Special-shaped workpiece positioning method and system

Abstract

The invention relates to a special-shaped workpiece positioning method and system. The method comprises the steps that a positioning coordinate system is established based on a preset workbench; wherein the workbench comprises a plurality of linear modules, and each linear module is connected with a positioning wheel in a sliding mode; a special-shaped workpiece is determined, and a special-shaped workpiece graph is obtained based on the special-shaped workpiece; the special-shaped workpiece graph is positioned to the center of the positioning coordinate system; obtaining the radius of any positioning wheel, and further expanding the special-shaped workpiece graph based on the radius of the positioning wheel to obtain an expanded graph; and for any linear module, the coordinates of the intersection point of the external expansion graph and the linear module are obtained, so that the positions of the positioning wheels on the linear module are adjusted based on the coordinates of the intersection point, the positions of the corresponding positioning wheels are adjusted based on the linear modules, and positioning of the special-shaped workpiece is achieved. The tedious steps of manually moving the positioning wheel and calibrating the position of the special-shaped workpiece are omitted, collision between the positioning wheel and the special-shaped workpiece does not need to be controlled, and the positioning efficiency and reliability of the special-shaped workpiece are improved.

Description

Technical Field

[0001] The invention relates to the technical field of workpiece processing and production, and in particular to a method and system for positioning a special-shaped workpiece. Background Art

[0002] At present, in the screen printing process of the glass production process, the glass plate needs to be positioned first, and the glass plate and the screen printing screen on the workstation are aligned before the glass printing operation can be performed. However, the current positioning device requires the position of the positioning wheel on the workstation to be manually moved until the positioning wheel collides with the glass plate, and then the glass plate can be positioned. In the actual operation process, it is also necessary to constantly manually adjust the position of the positioning wheel and the glass plate to align the glass plate and the screen printing screen. This operation method is not only cumbersome, but also inefficient. In particular, in the screen printing process of the automobile window glass production process, since the automobile window glass is an irregular special-shaped glass plate, it is more cumbersome to position such special-shaped glass plates with the current positioning technology. In addition, the position of the positioning wheel and the glass plate is determined by the collision between the positioning wheel and the glass plate, which is easy to damage the positioning wheel and the glass plate. Therefore, although there is another solution that installs a pressure sensor on the positioning wheel to automatically identify the pressure when the positioning wheel collides with the glass plate, thereby eliminating the process of manually moving the positioning wheel, this method still has the defect of easily causing damage to the glass plate and the positioning wheel. Therefore, the existing positioning methods are insufficient in efficiency and reliability and are in urgent need of improvement. Summary of the invention

[0003] The present invention aims to provide a method and system for positioning a special-shaped workpiece to solve the above-mentioned technical problems and achieve positioning of the special-shaped workpiece without tedious manual operations and avoiding damage to the workpiece.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present invention provides a method for positioning a special-shaped workpiece, comprising the following steps: establishing a positioning coordinate system based on a preset workbench; wherein the workbench includes a plurality of linear modules, each of which is slidably connected to a positioning wheel; determining the special-shaped workpiece, and obtaining a special-shaped workpiece figure based on the special-shaped workpiece; positioning the special-shaped workpiece figure to the center of the positioning coordinate system; obtaining the radius of any of the positioning wheels, and then expanding the special-shaped workpiece figure based on the radius of the positioning wheel to obtain an expanded figure; for any of the linear modules, obtaining the coordinates of the intersection of the expanded figure and the linear module, thereby adjusting the position of the positioning wheel on the linear module based on the intersection coordinates, and then adjusting the positions of the corresponding plurality of positioning wheels based on the plurality of linear modules to achieve positioning of the special-shaped workpiece.

[0005] The above-mentioned method for positioning special-shaped workpieces imports the graphic file of the special-shaped workpiece into the positioning coordinate system, and then determines the external expansion graphic corresponding to the special-shaped workpiece according to the radius of the positioning wheel, and then determines the coordinates of each positioning wheel and the special-shaped workpiece when they are in contact and abutting each other according to the coordinates of the intersection of the external expansion graphic and each linear module, eliminating the tedious steps of manually moving the positioning wheel and manually calibrating the position of the special-shaped workpiece, thereby improving the efficiency of positioning the special-shaped workpiece. In addition, this method does not need to control the collision between the positioning wheel and the special-shaped workpiece. By directly calculating the coordinates of the positioning wheel, it avoids damage caused by the collision between the positioning wheel and the special-shaped workpiece, protects the equipment and the workpiece, and improves the reliability of positioning the special-shaped workpiece.

