QR code 5, a barcode or an RFID tag.

[0076] In order to ensure that the information of the part 6 on the QR code 5, barcode or RFID tag can be accurately obtained during the part 6 detection operation, the QR code 5, barcode or RFID tag is usually facing the operator to facilitate the operator to obtain the information of the part 6 through the QR code 5, barcode or RFID tag in time and call the relevant correct detection program. Figure 2 As shown, during manual inspection, the employee's operating position may be located on the upper side, left side, lower side or right side of the inspection device 1, which are respectively expressed as M1, M2, M3, and M4 in the operator reference map.

[0077] Similarly, the robot 2 is equipped with a barcode scanner for identifying and obtaining the information of the part 6 on the QR code 5, barcode or RFID tag, and the robot 2 is used to replace manual barcode scanning. After the identification process is completed, the robot 2 accurately clamps the marked fixture 4, which firmly carries the part 6 to be tested, and then places it on the testing device 1. In this step, the QR code 5, barcode or RFID tag on the fixture 4 faces the outside of the testing device 1 relative to the robot 2, ensuring that the information is read accurately.

[0078] S3: Calibrate the coordinates of the part detection reference point according to the first coordinate transformation information.

[0079] Part 6 is evenly divided into a plurality of processing starting positions along the counterclockwise direction, and the part detection reference point is located at any processing starting position.

[0080] The operator area, robot placement area, and processing starting position can also be evenly divided clockwise and numbered. The division direction of the part detection reference point position is the same as the processing starting position, and the number of divisions of the operator area, robot placement area, and processing starting position is the same. Correspondingly, the number of part detection reference point positions is the same as the processing starting position.

[0081] Step S3 refers to the situation that before and after the replacement part 6 is inspected, the operator scans the information of the QR code 5 and determines that the inspection reference point of the inspection program does not need to be changed, and the inspection reference point is still in the same area as the processing start position of the part placed on the inspection device 1. Then, based on the change of the operator position and the placement area of ​​the robot 2 in step S2, the coordinates of the part inspection reference point are adjusted.

[0082] A custom reference map refers to a map model generated by integrating a part detection reference, a map operator reference map, a part location reference map, and a robot reference map.

[0083] like Figure 7 As shown, the part inspection reference map: the reference point of the part inspection program may be located at the upper right corner, upper left corner, lower left corner, or lower right corner of part 6.

[0084] Correspondingly, when inspecting part 6, a starting position of the part inspection program is pre-set in the inspection program of part 6. For all three-coordinate inspections, the probe will start the inspection from this starting position, which is usually defined as any one of the upper right corner, upper left corner, lower left corner, and lower right corner of part 6. That is, the part inspection reference map, which is defined as D1, D2, D3, and D4 respectively in the part inspection reference map.

[0085] The inspection reference of part 6 (i.e., the starting position of the part inspection program) may be located at the upper right corner, upper left corner, lower left corner, or lower right corner of part 6. In actual inspection, the part inspection reference is set according to actual needs. In terms of quadrant relationship, the upper right corner, upper left corner, lower left corner, and lower right corner are located in the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant, respectively.

[0086] During manual operation, the part position reference and part inspection reference are usually placed in the same quadrant according to the drawing before starting the inspection, so there will be a rotational coordinate transformation in space.

[0087] like Figure 8 As shown, the part position reference map: after the robot 2 places the part 6 on the machine inspection device 1, the reference point of the part inspection program is located at the relative position of the part inspection reference map, which may be located at the upper right corner, upper left corner, lower left corner, or lower right corner of the part inspection reference map.

[0088] It should be noted that when part 6 is processed, a starting position of the part processing program is pre-set in the processing program of part 6, so that the processing of part 6 will start from this starting position, which is usually defined as any one of the upper right corner, upper left corner, lower left corner, and lower right corner of part 6, that is, the part position reference map, which are defined as T1, T2, T3, and T4 in the part position reference map respectively.

[0089] The part position reference (i.e., the starting position of the part processing program) may be located at the upper right corner, upper left corner, lower left corner, or lower right corner of part 6. In actual processing, the part position reference is set according to actual needs. In terms of quadrant relationship, the upper right corner, upper left corner, lower left corner, and lower right corner are located in the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant, respectively.

