Automatic carrying equipment and method and automatic processing system

Abstract

The invention provides automatic carrying equipment and method and an automatic processing system. The automatic carrying equipment comprises a main body, the walking device drives the main body to move along a preset path; the carrying device is used for taking out the products from the main body and / or putting the products into the main body; and the alignment device is used for controlling the walking device to reach a specified position, adjusting the posture of the main body, controlling the movement of the carrying device and adjusting the posture of the carrying device. The main body and the carrying device are subjected to posture adjustment through the alignment device, so that the automatic carrying equipment is subjected to two-time high-precision positioning, it is guaranteed that when the automatic carrying equipment carries out feeding and discharging, the taking and placing precision of the automatic carrying equipment can meet the automatic machining requirement, and the problem of how to efficiently and accurately achieve automatic feeding and discharging is solved.

Description

Technical Field

[0001] The present invention relates to the field of manufacturing and processing technology, and in particular to an automatic handling device, method and automatic processing system. Background Art

[0002] With the development of the manufacturing industry, automated equipment has gradually replaced manual manufacturing, which not only reduces labor costs but also improves processing efficiency. However, most of the current manufacturing and processing workshops are "semi-automated" production and processing, that is, manual loading and unloading are used, and then automated equipment completes the processing of the product. Manual loading and unloading inevitably leads to low transfer efficiency and high error rate, which is not conducive to efficient manufacturing and processing.

[0003] To this end, engineers developed AGV (Automated Guided Vehicle) to replace manual loading and unloading, realize fully automated manufacturing and processing production lines for loading, processing, and unloading, and greatly improve the utilization rate of processing equipment. In order to realize the automated movement of AGV and docking with processing equipment, the commonly used AGV guidance methods currently include physical tracks, electromagnetic guidance, laser guidance, coordinate recognition guidance, etc. Among them, SLAM (Simultaneous Localization and Mapping) guidance technology is widely used due to its precise perception and super environmental adaptability.

[0004] However, the current AGV guidance and positioning accuracy cannot meet the growing demand for high-precision processing, which often results in the grasping device on the AGV being unable to accurately grasp the product, or the positioning accuracy when picking up and placing the product cannot meet the processing requirements, and thus cannot continuously perform automatic loading and unloading operations. Summary of the invention

[0005] The object of the present invention is to provide an automatic handling device, method and automatic processing system to solve the problem of how to realize automatic loading and unloading of materials efficiently and accurately.

[0006] In order to solve the above technical problems, the present invention provides an automatic handling device, comprising:

[0007] main body;

[0008] A walking device, used to drive the main body to move along a preset path;

[0009] a handling device for taking the product out of the main body and / or placing the product into the main body;

[0010] The alignment device is used to control the walking device to reach a specified position and adjust the posture of the main body, and is also used to control the movement of the transport device and adjust the posture of the transport device.

[0011] Optionally, in the automatic handling equipment, the alignment device includes a coarse alignment component and a fine alignment component; the coarse alignment component is used to control the walking device to reach a specified position and adjust the posture of the main body; the fine alignment component is used to control the movement of the handling device and adjust the posture of the handling device.

[0012] Optionally, in the automatic handling equipment, an alignment mark is provided on the preset path; the coarse alignment component is used to identify the alignment mark; when the alignment mark is identified, the coarse alignment component controls the walking device to stop moving, and uses the alignment mark to adjust the posture of the main body until the posture of the alignment mark identified by the coarse alignment component is the preset mark posture.

[0013] Optionally, in the automatic handling equipment, the handling device includes a clamping jaw assembly; the precise positioning assembly is used to identify the product and obtain the posture characteristics of the product; the precise positioning assembly uses the posture characteristics of the product to control the movement of the clamping jaw assembly until the vertical projection of the clamping jaw assembly falls on the product, and adjusts the posture of the clamping jaw assembly until the clamping plane of the clamping jaw assembly is parallel to the clamping surface of the product.

[0014] Optionally, in the automatic handling equipment, the precision alignment component includes one or more of a 2D camera, a 3D camera, a distance sensor, a tilt sensor, and an inertial sensor.

[0015] In order to solve the above technical problems, the present invention also provides an automatic processing system, comprising:

[0016] A workshop, wherein the workshop is provided with a walking track;

[0017] Processing equipment, used to process products;

[0018] An automatic handling device moves along the walking track and is used to put products into the processing equipment and / or take products out of the processing equipment.

[0019] Optionally, in the automatic processing system, the processing equipment is provided with a positioning feature; the alignment device is used to identify the positioning feature; the alignment device uses the positioning feature to adjust the posture of the conveying device until the posture of the positioning feature identified by the alignment device is a preset feature posture.

[0020] Optionally, in the automatic processing system, the positioning feature object is a three-dimensional object.

[0021] In order to solve the above technical problems, the present invention further provides an automatic handling method, which is applied to the automatic processing system as described in any one of the above items, and the automatic handling method comprises:

[0022] Laying walking tracks in the workshop;

[0023] The automatic handling equipment moves to a designated position along the walking track;

[0024] The automatic handling equipment performs posture correction;

[0025] The automatic handling equipment places the product into the processing equipment in a corrected posture, and / or takes the product out of the processing equipment.

[0026] Optionally, in the automatic transport method, the method of laying the walking track in the workshop includes:

[0027] Laying mobile tracks along pre-set paths in the workshop;

[0028] An alignment mark is laid at a designated position on the movable track.