[0006] In one possible implementation, positioning the irregular workpiece graphic at the center of the positioning coordinate system includes: obtaining a circumscribed rectangle based on the irregular workpiece graphic, and then obtaining a center point of the circumscribed rectangle based on the circumscribed rectangle; making the center point of the circumscribed rectangle coincide with the coordinate origin of the positioning coordinate system, so that the circumscribed rectangle is positioned at the center of the positioning coordinate system, thereby positioning the irregular workpiece graphic at the center of the positioning coordinate system.

[0007] In this implementation, the circumscribed rectangle is the smallest rectangle that encloses the irregular workpiece figure, also known as the circumscribed rectangle, and the center point of the circumscribed rectangle is the intersection of the two diagonals of the circumscribed rectangle. Based on the geometric relationship between the irregular workpiece figure and the circumscribed rectangle, it can be determined that the center point of the circumscribed rectangle is the geometric center point of the irregular workpiece figure. Therefore, this implementation moves the center point of the circumscribed rectangle in the positioning coordinate system so that the center point of the circumscribed rectangle coincides with the coordinate origin of the positioning coordinate system, which is equivalent to moving the geometric center point of the irregular workpiece figure in the positioning coordinate system so that the geometric center point of the irregular workpiece figure coincides with the coordinate origin of the positioning coordinate system, and then moves the irregular workpiece figure according to the moving positioning process of the geometric center point so that the irregular workpiece figure is positioned to the center of the positioning coordinate system. This implementation realizes the alignment of the irregular workpiece figure and the positioning coordinate system, and improves the accuracy of the present invention in locating the position of the irregular workpiece.

[0008] In a possible implementation, before positioning the special-shaped workpiece, the coordinates of the intersection between the outward-expanding graphic and the linear module are obtained for any of the linear modules, thereby adjusting the position of the positioning wheel on the linear module based on the intersection coordinates, and then adjusting the positions of the corresponding several positioning wheels based on several linear modules, to achieve the positioning of the special-shaped workpiece, it also includes: obtaining the rotation angle offset of the special-shaped workpiece relative to a preset silk screen plate; and adjusting the outward-expanding graphic based on the rotation angle offset.

[0009] In this implementation, considering the inaccurate installation and positioning of the silk screen stencil on the workbench, even if the graphics of the special-shaped workpiece have been aligned with the positioning coordinate system established based on the workbench, there may still be an angular offset between the special-shaped workpiece and the silk screen stencil. Therefore, this implementation rotates and adjusts the outward-expanded graphics in the positioning coordinate system based on the rotation angle offset of the current special-shaped workpiece relative to the silk screen stencil on the workbench, so that the intersection coordinates of the outward-expanded graphics and each linear module change accordingly, thereby completing the position correction of each positioning wheel based on the rotation angle offset of the current special-shaped workpiece relative to the silk screen stencil on the workbench, thereby improving the accuracy of the alignment of the special-shaped workpiece with the silk screen stencil. In addition, this implementation only needs to obtain the rotation angle offset to correct the position of the positioning wheel, eliminating the tedious steps of manually moving the positioning wheel and manually rotating the position of the special-shaped workpiece, thereby improving the efficiency of positioning the special-shaped workpiece.

[0010] In a possible implementation, before positioning the special-shaped workpiece, the coordinates of the intersection between the outward-expanding graphic and the linear module are obtained for any of the linear modules, thereby adjusting the position of the positioning wheel on the linear module based on the intersection coordinates, and then adjusting the positions of the corresponding several positioning wheels based on several linear modules, to achieve the positioning of the special-shaped workpiece, and further comprising: obtaining the center point offset of the special-shaped workpiece relative to a preset silk screen screen; and adjusting the outward-expanding graphic based on the center point offset.

[0011] As mentioned above, in this implementation, considering the inaccurate installation and positioning of the silk screen stencil on the workbench, the silk screen stencil may be offset from the center position of the workbench. Therefore, even if the special-shaped workpiece graphics have been aligned with the positioning coordinate system established based on the workbench, there may still be a certain offset between the geometric center of the special-shaped workpiece and the geometric center of the silk screen stencil, making it impossible for the special-shaped workpiece and the silk screen stencil to be aligned. This implementation adjusts the outward expansion graphics based on the offset of the geometric center point of the current special-shaped workpiece relative to the geometric center point of the silk screen stencil, so that the geometric center of the outward expansion graphics coincides with the geometric center of the silk screen stencil, so that the coordinates of the intersection of the outward expansion graphics and each linear module change accordingly, thereby completing the position correction of each positioning wheel based on the offset of the geometric center point of the current special-shaped workpiece relative to the geometric center point of the silk screen stencil, thereby improving the accuracy of the alignment of the special-shaped workpiece with the silk screen stencil. In addition, this implementation only needs to obtain the center point offset to correct the position of the positioning wheel, eliminating the cumbersome steps of manually moving the positioning wheel and the special-shaped workpiece, and improving the efficiency of positioning the special-shaped workpiece.