[0090] like Fig. 9 As shown, the operator reference map: the position of the operator relative to the detection device 1. It may be located on the upper side, left side, lower side or right side of the detection device 1.

[0091] Furthermore, when the operator operates the detection device 1, the detection device 1 itself will have an optimal operating position, that is, in front of the device, defined as BASICAXI, and all detections will be oriented in this direction. Under the detection loop of the actual plant, the existing layout of the plant is comprehensively considered. The operator may be located on the upper side, left side, lower side, or right side of the detection device 1, and the operator's baseline map is expressed as M1, M2, M3, and M4 respectively. Therefore, there will be a rotational coordinate transformation in space.

[0092] like Fig.10 As shown, the robot reference map: the position of the robot 2 relative to the detection device 1. It may be located on the upper side, left side, lower side or right side of the detection device 1.

[0093] Furthermore, in the actual factory inspection loop, in order not to change the position of the inspection device 1. Taking into account the existing layout of the factory, the robot 2 may be located on the upper side, left side, lower side, and right side of the inspection device 1. The robot 2 reference map is expressed as R1, R2, R3, and R4 respectively. The robot 2 grasps the placed part 6. The QR code 5 or RFID tag on the fixture 4 faces the outside of the inspection device 1 relative to the robot 2. Therefore, the robots 2 placed at different positions will form a rotational coordinate transformation in space.

[0094] The operator is on the upper side of the detection device 1, and the robot 2 is arranged on the upper side of the detection device 1. This situation is defined as R1M1. By analogy, the operator is on the left side of the detection device 1, and the robot 2 is arranged on the left side of the detection device 1, which is defined as R2M2; the operator is on the lower side of the detection device 1, and the robot 2 is arranged on the lower side of the detection device 1, which is defined as R3M3; the operator is on the right side of the detection device 1, and the robot 2 is arranged on the right side of the detection device 1, which is defined as R4M4.

[0095] For example, before and after the automatic line is implemented, it is assumed that the operator and the robot 2 are located at the same position of the detection device 1, such as R1M1. The quantitative data is calculated as follows:

[0096]

R1- M1

[0097] Rotating 0 degrees clockwise on the spatial coordinates, the spatial coordinates of the part detection reference map are [A1, A2, A3], and the final reference map after processing is [A1, A2, A3].

[0098] Specifically, when the R1M1 initial program is set, the QR code 5 or RFID tag on the fixture 4 faces the outside of the detection device 1. The operator and the robot 2 can recognize the QR code 5, barcode or RFID tag facing the outside, and there will be no situation where the QR code 5 of the fixture 4 in the rack 3 faces the operator, and the QR code 5 of the fixture 4 on the detection device 1 does not face the robot 2. Then replace the new part 6 for detection, keep the R1M1 setting unchanged, and after the part 6 is transferred from the rack 3 to the detection device 1, the processing starting position of the part 6 remains unchanged.

[0099] When the initial level is set and when a new part is replaced for inspection, the part inspection reference point and the part processing starting position are also in the same quadrant, so the part reference inspection map does not need to be changed.

[0100] The quantization value 90 means that the outer circle of the map with the detection device 1 as the center is evenly divided into 4 areas, and the transformation angle between adjacent areas is 90°. In actual operation, more areas can also be evenly divided.

[0101] As another example, assume the operator's reference map is M1 and the robot 2's reference map is R4. The quantitative data is calculated as follows:

[0102]

R4-M1

[0103] Then rotate 270 degrees counterclockwise or 90 degrees clockwise in the spatial coordinates. The spatial coordinates of the part inspection reference map are [A1, A2, A3]. After processing, the final reference map is [A1, -A2, A3]

[0104] Specifically, before and after the implementation of the automatic line, the operator's reference map remains unchanged as M1, and the QR code 5 of the fixture 4 on the rack 3 faces the M1 direction. After the operator scans the QR code 5 information, the robot 2 grabs the fixture 4 and places it on the detection device 1. Furthermore, in order for the robot 2 to verify the information, the QR code 5 of the fixture 4 on the detection device 1 needs to face the R4 direction. There will be a rotational coordinate transformation in space. Therefore, after the part 6 is moved from the rack 3 to the detection device 1, the starting position of the part 6 processing changes.