[0029] Optionally, in the automatic transport method, the method for the automatic transport equipment to perform posture correction includes:

[0030] The coarse alignment component in the alignment device identifies the alignment mark to obtain an alignment mark image;

[0031] Calculating a coarse posture deviation of the subject using the alignment mark image, and adjusting the posture of the subject according to the coarse posture deviation until the coarse posture deviation is less than a first posture deviation threshold;

[0032] The precise alignment component in the alignment device identifies the product to obtain the posture characteristics of the product;

[0033] The precise posture deviation of the handling device is calculated using the posture characteristics of the product, and the position and posture of the clamping jaw assembly in the handling device are adjusted according to the precise posture deviation until the vertical projection of the clamping jaw assembly falls on the product and the clamping plane of the clamping jaw assembly is parallel to the clamping surface of the product.

[0034] Optionally, in the automatic transport method, before the precise alignment component in the alignment device identifies the product to obtain the posture feature of the product, the automatic transport method further includes:

[0035] providing a positioning feature on the processing equipment;

[0036] The precision alignment component in the alignment device identifies the positioning feature to obtain the positioning posture feature of the positioning feature;

[0037] The positioning posture feature of the positioning feature object is used to calculate the positioning posture deviation of the handling device, and the posture of the clamping claw assembly in the handling device is adjusted according to the positioning posture deviation until the positioning posture deviation is less than a second posture deviation threshold.

[0038] The automatic handling equipment, method and automatic processing system provided by the present invention include a main body; a walking device, which drives the main body to move along a preset path; a handling device, which takes the product out of the main body and / or puts the product into the main body; and a positioning device, which controls the walking device to reach a specified position and adjusts the posture of the main body, and also controls the movement of the handling device and adjusts the posture of the handling device. The main body and the handling device are respectively adjusted in posture by the positioning device, so that the automatic handling equipment performs two high-precision positioning, thereby ensuring that the automatic handling equipment can meet the requirements of automated processing when loading and unloading materials, and solving the problem of how to realize automated loading and unloading efficiently and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of the structure of the automatic handling equipment provided in this embodiment;

[0040] Figure 2 A schematic diagram of the automatic processing system provided in this embodiment;

[0041] Figure 3 A schematic diagram showing the principle of rough alignment of the rough alignment assembly provided in this embodiment;

[0042] Figure 4 A schematic diagram of the structure of the precision alignment assembly provided in this embodiment (top view);

[0043] Figure 5 Another structural schematic diagram (top view) of the precision alignment assembly provided in this embodiment;

[0044] Figure 6 A schematic diagram of the structure of positioning feature objects on the processing equipment provided in this embodiment;

[0045] Figure 7 A schematic diagram showing the principle of the precise positioning assembly provided in this embodiment using a positioning feature for precise positioning;

[0046] Figure 8 A third structural schematic diagram (top view) of the precision alignment assembly provided in this embodiment;

[0047] Figures 9 to 12 A flow chart of the automatic transport method provided in this embodiment;

[0048] Fig.13A schematic diagram of the correction principle of the distance sensor provided in this embodiment;

[0049] The descriptions of the symbols in each figure are as follows:

[0050] 100-main body; 200-walking device; 300-handling device; 310-gripper assembly; 400-alignment device; 410-coarse alignment assembly; 420-fine alignment assembly; 421-2D camera; 422-distance sensor; 423-3D sensor; 424-tilt sensor / inertial sensor; 500-walking track; 510-alignment mark; 600-processing equipment; 610-positioning feature; 700-product. DETAILED DESCRIPTION

[0051] The following is a further detailed description of the automatic handling equipment, method and automatic processing system proposed in the present invention in conjunction with the accompanying drawings and specific embodiments. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In addition, the structure shown in the accompanying drawings is often a part of the actual structure. In particular, the emphasis of each accompanying drawing is different, and sometimes different proportions are used.

[0052] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish similar objects in order to describe the embodiments of the present invention, rather than to describe a specific order or sequence. It should be understood that the structures used in this way can be interchanged under appropriate circumstances. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] This embodiment provides an automatic handling device, such as Figure 1 As shown, the automatic handling equipment includes: a main body 100; a walking device 200, used to drive the main body 100 to move along a preset path; a handling device 300, used to take the product out of the main body 100 and / or put the product into the main body 100; a positioning device 400, used to control the walking device 200 to reach a specified position and adjust the posture of the main body 100, and also used to control the movement of the handling device 300 and adjust the posture of the handling device 300.

[0054] The automatic handling equipment provided in this embodiment adjusts the postures of the main body 100 and the handling device 300 respectively through the positioning device 400, so that the automatic handling equipment performs two high-precision positioning, thereby ensuring that the automatic handling equipment can meet the requirements of automated processing when loading and unloading materials, thereby solving the problem of how to realize automated loading and unloading efficiently and accurately.

[0055] Specifically, the main body 100 can be configured as a storage bin, so that the internal space can be used to store products, thereby improving the efficiency of loading and unloading. The storage position and storage method of the storage bin are well known to those skilled in the art, and can be designed according to specific needs, and this application does not limit this.