[0012] In a possible implementation, the workbench includes a base, and a plurality of the linear modules are arranged on the base; establishing a positioning coordinate system based on a preset workbench includes: obtaining a center point of the base; and establishing the positioning coordinate system with the center point of the base as the coordinate origin.

[0013] In this implementation, the positioning coordinate system is established with the center point of the base as the coordinate origin, which can align the coordinate origin of the coordinate system with the center point of the workbench, so that when the special-shaped workpiece graphic is positioned to the center of the positioning coordinate system, the corresponding special-shaped workpiece is positioned to the center of the workbench, thereby improving the accuracy of the present invention in locating the position of the special-shaped workpiece.

[0014] The second aspect of the present invention provides a special-shaped workpiece positioning system, comprising a workbench, a data acquisition module, a positioning module and a control module; the workbench comprises a plurality of linear modules, each of which is slidably connected to a positioning wheel; the control module is electrically connected to all the positioning wheels; the positioning module is electrically connected to the data acquisition module and the control module, respectively, wherein: the data acquisition module is used to obtain the positions of all the linear modules, the positions of all the positioning wheels and the radius of any positioning wheel, and determine the special-shaped workpiece, thereby obtaining the special-shaped workpiece graphic based on the special-shaped workpiece; the positioning module is used to obtain the special-shaped workpiece graphic based on the special-shaped workpiece A positioning coordinate system is established with the position of the linear module and the positions of all the positioning wheels, so that the special-shaped workpiece figure is positioned at the center of the positioning coordinate system, thereby expanding the special-shaped workpiece figure based on the radius of the positioning wheel to obtain an expanded figure, and then for any of the linear modules, the intersection coordinates of the expanded figure and the linear module are obtained; the control module is used to adjust the position of the positioning wheel on any of the linear modules based on the corresponding intersection coordinates of the linear module, and then adjust the positions of the corresponding several positioning wheels based on several of the linear modules to achieve positioning of the special-shaped workpiece.

[0015] The above-mentioned special-shaped workpiece positioning system imports the graphic file of the special-shaped workpiece into the positioning coordinate system, and then determines the external expansion graphic corresponding to the special-shaped workpiece according to the radius of the positioning wheel, so as to determine the coordinates of each positioning wheel and the special-shaped workpiece when they are in contact and against each other according to the coordinates of the intersection of the external expansion graphic and each linear module, eliminating the cumbersome steps of manually moving the positioning wheel and manually calibrating the position of the special-shaped workpiece, and improving the efficiency of positioning the special-shaped workpiece. Specifically, in the above-mentioned special-shaped workpiece positioning system, the control module controls the positioning wheel to slide on the linear module to the corresponding coordinate position based on the intersection coordinates corresponding to the positioning wheel, and the coordinate position is the position where the positioning wheel and the special-shaped workpiece are in contact and against each other when the special-shaped workpiece is located at the center of the workbench. Through the above-mentioned control process, the system eliminates the cumbersome steps of manually moving the positioning wheel and manually calibrating the position of the special-shaped workpiece, and improves the efficiency of positioning the special-shaped workpiece. In addition, the system does not need to control the collision between the positioning wheel and the special-shaped workpiece, and directly calculates the coordinates of the positioning wheel to avoid damage caused by the collision between the positioning wheel and the special-shaped workpiece, protects the equipment and the workpiece, and improves the reliability of positioning the special-shaped workpiece.

[0016] In a possible implementation, in the positioning module, a positioning coordinate system is established based on the positions of all the linear modules and the positions of all the positioning wheels, so that the special-shaped workpiece figure is positioned at the center of the positioning coordinate system, thereby expanding the special-shaped workpiece figure based on the radius of the positioning wheel to obtain an expanded figure, and then for any of the linear modules, the intersection coordinates of the expanded figure and the linear module are obtained, including: obtaining a circumscribed rectangle based on the special-shaped workpiece figure, and then obtaining a center point of the circumscribed rectangle based on the circumscribed rectangle; making the center point of the circumscribed rectangle coincide with the coordinate origin of the positioning coordinate system, so that the circumscribed rectangle is positioned at the center of the positioning coordinate system, thereby positioning the special-shaped workpiece figure at the center of the positioning coordinate system.

[0017] In a possible implementation, the data acquisition module is also used to obtain the rotation angle offset of the special-shaped workpiece relative to a preset silk screen plate; in the positioning module, a positioning coordinate system is established based on the positions of all the linear modules and the positions of all the positioning wheels to position the special-shaped workpiece graphic to the center of the positioning coordinate system, thereby expanding the special-shaped workpiece graphic based on the radius of the positioning wheel to obtain an expanded graphic, and then for any of the linear modules, the intersection coordinates of the expanded graphic and the linear module are obtained, and it also includes: adjusting the expanded graphic based on the rotation angle offset.