[0105] At this time, the part position detection reference map and the part detection reference map have not changed and are in the same quadrant. Since the fixture 4 is rotated, the processing starting position of the part 6 on the fixture 4 has changed relatively. Therefore, the detection reference point of the detection program also needs to be adjusted.

[0106] In some implementations, determining the first coordinate transformation information includes:

[0107] It is defined that the labels of the fixture 4 that loads the parts to be inspected are all facing the operator and the robot 2;

[0108] The number of operator areas and robot placement areas is the same, and they are numbered in counterclockwise order to determine the quantized value of the transformation of adjacent operator areas;

[0109] Determine whether the operator's current position and the robot's current position are in the same area;

[0110] If so, the first coordinate transformation information is 0;

[0111] If not, obtain the operator area number corresponding to the operator's current position, and obtain the robot placement area number corresponding to the robot's current position, and calculate the difference between the operator area number and the robot placement area number;

[0112] Determine the rotation angle of the first coordinate transformation information as the difference value*quantization value;

[0113] If the difference is a negative number, the rotation angle of the first coordinate transformation information is determined to be counterclockwise; if the difference is a positive number, the rotation angle of the first coordinate transformation information is determined to be clockwise.

[0114] like Figure 5 As shown, in some implementation modes, after step S3, the following steps are further included:

[0115] S410: Obtain the current processing start position and the last processing start position of the part;

[0116] S411: Determine whether the current machining starting position of the part is the same as the last machining starting position;

[0117] S412: If yes, the coordinates of the part inspection reference points calibrated in step S3 remain unchanged;

[0118] S413: If not, determine the second coordinate transformation information according to the current processing starting position of the part and the position of the part detection reference point, and calibrate the coordinates of the part reference point again according to the second coordinate transformation information. The second coordinate transformation information includes the rotation direction and the rotation angle.

[0119] The detection reference point starts with the processing starting position of the part 6. When the part 6 is replaced for detection, the operator scans the QR code 5 information to determine that the part processing starting position has changed. After adjusting the coordinates of the detection reference point according to the operator position and the robot position change information, the processing starting position of the part 6 on the detection device 1 and the rack 3 may change relatively. At this time, the coordinates of the part detection reference point also need to be transformed.

[0120] In some implementations, determining the second coordinate transformation information includes:

[0121] When the current machining starting position of part 6 is the same as the last machining starting position, the second coordinate transformation information is 0;

[0122] When the current processing start position of part 6 is different from the previous processing start position, the difference between the serial number of the current processing start position of part 6 and the serial number of the previous processing start position is calculated to obtain the quantitative value of the adjacent processing start positions;

[0123] Determine the rotation angle of the second coordinate transformation information as the serial number difference*quantization value;

[0124] If the difference is a positive number, the rotation direction of the second coordinate transformation information is determined to be counterclockwise; if the difference is a negative number, the rotation direction of the second coordinate transformation information is determined to be clockwise.

[0125] For example, assume that the part inspection reference map is D1 and the part location reference map is T3. The quantitative data is calculated as follows:

[0126]

T3- D1

[0127] After rotating 180 degrees clockwise in the spatial coordinates, the spatial coordinates of the part inspection reference map are [A1, A2, A3], and the final reference map after processing is [-A1, -A2, A3].

[0128] Specifically, when the operator and the robot 2 are in the same position, i.e., R1M1, R2M2, R3M3 or R4M4, the automatic line changes the initial program setting before and after the detection of the part 6, and the QR code 5, barcode or RFID tag on the fixture 4 faces the operator. After the operator scans the information, the robot 2 grabs the fixture 4 and places it on the detection device 1, and the QR code 5, barcode or RFID tag on the fixture 4 faces the robot 2. It should be noted that after the part 6 is transferred from the rack 3 to the detection device 1, the starting position of the part 6 processing does not change.

[0129] At this time, the part detection reference point D1 and the part processing starting position T3 are not in the same quadrant, that is, the detection program starts detection with reference point D1 as the starting position, rather than starting detection with reference point D3 corresponding to T3. If coordinate transformation is not performed, the part detection reference point cannot detect part 6 from the part processing starting position.

[0130] like Figure 6 As shown, in some implementation modes, after step S3, the following steps are further included:

[0131] S420: Obtain the current processing starting position of the part;

[0132] S421: Determine whether the current processing starting position of the part and the part detection reference point are in the same area;

[0133] S422: If yes, the coordinates of the part detection reference point remain unchanged;

[0134] S423: If not, determine the third coordinate transformation information according to the quantitative data of the part processing starting position and the part detection reference point, and calibrate the coordinates of the part reference point again according to the third coordinate transformation information.