[0056] The walking device 200 generally includes walking wheels, and the main body 100 is mounted on the walking device 200, or the walking wheels are set at the bottom of the main body 100, so that the walking device 200 drives the main body 100 to move along a preset path. For example, when a track guidance method is adopted, the walking wheels of the walking device 200 need to be able to cooperate with the track to enable it to move along the track; for example, when laser guidance or image guidance is adopted, the walking device 200 includes not only walking wheels, but also corresponding laser transceivers, photoelectric sensors, cameras and other components to achieve its functions. Those skilled in the art can design the walking device 200 with reference to the existing conventional design of the smart car AGV, and this application does not limit this.

[0057] The handling device 300 can be arranged on the main body 100, and a full range of handling can be achieved by using a mechanical arm. A clamping claw assembly 310 is provided at the movable end of the handling device 300, and the clamping claw assembly 310 is used to clamp the product. Depending on the different products to be clamped, the clamping claw assembly 310 can adopt different designs, such as vacuum adsorption, upper and lower mechanical clamping, or left and right mechanical clamping. Those skilled in the art can differentiate the design of the clamping assembly 310 according to actual needs, and this application does not limit this.

[0058] The alignment device 400 includes a coarse alignment component 410 and a fine alignment component 420; the coarse alignment component 410 is used to control the walking device 200 to reach a specified position and adjust the posture of the main body 100; the fine alignment component 420 is used to control the movement of the transport device 300 and adjust the posture of the transport device 300.

[0059] Further, such as Figure 2As shown, an alignment mark 510 is provided on the preset path (walking track 500); the coarse alignment component 410 is used to identify the alignment mark 510; when the alignment mark 510 is identified, the coarse alignment component 410 controls the walking device 200 to stop moving, and uses the alignment mark 510 to adjust the posture of the main body 100 until the posture of the alignment mark 510 identified by the coarse alignment component 410 is the preset mark posture.

[0060] In this embodiment, the rough alignment component 410 is disposed at the bottom of the main body 100, and can be specifically a 2D camera, which is used to capture the alignment mark 510 laid on the floor of the workshop. In this embodiment, the alignment mark 510 is a two-dimensional code, each of which corresponds to a processing device. The two-dimensional code can also store information such as the equipment number and coordinate position of the corresponding processing device, so that after the automatic handling device captures the two-dimensional code, the two-dimensional code information can be reported to the central control terminal by wireless communication, thereby realizing intelligent management of unmanned workshops.

[0061] Specifically, the automatic transport device can move along a preset path according to a preset program based on the SLAM positioning method. The positioning accuracy of this method is about ±20mm, which cannot meet the requirements of accurate product placement, but can ensure that the 2D camera 410 captures the two-dimensional code 510. After the 2D camera 410 captures the two-dimensional code 510, the automatic transport device is controlled to stop moving, and then the posture of the main body 100 is adjusted using the square frame feature of the two-dimensional code 510.

[0062] Assuming that the preset identification posture is that the two-dimensional code 510 is in the center and the posture of being centered in the image formed by the 2D camera 410, the principle and process of adjustment can be referred to Figure 3 During the movement of the automatic handling equipment, the main body 100 and the walking device 200 may be deflected at a horizontal angle. Since the 2D camera 410 is fixed at the bottom of the main body 100, the two-dimensional code 510 acquired by the 2D camera 410 has a deflection at the same horizontal angle in its image (such as Figure 3 (a)), after acquiring the imaging image of the two-dimensional code 510, the coarse alignment component 410 can obtain the horizontal angle deflection value between the two-dimensional code 510 and the 2D camera 410 by analyzing and processing the image, and the horizontal angle deflection value is the horizontal angle deflection value of the main body 100. After that, the coarse alignment component 410 controls the walking device 200 to rotate so that the two-dimensional code 510 is aligned in the imaging image (that is, the frame of the two-dimensional code is parallel to the edge of the imaging image); after that, the coarse alignment component 410 will further determine the coordinate position of the two-dimensional code 510 in the imaging image, and then control the walking device 200 to move so that the two-dimensional code 510 is located in the middle of the imaging image (as shown in FIG. Figure 3(b)). At this point, the rough alignment of the automatic handling equipment is completed. Under the accuracy of the existing 2D camera and walking device, the accuracy of the rough alignment can be guaranteed to be within the range of ±10mm, but this accuracy is still unable to meet the requirements of precise product placement.

[0063] Of course, in other embodiments, the position offset and horizontal angle deflection of the main body 100 can be adjusted at the same time after the position offset and horizontal angle deflection are obtained by analyzing the image acquired by the 3D camera 410, so that the two-dimensional code 510 is located in the middle of the image and is aligned. In addition, the position and horizontal deflection angle of the two-dimensional code 510 relative to the image can be set in advance in the rough alignment component 410, and the actual acquired image can be compared with the set parameters to adjust the posture of the main body 100. When the position offset and horizontal deflection value of the two-dimensional code 510 in the actual acquired image are less than the preset threshold, it is determined that the rough alignment is completed.

[0064] In addition, the alignment mark 510 is not limited to a two-dimensional code, and can be other marks that can determine the position offset and horizontal deflection. The alignment mark 510 can be two-dimensional or three-dimensional; the position of the alignment mark 510 depends on the requirements of the rough alignment component 410, and can be laid on the ground or attached to the wall or the outside of the device. The specific design and placement of the alignment mark 510 are not limited in this application.