[0018] In this implementation, in the special-shaped workpiece positioning system, a screen printing screen is preset on the workbench, and the screen printing screen is used to print the special-shaped workpiece. Considering the inaccurate installation and positioning of the screen printing screen on the workbench, even if the special-shaped workpiece graphic has been aligned with the positioning coordinate system established based on the workbench, there may still be an angle offset between the special-shaped workpiece and the screen printing screen. Therefore, this implementation is based on the rotation angle offset of the current special-shaped workpiece relative to the screen printing screen on the workbench, and the outward expansion graphic in the positioning coordinate system is rotated and adjusted to change the intersection coordinates of the outward expansion graphic and each linear module accordingly, thereby completing the position correction of each positioning wheel based on the rotation angle offset of the current special-shaped workpiece relative to the screen printing screen on the workbench, thereby improving the accuracy of the special-shaped workpiece to align with the screen printing screen. In addition, this implementation only needs to obtain the rotation angle offset to correct the positioning wheel position, eliminating the cumbersome steps of manually moving the positioning wheel and manually rotating the position of the special-shaped workpiece, thereby improving the efficiency of positioning the special-shaped workpiece.

[0019] In a possible implementation, the data acquisition module is also used to obtain the center point offset of the special-shaped workpiece relative to a preset silk screen screen; in the positioning module, a positioning coordinate system is established based on the positions of all the linear modules and the positions of all the positioning wheels to position the special-shaped workpiece graphic to the center of the positioning coordinate system, thereby expanding the special-shaped workpiece graphic based on the radius of the positioning wheel to obtain an expanded graphic, and then for any of the linear modules, the intersection coordinates of the expanded graphic and the linear module are obtained, and it also includes: adjusting the expanded graphic based on the center point offset.

[0020] As mentioned above, in this implementation, a silk screen screen is also preset on the workbench. Considering the inaccurate installation and positioning of the silk screen screen on the workbench, the silk screen screen may be offset from the center position of the workbench. Therefore, even if the special-shaped workpiece graphic has been aligned with the positioning coordinate system established based on the workbench, there may still be a certain offset between the geometric center of the special-shaped workpiece and the geometric center of the silk screen, making it impossible to align the special-shaped workpiece and the silk screen. This implementation adjusts the outward-expanded graphic based on the offset of the geometric center point of the current special-shaped workpiece relative to the geometric center point of the silk screen, so that the geometric center of the outward-expanded graphic coincides with the geometric center of the silk screen, so that the coordinates of the intersection of the outward-expanded graphic and each linear module are changed accordingly, thereby completing the position correction of each positioning wheel based on the offset of the geometric center point of the current special-shaped workpiece relative to the geometric center point of the silk screen, thereby improving the accuracy of the alignment of the special-shaped workpiece with the silk screen. In addition, this implementation method only needs to obtain the center point offset to correct the positioning wheel position, eliminating the tedious steps of manually moving the positioning wheel and the special-shaped workpiece, and improving the efficiency of positioning the special-shaped workpiece.

[0021] In a possible implementation, the workbench includes a base, and a plurality of the linear modules are arranged on the base; the data acquisition module is also used to obtain the center point of the base; in the positioning module, a positioning coordinate system is established based on the positions of all the linear modules and the positions of all the positioning wheels, so that the special-shaped workpiece figure is positioned to the center of the positioning coordinate system, thereby expanding the special-shaped workpiece figure based on the radius of the positioning wheel to obtain an expanded figure, and then for any of the linear modules, the coordinates of the intersection of the expanded figure and the linear module are obtained, including: based on the positions of all the linear modules and the positions of all the positioning wheels, the positioning coordinate system is established with the center point of the base as the coordinate origin. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a flow chart of a method for positioning a special-shaped workpiece provided by an embodiment of the present invention;

[0023] Figure 2is a schematic diagram of a positioning coordinate system provided by an embodiment of the present invention;

[0024] Figure 3 It is a schematic diagram of a positioning coordinate system and a special-shaped workpiece graphic provided by an embodiment of the present invention;

[0025] Figure 4 It is a schematic diagram of another positioning coordinate system and a special-shaped workpiece graphic provided by an embodiment of the present invention;

[0026] Figure 5 It is a structural schematic diagram of a special-shaped workpiece positioning system provided by an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of initializing a positioning coordinate system provided by an embodiment of the present invention;

[0028] Figure 7 is a schematic diagram of positioning a special-shaped workpiece in a positioning coordinate system provided by an embodiment of the present invention;

[0029] Figure 8 It is a schematic diagram of adjusting the rotation offset of a special-shaped workpiece in a positioning coordinate system provided by an embodiment of the present invention;

[0030] Fig. 9 It is a schematic diagram of adjusting the X-axis offset of a special-shaped workpiece in a positioning coordinate system provided by an embodiment of the present invention;