[0135] Since the positions of the operator and the robot 2 are changed, or the operator and the robot 2 are not in the same area, after the part 6 is moved from the rack 3 to the detection device 1, the processing starting position of the part 6 undergoes relative rotation.

[0136] Then, if the processing starting position of the part 6 remains unchanged, that is, the operator and the robot 2 are not in the same area, and the processing starting position of the part placed on the detection device 1 rotates, the coordinates of the detection reference point are calibrated according to the first coordinate transformation information.

[0137] If the processing starting position of the part 6 changes, when the operator and the robot 2 are not in the same area, how to calibrate the coordinates of the part detection reference point may include the following methods:

[0138] The first calibration method is to first calibrate the coordinates of the part detection reference point according to the first coordinate transformation information, and when it is determined that the processing starting position of the part 6 is different, steps S401 to S413 are executed.

[0139] The second calibration method also first calibrates the coordinates of the part detection reference point according to the first coordinate transformation information, further directly obtains the current processing starting position of part 6, and determines whether the current processing starting position of part 6 and the part reference point are in the same area, that is, executes steps S420 to S423.

[0140] In some implementations, determining the third coordinate transformation information includes:

[0141] When the current processing starting position of part 6 and the part detection reference point are in the same area, the third coordinate transformation information is 0;

[0142] When the current processing starting position of the part and the part detection reference point are not in the same area, the number corresponding to the current processing starting position of the part and the number corresponding to the position of the part detection reference point are calculated, and the number difference is calculated;

[0143] The quantized values ​​of adjacent processing start positions are also obtained, and the rotation angle of the third coordinate transformation information is determined to be the number difference*quantized value;

[0144] If the difference is a positive number, the rotation direction of the third coordinate transformation information is determined to be counterclockwise; if the difference is a negative number, the rotation direction of the third coordinate transformation information is determined to be clockwise.

[0145] Multiple operator areas constitute an operator reference map, multiple robot placement areas constitute a robot reference map, multiple processing start positions constitute a part position reference map, and multiple part detection reference point positions constitute a part detection reference map.

[0146] For example, assume that the part location reference map is T1 and the operator reference map is M3. The quantitative data is calculated as follows:

[0147]

M3- T1

[0148] Then rotate 180 degrees clockwise in the spatial coordinates. The spatial coordinates of the part inspection reference map are [-A1, -A2, A3], and the final reference map after processing is [A1, A2, A3].

[0149] Specifically, when the automatic line detects the last part 6, the robot reference map is R1, the operator reference map is M1, the QR code 5 of the fixture 4 on the rack 3 faces the direction of M1, and the QR code 5 of the fixture 4 on the detection device 1 faces R1. Next, the automatic line replaces the new part 6 for detection, and the operator's position changes from M1 to M3. The QR code 5 of the fixture 4 on the rack 3 changes from facing the direction of M1 to facing the direction of M3. At this time, in order to place the fixture 4 of the detection device 1, the QR code 5 also faces the robot 2. After the operator scans the QR code 5, the robot 2 grabs the fixture 4 and rotates 180 degrees. It should be noted that after the part 6 is moved from the rack 3 to the detection device 1, the starting position of the part 6 processing changes.

[0150] At this time, the initial part inspection reference map is D1, and the new part 6 also needs to be inspected starting from the processing starting position D1 of part 6 on the rack 3, so the part 6 inspection reference map needs to be adjusted, and the part inspection reference map D1 is transformed into D3.

[0151] Based on the above reference and coordinate rotation, the automatic conversion of the detection point data can be realized. In the process of automatic detection, the automatically converted detection program can be applied to the detection of three coordinates. The detection program is stored in the form of a point file and stored in the server. The detection program is usually retrieved in the form of a barcode, and the barcode is recognized by a barcode scanner. The barcode corresponds to the server and opens the detection program point file. The detection points of the program are detected according to the rules of [-A1, A2, A3], the detection deviation value is output, and the tolerance is judged.