[0065] In this embodiment, the precision alignment component 420 is used to further improve the alignment accuracy. Specifically, the precision alignment component 420 is used to identify the product and obtain the posture characteristics of the product; the precision alignment component 420 uses the posture characteristics of the product to control the movement of the clamping jaw component 310 until the vertical projection of the clamping jaw component 310 falls on the product, and adjusts the posture of the clamping jaw component 310 until the clamping plane of the clamping jaw component 310 is parallel to the clamping surface of the product.

[0066] Specifically, as an embodiment, Figure 4As shown, the fine alignment component 420 includes a 2D camera 421 and four distance sensors 422 arranged at the bottom of the clamping jaw assembly 310. The 2D camera 421 takes a picture of the product. Similar to the rough positioning, the horizontal deflection and displacement between the clamping jaw assembly 310 and the product are obtained through imaging image analysis, so that the fine positioning component 420 adjusts the clamping jaw assembly 310 to move or rotate horizontally, so that the image of the product in the 2D camera 421 is straightened and centered. Since the 2D camera 421 is located at the center of the bottom of the clamping jaw assembly 310 in this embodiment, when the image of the product in the 2D camera 421 is straightened and centered, it indicates that the clamping jaw assembly 3 10's vertical projection falls on the product; four distance sensors 422 obtain the distance between the product board edge and the clamping jaw assembly 310, and then the precision alignment assembly 420 can adjust the posture of the clamping jaw assembly 310 according to the four board edge distances. When the distance values ​​fed back by the four distance sensors 422 are the same (usually a difference threshold is set in advance, and when the difference between the four distance sensors 422 is less than the difference threshold, it is regarded that the distance values ​​fed back by the four distance sensors 422 are the same), it indicates that the clamping plane of the clamping jaw assembly 310 is parallel to the clamping surface of the product; then the posture of the clamping jaw assembly 310 is kept unchanged and moved vertically downward to clamp the product.

[0067] Of course, in this embodiment, the product is located in the center of the 2D camera imaging image as the preset position. In other embodiments, the rough alignment process can be referred to, and different preset positions can be set to adapt to different product clamping.

[0068] As an improvement, Figure 5 As shown, the precise alignment component 420 includes a 2D camera 421 , a distance sensor 422 , and a tilt sensor 424 / inertial sensor 424 arranged at the bottom of the gripper assembly 310 .

[0069] The inclination sensor can measure the inclination of the measured plane relative to the horizontal position, the parallelism and verticality of two parts. The inertial sensor (IMU) includes an accelerometer and an angular velocity meter (gyroscope), which can measure acceleration, tilt, shock, vibration, rotation and multi-degree-of-freedom motion. The use of an inclination sensor or an inertial sensor can replace three distance sensors and reduce the number of parts in the automatic handling equipment.

[0070] Different from the above embodiment, in this embodiment, the distance sensor 422 is used to obtain the distance between the clamping jaw assembly 310 and the product, and the inclination sensor 424 obtains the inclination angle of the clamping jaw assembly 310 relative to the product. The posture of the clamping jaw assembly 310 is adjusted until the inclination angle fed back by the inclination sensor 424 is within the preset inclination angle threshold, indicating that the clamping plane of the clamping jaw assembly 310 is parallel to the clamping surface of the product; then the posture of the clamping jaw assembly 310 is kept unchanged, and it is moved vertically downward to clamp the product.

[0071] It should be noted that, considering the limited focal length of the 2D camera 421, when the focal length of the 2D camera 421 cannot be adjusted automatically, the precision alignment component 420 needs to include a distance sensor 422, so that when the distance between the clamping jaw assembly 310 and the product reaches a preset distance, the 2D camera 421 can be started to take pictures, thereby ensuring the clarity of the pictures taken by the 2D camera 421.

[0072] In addition, the specific locations of the 2D camera 421, the distance sensor 422 and the tilt sensor / inertial sensor 424 can be set according to the specific situation. Correspondingly, the calculation method for adjusting the posture of the gripper assembly 310 also needs to be adjusted to ensure the reliability of the adjustment result.

[0073] On the basis of the rough alignment, after fine alignment using the fine alignment component 420, the position accuracy can be within 1 mm, and the angle accuracy can be within 1°, meeting the requirements for precise product placement.

[0074] This embodiment also provides an automatic processing system, such as Figure 2 As shown, it includes: a workshop, which is provided with a walking track 500; a processing equipment 600, which is used to process the product; an automatic handling device (shown in the form of a main body 100), which moves along the walking track 500 and is used to put the product into the processing equipment 600, and / or take the product out of the processing equipment 600.

[0075] The automatic processing system provided in this embodiment realizes the automatic production and processing of the automatic processing system through the automatic walking, picking and placing of products by automatic handling equipment; the postures of the main body and the handling device are adjusted respectively by the positioning device, so that the automatic handling equipment performs two high-precision positioning, thereby ensuring that the automatic handling equipment can meet the requirements of automated processing when loading and unloading materials, and solving the problem of how to realize automated loading and unloading efficiently and accurately.

[0076] Specifically, in this embodiment, the walking track 500 connects multiple processing equipment 600 in series. The multiple processing equipment 600 can be processing equipment of the same process, and the automatic handling equipment sequentially loads and unloads the multiple processing equipment 600 along the walking track 500; the multiple processing equipment 600 can also be different processing equipment of adjacent processes sequentially arranged along the walking track 500, and the automatic handling equipment delivers the products taken out from the upper processing equipment 600 to the lower processing equipment 600 along the walking track 500.