[0031] Fig.10 It is a schematic diagram of adjusting the Y-axis offset of a special-shaped workpiece in a positioning coordinate system provided by an embodiment of the present invention;

[0032] Wherein: 100, workbench; 10, linear module; 10a, first linear module; 10b, second linear module; 10c, third linear module; 10d, fourth linear module; 10e, fifth linear module; 10f, sixth linear module; 11, positioning wheel; 11a, first positioning wheel; 11b, second positioning wheel; 11c, third positioning wheel; 11d, fourth positioning wheel; 11e, fifth positioning wheel; 11f, sixth positioning wheel; 20, special-shaped workpiece graphics; 30, circumscribed rectangle; 40, outward expansion graphics; 200, data acquisition module; 300, positioning module; 400, control module. DETAILED DESCRIPTION

[0033] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the following detailed descriptions are all exemplary descriptions, which are intended to provide further detailed descriptions of the present invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" in the specification and claims of the present application and the above-mentioned description of the drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0034] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0035] At present, in the screen printing process of the glass production process, the glass plate needs to be positioned first, and the glass plate and the screen printing screen on the workstation are aligned before the glass printing operation can be performed. However, the current positioning device requires the position of the positioning wheel on the workstation to be manually moved until the positioning wheel collides with the glass plate, and then the glass plate can be positioned. In the actual operation process, it is also necessary to constantly manually adjust the position of the positioning wheel and the glass plate to align the glass plate and the screen printing screen. This operation method is not only cumbersome, but also inefficient. In particular, in the screen printing process of the automobile window glass production process, since the automobile window glass is an irregular special-shaped glass plate, it is more cumbersome to position such special-shaped glass plates with the current positioning technology. In addition, the position of the positioning wheel and the glass plate is determined by the collision between the positioning wheel and the glass plate, which is easy to damage the positioning wheel and the glass plate. Therefore, although there is another solution that installs a pressure sensor on the positioning wheel to automatically identify the pressure when the positioning wheel collides with the glass plate, thereby eliminating the process of manually moving the positioning wheel, this method still has the defect of easily causing damage to the glass plate and the positioning wheel. Therefore, the existing positioning methods are insufficient in efficiency and reliability and are in urgent need of improvement.

[0036] In order to solve the above technical problems, an embodiment of the present invention provides a method for positioning a special-shaped workpiece. Figure 1 , the special-shaped workpiece positioning method comprises the following steps:

[0037] S101 , establishing a positioning coordinate system based on a preset workbench 100 ; wherein the workbench 100 includes a plurality of linear modules 10 , and each of the linear modules 10 is slidably connected to a positioning wheel 11 .

[0038] Specifically, see Figure 2 , Figure 2 It is a schematic diagram of a positioning coordinate system provided by an embodiment of the present invention. In this embodiment, the workbench 100 includes a first linear module 10a, a second linear module 10b, a third linear module 10c, a fourth linear module 10d, a fifth linear module 10e, and a sixth linear module 10f; the first linear module 10a is slidably connected with a first positioning wheel 11a, the second linear module 10b is slidably connected with a second positioning wheel 11b, the third linear module 10c is slidably connected with a third positioning wheel 11c, the fourth linear module 10d is slidably connected with a fourth positioning wheel 11d, the fifth linear module 10e is slidably connected with a fifth positioning wheel 11e, and the sixth linear module 10f is slidably connected with a sixth positioning wheel 11f. The radius of the first positioning wheel 11a, the second positioning wheel 11b, the third positioning wheel 11c, the fourth positioning wheel 11d, the fifth positioning wheel 11e, and the sixth positioning wheel 11f are slidably connected. Figure 2 As shown, in this embodiment, the positioning coordinate system established based on the preset workbench 100 is a rectangular coordinate system, including an axis X and an axis Y. The directions indicated by the arrows of the axis X and the axis Y are the positive directions of the axes, and the intersection of the axis X and the axis Y is the coordinate origin O of the positioning coordinate system, and the coordinate origin O represents the center point of the workbench 100. The positioning coordinate system can represent the coordinate positions of all linear modules 10 and all positioning wheels 11 in the workbench 100.

[0039] Among them, the first linear module 10a is located at the negative half axis of the X-axis, the second linear module 10b is located at the positive half axis of the X-axis, and the first linear module 10a and the second linear module 10b are symmetrical about the Y-axis; the third linear module 10c is located in the second quadrant of the positioning coordinate system, the fourth linear module 10d is located in the first quadrant of the positioning coordinate system, the fifth linear module 10e is located in the third quadrant of the positioning coordinate system, and the sixth linear module 10f is located in the fourth quadrant of the positioning coordinate system; the third linear module 10c and the fourth linear module 10d are symmetrical about the Y-axis, the fifth linear module 10e and the sixth linear module 10f are symmetrical about the Y-axis, the third linear module 10c and the fifth linear module 10e are symmetrical about the X-axis, and the fourth linear module 10d and the sixth linear module 10f are symmetrical about the X-axis.