[0152] Based on the same inventive concept, the present invention also discloses a part reference processing system, comprising:

[0153] Taking the detection equipment as the center, multiple operator areas and multiple robot placement areas are evenly divided and numbered counterclockwise. The operator areas and robot placement area numbers correspond one to one. The operator is located in any operator area, and the robot is located in any robot placement area. The parts are evenly divided into multiple processing starting positions in the counterclockwise direction, and the part detection reference point is located in any processing starting position. The number of operator areas is the same as the number of processing starting positions, and the fixture labels for loading the parts to be detected are defined to face the operator and the robot.

[0154] An acquisition module is used to obtain the current position of the operator and the current position of the robot;

[0155] A determination module, used to calculate first coordinate transformation information according to the quantitative data of the operator's current position and the robot's current position;

[0156] The processing module is used to calibrate the coordinates of the part detection reference point according to the first coordinate transformation information.

[0157] In some embodiments, the method further includes: an acquisition module, which is also used to acquire the current processing start position and the last processing start position of the part 6;

[0158] A judgment module is used to judge whether the current processing starting position of part 6 is the same as the previous processing starting position, and obtain a first judgment result; and is also used to judge whether the current processing starting position of part 6 and the part detection reference point are in the same area, and obtain a second judgment result;

[0159] The determination module is also used to determine the second coordinate transformation information according to the quantitative data of the current processing starting position of the part 6 and the position of the part detection reference point.

[0160] The processing module is also used to keep the coordinates of the calibrated part detection reference point unchanged if the first judgment result is yes; if the first judgment result is no, calibrate the coordinates of the part reference point again according to the second coordinate transformation information.

[0161] In some implementations, further comprising:

[0162] The determination module is also used to determine the third coordinate transformation information according to the quantitative data of the processing starting position of the part 6 and the position of the part detection reference point.

[0163] The processing module is also used to keep the coordinates of the part detection reference point unchanged if the second judgment result is yes; if the second judgment result is no, re-calibrate the coordinates of the part reference point according to the third coordinate transformation information.

[0164] A computer storage medium includes a stored program, and a processor executes the program to implement the above-mentioned part reference processing method.

[0165] The computer program runs on the machine tool, and the data of the received signals are stored on the machine tool. The data is transmitted through a network interface or an electrical signal. The storage unit of the machine tool is usually a register inside the machine tool.

[0166] The main functions of the present invention are:

[0167] 1. Under the existing equipment layout and factory environment, by making changes to the datum, part, part datum, inspection datum, etc., and applying the change relationship between each datum in the inspection program file, a detection program can be implemented that can be applied to coordinate combinations in all situations, thereby simplifying the workload of measurement programmers and measurement inspectors.

[0168] 2. Redefine the inspection standards and related benchmarks while keeping the inspection equipment 1 in the same position, so that the automatic line assembly and production can be completed quickly without changing the inspection equipment position.

[0169] In summary, after reading the present invention document, ordinary technicians in this field can make various other corresponding transformation schemes based on the technical scheme and technical concept of the present invention without creative mental work, which all fall within the scope of protection of the present invention.

Claims

1. A part benchmark processing method, characterized in that: Taking the detection equipment as the center, multiple operator areas and multiple robot placement areas are evenly divided and numbered counterclockwise, and the operator areas and robot placement area numbers correspond one to one. The operator is located in any operator area, and the robot is located in any robot placement area; the part is evenly divided into multiple processing starting positions in the counterclockwise direction and numbered, and the part detection reference point is located at any processing starting position; the number of operator areas, the number of robot placement areas and the number of processing starting positions are the same, and the fixture labels for loading the parts to be detected are defined to face the operator and the robot; including: Get the operator's current position and the robot's current position; Calculating first coordinate transformation information according to the quantified data of the current position of the operator and the current position of the robot; Calibrate the coordinates of the part detection reference point according to the first coordinate transformation information; Determining the first coordinate transformation information includes: Determining quantized values ​​of adjacent operator region transformations; Get the operator area number corresponding to the operator's current position, and get the robot placement area number corresponding to the robot's current position; The difference between the operator area number and the robot placement area number is calculated, and the rotation angle of the first coordinate transformation information is determined to be the difference*quantized value.