[0077] Preferably, each processing device 600 is provided with a corresponding alignment mark 510. The alignment mark 510 can be a QR code, so that the device information of the processing device 600 corresponding to the current QR code can be obtained by reading the QR code information, such as the machine number, processing procedure, and product model required for processing.

[0078] Further, such as Figure 6 As shown, the processing equipment 600 is provided with a positioning feature 610; the alignment device 400 is used to identify the positioning feature 610; the alignment device 400 uses the positioning feature 610 to adjust the posture of the conveying device 300 until the posture of the positioning feature 610 identified by the alignment device 400 is a preset feature posture.

[0079] Specifically, the positioning feature 610 may be a three-dimensional object, so that the posture of the handling device 300 can be adjusted in three dimensions. In this embodiment, the alignment device 400 for identifying the positioning feature 610 is a precision alignment component 420 disposed at the bottom of the clamping jaw component 310 of the handling device 300.

[0080] In order to identify the three-dimensional positioning feature 610, in this embodiment, the fine alignment component 420 includes a 3D camera. Figure 7 The principle diagram of the 3D camera using positioning features for posture correction is given. Figure 7 The precise alignment component 420 shown includes a 2D camera, four distance sensors 422 and a 3D camera 423 arranged at the bottom of the clamping jaw component 310. Similar to the above embodiment, the 2D camera 421 is used to obtain an imaging image of the positioning feature 610. After the image of the positioning feature 610 is obtained, it indicates that the clamping jaw component 310 has moved to the positioning feature 610. At this time, the 3D camera 423 is started to obtain a three-dimensional image of the positioning feature 610 (such as Figure 7 (a)), by processing and analyzing the three-dimensional image, the position offset and angle deflection between the 3D camera 423 and the positioning feature 610 can be obtained, and then the position offset and angle deflection are used to adjust the posture of the clamping jaw assembly 310 until the three-dimensional image of the positioning feature 610 obtained by the 3D camera 423 is straightened and centered (as shown in FIG. Figure 7(as shown in (b)).

[0081] In this embodiment, the preset feature object posture is the posture of the positioning feature object 610 in the three-dimensional image of the 3D camera 423 in a straight and centered posture. Of course, in other embodiments, the preset feature object posture can also be pre-set in the program according to the requirements of the clamped product. In addition, the method for judging whether the posture of the positioning feature object 610 is the preset feature object posture can adopt the difference threshold method, that is, when the difference between the posture of the positioning feature object 610 in the three-dimensional image of the positioning feature object 610 obtained in real time and the preset feature object posture is less than the preset difference threshold, it is judged that the posture of the current positioning feature object 610 reaches the preset feature object posture.

[0082] After adding a 3D camera for posture correction, the position accuracy of the clamping jaw assembly 310 can reach about 0.2 mm, and the angle accuracy can reach about 0.1°, further improving the accuracy of clamping products.

[0083] As another example, Figure 8 As shown, the fine alignment component 420 includes two 2D cameras 421, four distance sensors 422 and a 3D camera 423 arranged at the bottom of the clamping jaw component 310. At this time, there can be two positioning features 610, which correspond to the shooting positions of the two 2D cameras 421 respectively, so that the two positioning features 610 are photographed respectively by the two 2D cameras, and the respective deviation values ​​are analyzed, and the posture of the clamping jaw component 310 is adjusted by using the two sets of deviation values, so that the adjustment result is more reliable.

[0084] This embodiment also provides an automatic transport method, such as Fig. 9 As shown, the automatic transport method includes:

[0085] S1, laying walking tracks in the workshop;

[0086] S2, the automatic transport device moves to a designated position along the walking track;

[0087] S3, the automatic handling equipment performs posture correction;

[0088] S4, the automatic handling equipment puts the product into the processing equipment in the corrected posture, and / or takes the product out of the processing equipment.

[0089] It should be noted that there may be other steps between each step to adapt to different implementation environments. Other technical solutions with additional steps added without violating the main purpose of the present invention should also fall within the protection scope of the present invention.

[0090] The automatic handling method provided in this embodiment realizes the automatic production and processing of the automatic processing system through the automatic walking, picking and placing of products by the automatic handling equipment; by adjusting the posture of the automatic handling equipment, the automatic handling equipment has high-precision positioning, thereby ensuring that the automatic handling equipment can meet the requirements of automated processing when loading and unloading materials, thereby solving the problem of how to realize automatic loading and unloading in an efficient and accurate manner.

[0091] Further, such as Fig.10 As shown, step S1, the method for laying a walking track in a workshop includes:

[0092] S11, laying a moving track along a preset path in the workshop. Specifically, the moving track can be a steel rail, or a track formed by a guide mark, as long as the automatic handling equipment can move along the moving track, and the specific implementation method is not limited by the present invention.

[0093] S12, laying an alignment mark at a designated position on the moving track. Specifically, the alignment mark usually needs to correspond to the processing equipment, and the style can be a QR code or a reflective strip, etc., so that the automatic handling equipment can use the alignment mark to achieve rough alignment with the processing equipment. The specific implementation method is also not limited by the present invention.