[0040] S102, determining a special-shaped workpiece, and acquiring a special-shaped workpiece graphic 20 based on the special-shaped workpiece.

[0041] S103, positioning the special-shaped workpiece graphic 20 at the center of the positioning coordinate system.

[0042] Specifically, see Figure 3 , Figure 3 Schematic diagram of a positioning coordinate system and a special-shaped workpiece graphic 20 provided by an embodiment of the present invention. The special-shaped workpiece graphic 20 is positioned at the center of the positioning coordinate system, that is, the geometric center point of the special-shaped workpiece graphic 20 coincides with the coordinate origin of the positioning coordinate system.

[0043] S104 , obtaining the radius of any positioning wheel 11 , and then expanding the special-shaped workpiece figure 20 based on the radius of the positioning wheel 11 to obtain an expanded figure 40 .

[0044] Specifically, see Figure 4 , Figure 4 1 is a schematic diagram of another positioning coordinate system and a special-shaped workpiece figure 20 provided by an embodiment of the present invention. The outward expansion figure 40 is represented by a dotted line in the figure, and the outward expansion figure 40 is obtained by expanding the special-shaped workpiece figure 20 based on the radius of any positioning wheel 11.

[0045] S105. For any of the linear modules 10, the intersection coordinates of the outward-expanding graphic 40 and the linear module 10 are obtained, so as to adjust the position of the positioning wheel 11 on the linear module 10 based on the intersection coordinates, and then adjust the positions of the corresponding several positioning wheels 11 based on several of the linear modules 10 to achieve positioning of the special-shaped workpiece.

[0046] Specifically, see Figure 4 , Figure 4 The figure shows the results of adjusting the positions of the first positioning wheel 11a, the second positioning wheel 11b, the third positioning wheel 11c, the fourth positioning wheel 11d, the fifth positioning wheel 11e and the sixth positioning wheel 11f in the positioning coordinate system on the linear module according to their corresponding intersection coordinates. Figure 4 The position of the positioning wheel 11 in the positioning coordinate system is adjusted by adjusting the position of the positioning wheel 11 on the actual workbench, so as to realize the positioning of the special-shaped workpiece.

[0047] The above-mentioned method for positioning a special-shaped workpiece imports the graphic file of the special-shaped workpiece into the positioning coordinate system, and then determines the external expansion graphic 40 corresponding to the special-shaped workpiece according to the radius of any positioning wheel 11, thereby determining the coordinates of the first positioning wheel 11a, the second positioning wheel 11b, the third positioning wheel 11c, the fourth positioning wheel 11d, the fifth positioning wheel 11e, and the sixth positioning wheel 11f when they are in contact with the special-shaped workpiece according to the intersection coordinates of the external expansion graphic 40 and the first linear module 10a, the second linear module 10b, the third linear module 10c, the fourth linear module 10d, the fifth linear module 10e, and the sixth linear module 10f, thereby eliminating the tedious steps of manually moving the positioning wheel 11 and manually calibrating the position of the special-shaped workpiece, thereby improving the efficiency of positioning the special-shaped workpiece. In addition, the method does not need to control the collision between the positioning wheel 11 and the special-shaped workpiece, and directly calculates the coordinates of the positioning wheel 11 to avoid damage caused by the collision between the positioning wheel 11 and the special-shaped workpiece, thereby protecting the equipment and the workpiece, and improving the reliability of positioning the special-shaped workpiece.

[0048] In a possible embodiment, positioning the irregular workpiece graphic 20 at the center of the positioning coordinate system includes: obtaining a circumscribed rectangle 30 based on the irregular workpiece graphic 20, and then obtaining a center point of the circumscribed rectangle 30 based on the circumscribed rectangle 30; making the center point of the circumscribed rectangle 30 coincide with the coordinate origin of the positioning coordinate system, so that the circumscribed rectangle 30 is positioned at the center of the positioning coordinate system, thereby positioning the irregular workpiece graphic 20 at the center of the positioning coordinate system.