2. A part reference processing method according to claim 1, characterized in that: Also includes: Get the current processing start position and the last processing start position of the part; Determine whether the current processing starting position of the part is the same as the last processing starting position; If yes, the coordinates of the calibrated part detection reference points remain unchanged; If not, second coordinate transformation information is determined according to the quantitative data of the current processing starting position of the part and the position of the part detection reference point, and the coordinates of the part reference point are calibrated again according to the second coordinate transformation information.

3. A part reference processing method according to claim 1, characterized in that: Also includes: Get the current processing starting position of the part; Determine whether the current processing starting position of the part and the part detection reference point are in the same area; If so, the coordinates of the part detection reference point remain unchanged; If not, the third coordinate transformation information is determined according to the quantitative data of the current processing starting position of the part and the position of the part detection reference point, and the coordinates of the part reference point are calibrated again according to the third coordinate transformation information.

4. A part reference processing method according to claim 1, characterized in that: Determining the first coordinate transformation information includes: The operator areas and robot placement areas have the same number and are numbered in counterclockwise order to determine the quantized values ​​of the transformation of adjacent operator areas; If the operator's current position and the robot's current position are in the same area, the first coordinate transformation information is 0; If the difference is a negative number, the rotation angle of the first coordinate transformation information is determined to be counterclockwise; if the difference is a positive number, the rotation angle of the first coordinate transformation information is determined to be clockwise.

5. A part reference processing method according to claim 2, characterized in that: Determining the second coordinate transformation information includes: When the current machining starting position of the part is the same as the last machining starting position, the second coordinate transformation information is 0; When the current processing starting position of the part is different from the previous processing starting position, the difference between the serial number of the current processing starting position of the part and the serial number of the previous processing starting position is calculated to obtain the quantized value of the adjacent processing starting position; Determine the rotation angle of the second coordinate transformation information as the serial number difference*quantization value; If the difference is a positive number, it is determined that the rotation direction of the second coordinate transformation information is counterclockwise; if the difference is a negative number, it is determined that the rotation direction of the second coordinate transformation information is clockwise.

6. A part reference processing method according to claim 3, characterized in that: Determining the third coordinate transformation information includes: When the current processing starting position of the part and the part detection reference point are in the same area, the third coordinate transformation information is 0; When the current processing starting position of the part and the part detection reference point are not in the same area, the number corresponding to the current processing starting position of the part and the number corresponding to the position of the part detection reference point are calculated, and the number difference is calculated; Also obtaining the quantized values ​​of adjacent processing start positions, and determining the rotation angle of the third coordinate transformation information as the serial number difference*quantized value; If the difference is a positive number, it is determined that the rotation direction of the third coordinate transformation information is counterclockwise; if the difference is a negative number, it is determined that the rotation direction of the third coordinate transformation information is clockwise.

7. A part reference processing method according to claim 1, characterized in that: A material rack is placed in the operator area, on which a fixture loaded with parts to be inspected is placed, and a QR code, barcode or RFID tag is attached to the fixture.

8. A part reference processing method according to any one of claims 1 to 7, characterized in that: There are four operator areas, robot placement areas, processing start positions, and detection reference points.

9. A part reference processing system, characterized in that: include: An acquisition module is used to obtain the current position of the operator and the current position of the robot; A determination module, configured to calculate first coordinate transformation information according to the quantitative data of the current position of the operator and the current position of the robot; The processing module is used to calibrate the coordinates of the part detection reference point according to the first coordinate transformation information if the starting position of the part processing remains unchanged; determining the first coordinate transformation information includes: determining the quantized value of the adjacent operator area transformation; obtaining the operator area number corresponding to the current position of the operator, and obtaining the robot placement area number corresponding to the current position of the robot; calculating the difference between the operator area number and the robot placement area number, and determining that the rotation angle of the first coordinate transformation information is the difference * the quantized value; Taking the detection equipment as the center, multiple operator areas and multiple robot placement areas are evenly divided and numbered counterclockwise. The operator areas and robot placement area numbers correspond one to one. The operator is located in any operator area, and the robot is located in any robot placement area. The part is evenly divided into multiple processing starting positions in the counterclockwise direction and numbered, and the part detection reference point is located at any processing starting position. The number of operator areas, the number of robot placement areas and the number of processing starting positions are the same, and the fixture labels for loading the parts to be detected are all facing the operator and the robot.

10. A computer storage medium, the storage medium comprising a stored program, characterized in that: The processor executes the program to implement a part reference processing method as described in any one of claims 1 to 8.

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