[0094] Further, if Fig.11 As shown, in step S3, the method for automatic handling equipment to perform posture correction includes:

[0095] S31, a coarse alignment component in the alignment device identifies the alignment mark to obtain an alignment mark image;

[0096] S32, using the alignment mark image to calculate the rough posture deviation of the subject, and adjusting the posture of the subject according to the rough posture deviation until the rough posture deviation is less than a first posture deviation threshold; wherein the first posture deviation threshold can be pre-stored in a program, generally including a position offset threshold and a horizontal angle deflection threshold;

[0097] S33, the fine alignment component in the alignment device identifies the product to obtain the posture characteristics of the product; wherein the posture characteristics of the product include position, horizontal angle and vertical angle;

[0098] S34, using the posture characteristics of the product to calculate the precise posture deviation of the transport device, and adjusting the position and posture of the jaw assembly in the transport device according to the precise posture deviation until the vertical projection of the jaw assembly falls on the product and the clamping plane of the jaw assembly is parallel to the clamping surface of the product.

[0099] In this way, the main body is roughly aligned by the rough alignment component, and then the clamping jaw assembly is finely aligned by the fine alignment component. After the two alignment processes, the clamping jaw assembly can accurately grasp the product, ensuring that the automatic handling equipment can meet the requirements of automated processing when loading and unloading materials.

[0100] Better, such as Fig.12 As shown, in step S33, before the precise alignment component in the alignment device identifies the product to obtain the posture characteristics of the product, the automatic transport method further includes:

[0101] Y31, setting a positioning feature on the processing equipment;

[0102] Y32, the precision alignment component in the alignment device identifies the positioning feature to obtain the positioning posture feature of the positioning feature;

[0103] Y33, calculates the positioning posture deviation of the conveying device using the positioning posture feature of the positioning feature object, and adjusts the posture of the clamping assembly in the conveying device according to the positioning posture deviation until the positioning posture deviation is less than a second posture deviation threshold; wherein the second posture deviation threshold can also be pre-stored in the program, generally including a position offset threshold and a horizontal angle deflection threshold.

[0104] By adding positioning features, after rough alignment using alignment marks, the posture of the clamping jaw assembly is first finely aligned using the positioning features, and then the product is further finely aligned according to the posture after fine alignment, which can further improve the alignment accuracy. This solution can meet occasions with higher precision requirements.

[0105] It should be noted that the method of automatically adjusting the position and posture of the main body 100 or the transport device 300 by posture deviation data in this application is known to those skilled in the art through the prior art and is not described in detail here. Regardless of the image processing algorithm, data adjustment algorithm, etc., as long as the posture adjustment of the main body 100 and the transport device 300 is achieved, the technical solution should fall within the scope of protection of this application.

[0106] The following is a specific embodiment of the automatic handling equipment, method and automatic processing system provided by the present application.

[0107] In this embodiment, if Figure 1 , Figure 2 and Figure 8As shown, the automatic handling equipment is an AGV car with a mechanical arm, which moves based on the SLAM positioning method. The AGV car integrates a main body 100 and a walking device 200, wherein the main body 100 can also store multiple products to be processed or processed; the mechanical arm together with the clamping claw 310 set at its end constitutes a handling device 300; the 2D camera located at the bottom of the main body 100 constitutes a rough alignment component 410; the 3D camera 423, 2D camera 421 (2) and distance sensor 422 (4) located at the bottom of the clamping claw 310 constitute a fine alignment component 420.

[0108] In the entire workshop, each processing equipment 600 corresponds to a positioning mark 510, which is specifically a QR code, and the QR code is attached to the ground; the preset path set by the automatic handling equipment will pass by these QR codes, so that these QR codes can be captured by the 2D camera located at the bottom of the walking device 200.

[0109] In this embodiment, when the QR code is attached, its frame needs to be parallel to the loading and unloading side of the processing equipment, so as to ensure that the main body 100 of the AGV is parallel to the loading and unloading side of the processing equipment 600 after the QR code is aligned. In addition, in this embodiment, the preset identification posture pre-stored in the rough alignment component 410 is that the QR code is located in the center of the 2D camera 410, and the frame of the QR code is parallel to the imaging edge of the 2D camera 410.

[0110] In this embodiment, the processing equipment 600 is specifically a PCB drilling machine, and the product is specifically a PCB board. The PCB drilling machine is provided with a three-dimensional positioning feature 610 on the loading and unloading side, and the positioning feature 610 can be, for example, a triangular prism, a polygonal prism, or the like.

[0111] During the automatic processing, the AGV moves along the preset path until the 2D camera 410 at the bottom of the main body 100 recognizes the QR code 510 laid on the ground. At this time, the AGV stops moving and analyzes the position of the QR code 510 relative to the 2D camera 410, such as Figure 3As shown, after obtaining the displacement offset and horizontal deflection angle of the two-dimensional code 510 relative to the imaging of the 2D camera 410, the AGV is adjusted to perform fine position adjustment until the displacement offset and horizontal deflection angle are within the preset range. In this embodiment, since the preset identification posture pre-set in the program is that the two-dimensional code is located in the center of the 2D camera 410 viewfinder, and the frame of the two-dimensional code is parallel to the imaging edge of the 2D camera 410, the best state is that the two-dimensional code is located in the center of the image and the frame is parallel to the edge of the image in the two-dimensional code image actually captured by the 2D camera 410, that is, the displacement offset and horizontal deflection angle of the two-dimensional code relative to the 2D camera 410 are both 0. However, considering the amount of calculation, operation speed and rough alignment accuracy, the displacement offset is controlled within 10 mm and the horizontal angle deflection is controlled within 5°. That is to say, when the posture of the main body 100 is adjusted, as long as the position offset and horizontal deflection angle of the two-dimensional code in the two-dimensional code image actually captured by the 2D camera 410 are within 10 mm and 5° respectively relative to the preset identification posture, a command is sent to stop the posture correction process of the main body 100. At this time, when the robot arm (transport device) 300 moves according to the preset program, the 3D camera 423 can capture the positioning feature 610.