[0049] Specifically, see Figure 3 , Figure 3 : is a schematic diagram of a positioning coordinate system and a special-shaped workpiece figure provided by an embodiment of the present invention, showing that the special-shaped workpiece figure 20 and the circumscribed rectangle 30 are positioned to the center of the positioning coordinate system. The circumscribed rectangle 30 is the smallest rectangle surrounding the special-shaped workpiece figure 20, also known as the circumscribed rectangle, and the center point of the circumscribed rectangle 30 is the intersection of the two diagonals of the circumscribed rectangle 30. Based on the geometric relationship between the special-shaped workpiece figure 20 and the circumscribed rectangle 30, it can be determined that the center point of the circumscribed rectangle 30 is the geometric center point of the special-shaped workpiece figure 20. Therefore, this embodiment moves the center point of the circumscribed rectangle 30 in the positioning coordinate system so that the center point of the circumscribed rectangle 30 coincides with the coordinate origin of the positioning coordinate system, which is equivalent to moving the geometric center point of the special-shaped workpiece figure 20 in the positioning coordinate system so that the geometric center point of the special-shaped workpiece figure 20 coincides with the coordinate origin of the positioning coordinate system, and then moves the special-shaped workpiece figure 20 according to the moving positioning process of the geometric center point so that the special-shaped workpiece figure 20 is positioned to the center of the positioning coordinate system. This embodiment realizes the alignment of the special-shaped workpiece graphic 20 and the positioning coordinate system, thereby improving the accuracy of the present invention in positioning the position of the special-shaped workpiece.

[0050] In a possible embodiment, before positioning the special-shaped workpiece, the coordinates of the intersection of the outward-expanding graphic 40 and the linear module 10 are obtained for any of the linear modules 10, thereby adjusting the position of the positioning wheel 11 on the linear module 10 based on the intersection coordinates, and then adjusting the positions of the corresponding several positioning wheels 11 based on several of the linear modules 10, to achieve the positioning of the special-shaped workpiece, it also includes: obtaining the rotation angle offset of the special-shaped workpiece relative to the preset silk screen plate; adjusting the outward-expanding graphic 40 based on the rotation angle offset.

[0051] Specifically, see Figure 6 , Figure 7 and Figure 8 ; Figure 6 is a schematic diagram of initializing a positioning coordinate system provided by an embodiment of the present invention. Figure 7 is a schematic diagram of positioning a special-shaped workpiece in a positioning coordinate system provided by an embodiment of the present invention, Figure 8 Schematic diagram of adjusting the rotation offset of a special-shaped workpiece in a positioning coordinate system provided by an embodiment of the present invention. Figure 6 The initial coordinates of the positioning wheel Y1 are (-237.7685, 560.6243), the initial coordinates of the positioning wheel Y2 are (237.7685, 560.6243), the initial coordinates of the positioning wheel Y3 are (-237.7685, -560.6243), the initial coordinates of the positioning wheel Y4 are (237.7685, -560.6243), the initial coordinates of the positioning wheel X1 are (-570.2495, 0), and the initial coordinates of the positioning wheel X2 are (570.2495, 0). Figure 6 The initial coordinates of the positioning wheel obtained in Figure 7 After adjusting the position of the positioning wheel according to the coordinates of the intersection points corresponding to the positioning wheel, the coordinates of the positioning wheel Y1.1 are (-237.7685, 353.6771), the coordinates of the positioning wheel Y2.1 are (237.7685, 208.2179), the coordinates of the positioning wheel Y3.1 are (-237.7685, -280.7921), the coordinates of the positioning wheel Y4.1 are (237.7685, -300.4904), the coordinates of the positioning wheel X1.1 are (-441.3957, 0), and the coordinates of the positioning wheel X2.1 are (448.8260, 0). Based on Figure 7 The coordinates of the positioning wheel adjusted in Figure 8Based on the rotation angle offset of the special-shaped workpiece relative to the preset silk screen plate, the special-shaped workpiece graphic 20 is rotated 8.92° counterclockwise with the geometric center of the special-shaped workpiece graphic 20 as the rotation center, and the positioning coordinates of each positioning wheel 11 when it is tangent to the special-shaped workpiece graphic 20 are recalculated. The coordinates of the positioning wheel Y1.2 are (-237.7685, 318.4070), the coordinates of the positioning wheel Y2.2 are (237.7685, 233.6485), the coordinates of the positioning wheel Y3.2 are (-237.7685, -294.5975), the coordinates of the positioning wheel Y4.2 are (237.7685, -266.5823), the coordinates of the positioning wheel X1.2 are (-455.8201, 0), and the coordinates of the positioning wheel X2.2 are (266.5823, 0).

[0052] In this embodiment, considering the inaccurate installation and positioning of the silk screen on the workbench 100, even if the special-shaped workpiece graphic 20 has been aligned with the positioning coordinate system established based on the workbench 100, there may still be an angular offset between the special-shaped workpiece and the silk screen. Therefore, this embodiment rotates and adjusts the outward expansion graphic 40 in the positioning coordinate system based on the rotation angle offset of the current special-shaped workpiece relative to the silk screen on the workbench 100, so that the intersection coordinates of the outward expansion graphic 40 and each linear module 10 change accordingly, thereby completing the position correction of each positioning wheel 11 based on the rotation angle offset of the current special-shaped workpiece relative to the silk screen on the workbench 100, thereby improving the accuracy of the special-shaped workpiece to align with the silk screen. In addition, this embodiment only needs to obtain the rotation angle offset to correct the position of the positioning wheel 11, eliminating the cumbersome steps of manually moving the positioning wheel 11 and manually rotating the position of the special-shaped workpiece, thereby improving the efficiency of positioning the special-shaped workpiece.