[0112] Afterwards, the robot arm (transport device) 300 is controlled to move according to a preset program, so that the gripper 310 moves to above the positioning feature 610, and the 3D camera 423 is activated to take a picture of the positioning feature 610, such as Figure 7 As shown, the 3D camera 423 analyzes the 3D image of the positioning feature 610 to obtain the position offset, horizontal angle deflection and vertical angle deflection of the 3D camera 423 relative to the positioning feature 610; the position offset, horizontal angle deflection and vertical angle deflection are used to control the clamping jaw 310 to adjust until the position offset, horizontal angle deflection and vertical angle deflection are within a reasonable range. Similarly, in this embodiment, the positioning feature 610 is preset in a straightened and centered position in the 3D camera 423, and the best state of adjustment is that the position offset, horizontal angle deflection and vertical angle deflection are all 0, but considering the calculation amount, operation speed and 3D alignment accuracy requirements, the displacement offset is controlled within 0.2mm, and the horizontal angle deflection and vertical angle deflection are controlled within 0.1°. Through the posture correction of the positioning feature 610 by the 3D camera 423, it can be ensured that when the clamping jaw 310 moves to the top of the product 700 in this posture, the vertical projection of the clamping jaw 310 falls on the product 700.

[0113] On the basis of 3D alignment, the gripper 310 is kept stationary and the robot arm is controlled to translate until the gripper 310 is located above the product 700 on the processing equipment 600 (the method of moving to the top of the product 700 can be a preset relative coordinate, or a 2D camera 421 can take a picture in real time and calculate and judge). At this time, the four distance sensors 422 are started to obtain the distance between the distance sensor and the relative edge of the PCB board 700, such as Fig.13 As shown, the distance values ​​initially captured by the distance sensors 422 on the two long sides are not equal (e.g. Fig.13 (a) shows that there is an inclination between the clamp 310 and the product 700 in the length direction of the clamp 310. The inclination of the clamp 310 is adjusted so that the distance values ​​captured by the two distance sensors 422 on the long side of the clamp 310 are equal (as shown in FIG. Fig.13 (b) shows that the jaw 310 and the product 700 are parallel in the length direction of the jaw 310; similar to the long side distance sensor 422, the two distance sensors 422 on the short side of the jaw 310 are adjusted so that the distance values ​​captured by the two are equal. At this time, the jaw 310 is parallel to the surface of the product 700. Of course, the distance values ​​captured by the two distance sensors 422 are made completely equal, that is, the difference is 0, so that the distance sensor 422 and the product 700 can be absolutely parallel. However, considering the amount of adjustment calculation and the accuracy of the equipment, the distance values ​​captured by the two distance sensors 422 are equal, which means that the difference between the distance values ​​captured by the two distance sensors 422 is less than the preset threshold. After adjustment using the distance sensor 422, the parallelism accuracy between the jaw 310 and the product 700 can reach 0.01°, and the height accuracy between the two can reach 0.1mm.

[0114] At this point, the clamping jaws 310 can be controlled to clamp the product 700. However, in this embodiment, in order to confirm the correction process, the PCB drilling machine 600 is also provided with correction features on both sides of the product, and the two 2D cameras 421 at the bottom of the clamping jaws 310 are used to take pictures of the correction features on the corresponding sides, and then the image is analyzed and processed (similar to the above analysis process) to determine whether the two correction features are located in the center of the field of view of the two 2D cameras 421 and are aligned (in this embodiment, the position of the preset correction feature is also set to be centered and aligned). If its actual position is consistent with the preset position, If the deviation between the postures is within the preset difference range, it is judged that the adjustment is effective and the gripper 310 can grasp the product; on the contrary, if the posture deviation exceeds the preset difference range, it indicates that the posture correction of the 3D camera 423 and the posture correction of the distance sensor 422 have not achieved the ideal effect. At this time, the position of the gripper 310 is corrected using the image captured by the 2D camera 421 until the deviation between the posture of the correction feature captured by the two 2D cameras 421 and the preset posture is within the preset difference range, indicating that the correction is completed and the gripper 310 can grasp the product. The final posture of the corrected gripper 310 can achieve a position accuracy of 0.1mm and an angle accuracy of 0.01°.

[0115] When the processing equipment 600 has multiple parallel processing platforms, the AGV can be roughly aligned once, and the positioning feature 610 can be precisely aligned once. When loading and unloading multiple products 700 on the same processing equipment 600 in sequence, each time the product 700 is changed, the posture of the clamping jaw 310 after the 3D camera 423 is kept unchanged, and the robot arm is controlled to translate until the clamping jaw 310 is located above the current product 700, and then the distance of each product 700 is adjusted using four distance sensors 422. Similarly, if there is a correction feature, the 2D camera 421 is used to correct it after each product 700 is changed. In this way, it can be ensured that when there is a posture deviation between multiple products 700 to be loaded and unloaded on the same processing equipment 600, the clamping jaw 310 of the AGV can accurately clamp the product 700, thereby improving the automation and accuracy of the automatic processing system.

[0116] Of course, in the specific application process, the combination and configuration parameters of the precision alignment components can be reasonably selected according to the different processing accuracy requirements. Any selection of precision alignment components that does not violate the main purpose of the invention should fall within the scope of protection of this application.

[0117] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. In addition, the different parts between the various embodiments can also be used in combination with each other, and the present invention is not limited to this.

[0118] The automatic handling equipment, method and automatic processing system provided in this embodiment include a main body; a walking device, which drives the main body to move along a preset path; a handling device, which takes the product out of the main body and / or puts the product into the main body; and a positioning device, which controls the walking device to reach a specified position and adjusts the posture of the main body, and also controls the movement of the handling device and adjusts the posture of the handling device. The main body and the handling device are respectively adjusted in posture by the positioning device, so that the automatic handling equipment performs two high-precision positioning, thereby ensuring that the automatic handling equipment can meet the requirements of automated processing when loading and unloading materials, and solving the problem of how to realize automated loading and unloading efficiently and accurately.

[0119] The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art in the field of the present invention based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. An automatic handling device, It is characterized in that include: main body; A walking device, used to drive the main body to move along a preset path; a handling device for taking the product out of the main body and / or placing the product into the main body; The alignment device is used to control the walking device to reach a specified position and adjust the posture of the main body, and is also used to control the movement of the transport device and adjust the posture of the transport device.

2. The automatic handling equipment according to claim 1, It is characterized in that The alignment device includes a coarse alignment component and a fine alignment component; the coarse alignment component is used to control the walking device to reach a specified position and adjust the posture of the main body; the fine alignment component is used to control the movement of the transport device and adjust the posture of the transport device.

3. The automatic handling equipment according to claim 2, It is characterized in that An alignment mark is set on the preset path; the coarse alignment component is used to identify the alignment mark; when the alignment mark is identified, the coarse alignment component controls the walking device to stop moving, and uses the alignment mark to adjust the posture of the main body until the posture of the alignment mark identified by the coarse alignment component is the preset mark posture.

4. The automatic handling equipment according to claim 2, It is characterized in that The handling device includes a clamping jaw assembly; the precise positioning assembly is used to identify the product and obtain the posture characteristics of the product; the precise positioning assembly uses the posture characteristics of the product to control the movement of the clamping jaw assembly until the vertical projection of the clamping jaw assembly falls on the product, and adjusts the posture of the clamping jaw assembly until the clamping plane of the clamping jaw assembly is parallel to the clamping surface of the product.

5. The automatic handling equipment according to claim 4, It is characterized in that The precise alignment component includes one or more of a 2D camera, a 3D camera, a distance sensor, a tilt sensor, and an inertial sensor.

6. An automatic processing system, It is characterized in that include: A workshop, wherein the workshop is provided with a walking track; Processing equipment, used to process products; The automatic handling equipment according to any one of claims 1 to 5, wherein the automatic handling equipment moves along the walking track and is used to place products into the processing equipment and / or take products out of the processing equipment.

7. The automatic processing system according to claim 6, It is characterized in that The processing equipment is provided with a positioning feature; the alignment device is used to identify the positioning feature; the alignment device uses the positioning feature to adjust the posture of the transport device until the posture of the positioning feature identified by the alignment device is a preset feature posture.

8. The automatic processing system according to claim 7, It is characterized in that The positioning feature object is a three-dimensional object.

9. An automatic handling method, applied to the automatic processing system according to any one of claims 6 to 8, It is characterized in that The automatic handling method comprises: Laying walking tracks in the workshop; The automatic handling equipment moves to a designated position along the walking track; The automatic handling equipment performs posture correction; The automatic handling equipment places the product into the processing equipment in a corrected posture, and / or takes the product out of the processing equipment.

10. The automatic transport method according to claim 9, It is characterized in that The method for laying the walking track in the workshop comprises: Laying mobile tracks along pre-set paths in the workshop; An alignment mark is laid at a designated position on the movable track.

11. The automatic transport method according to claim 10, It is characterized in that The method for performing posture correction of the automatic handling equipment comprises: The coarse alignment component in the alignment device identifies the alignment mark to obtain an alignment mark image; Calculating a coarse posture deviation of the subject using the alignment mark image, and adjusting the posture of the subject according to the coarse posture deviation until the coarse posture deviation is less than a first posture deviation threshold; The precise alignment component in the alignment device identifies the product to obtain the posture characteristics of the product; The precise posture deviation of the handling device is calculated using the posture characteristics of the product, and the position and posture of the clamping jaw assembly in the handling device are adjusted according to the precise posture deviation until the vertical projection of the clamping jaw assembly falls on the product and the clamping plane of the clamping jaw assembly is parallel to the clamping surface of the product.

12. The automatic transport method according to claim 11, It is characterized in that Before the fine alignment component in the alignment device identifies the product to obtain the posture characteristics of the product, the automatic transport method further includes: providing a positioning feature on the processing equipment; The precision alignment component in the alignment device identifies the positioning feature to obtain the positioning posture feature of the positioning feature; The positioning posture feature of the positioning feature object is used to calculate the positioning posture deviation of the handling device, and the posture of the clamping claw assembly in the handling device is adjusted according to the positioning posture deviation until the positioning posture deviation is less than a second posture deviation threshold.

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