[0053] In a possible embodiment, for any of the linear modules 10, the intersection coordinates of the outward-expanding graphic 40 and the linear module 10 are obtained, thereby adjusting the position of the positioning wheel 11 on the linear module 10 based on the intersection coordinates, and then adjusting the positions of the corresponding plurality of positioning wheels 11 based on the plurality of linear modules 10, before positioning the special-shaped workpiece, the method further includes: obtaining the center point offset of the special-shaped workpiece relative to a preset silk-screen screen; and adjusting the outward-expanding graphic 40 based on the center point offset.

[0054] Specifically, see Figure 8 , Fig. 9 and Fig.10 ; Fig. 9 is a schematic diagram of adjusting the X-axis offset of a special-shaped workpiece in a positioning coordinate system provided by an embodiment of the present invention. Fig.10Schematic diagram of adjusting the Y-axis offset of a special-shaped workpiece in a positioning coordinate system provided by an embodiment of the present invention. The center point offset includes an X-axis axial offset and a Y-axis axial offset. Figure 8 The positioning wheel coordinates are recalculated after adjusting the outward expansion graphic 40 based on the rotation angle offset, Fig. 9 In the process, the X-axis axial offset calibration is performed on the special-shaped workpiece graphic 20. After the special-shaped workpiece graphic 20 is offset by 70.330 in the positive direction of the X-axis, the positioning coordinates of each positioning wheel 11 when it is tangent to the special-shaped workpiece graphic 20 are recalculated. The coordinates of the positioning wheel Y1.3 are (-237.7685, 310.3771), the coordinates of the positioning wheel Y2.3 are (237.7685, 250.5312), the coordinates of the positioning wheel Y3.3 are (-237.7685, -292.8687), the coordinates of the positioning wheel Y4.3 are (237.7685, -305.0528), the coordinates of the positioning wheel X1.3 are (-385.4642, 0), and the coordinates of the positioning wheel X2.3 are (534.3372, 0). Based on Figure 8 The result of adjusting the x-axis offset of the special-shaped workpiece, Fig. 9 In the process, the Y-axis axial offset calibration is performed on the special-shaped workpiece graphic 20. After the special-shaped workpiece graphic 20 is offset by 100.421 in the negative direction of the Y-axis, the positioning coordinates of each positioning wheel 11 when it is tangent to the special-shaped workpiece graphic 20 are recalculated. The coordinates of the positioning wheel Y1.4 are (-237.7685, 209.9538), the coordinates of the positioning wheel Y2.4 are (237.7685, 150.0924), the coordinates of the positioning wheel Y3.4 are (-237.7685, -393.2865), the coordinates of the positioning wheel Y4.4 are (237.7685, -405.4501), the coordinates of the positioning wheel X1.4 are (-414.3902, 0), and the coordinates of the positioning wheel X2.4 are (504.8261, 0).

[0055] As mentioned above, in this embodiment, considering the inaccurate installation and positioning of the silk screen stencil on the workbench 100, the silk screen stencil may be offset from the center position of the workbench 100. Therefore, even if the special-shaped workpiece graphic 20 has been aligned with the positioning coordinate system established based on the workbench 100, there may still be a certain offset between the geometric center of the special-shaped workpiece and the geometric center of the silk screen stencil, making it impossible to align the special-shaped workpiece and the silk screen stencil. This embodiment adjusts the outward expansion graphic 40 based on the offset of the geometric center point of the current special-shaped workpiece relative to the geometric center point of the silk screen stencil, so that the geometric center of the outward expansion graphic 40 coincides with the geometric center of the silk screen stencil, so that the coordinates of the intersection of the outward expansion graphic 40 and each linear module 10 are changed accordingly, thereby completing the position correction of each positioning wheel 11 based on the offset of the geometric center point of the current special-shaped workpiece relative to the geometric center point of the silk screen stencil, thereby improving the accuracy of the alignment of the special-shaped workpiece with the silk screen stencil. In addition, in this embodiment, the position of the positioning wheel 11 can be corrected by only obtaining the center point offset, eliminating the tedious steps of manually moving the positioning wheel 11 and the special-shaped workpiece, thereby improving the efficiency of positioning the special-shaped workpiece.

[0056] In a possible embodiment, the workbench 100 includes a base, on which a plurality of the linear modules 10 are arranged; establishing a positioning coordinate system based on the preset workbench 100 includes: obtaining the center point of the base; and establishing the positioning coordinate system with the center point of the base as the coordinate origin.

[0057] In this embodiment, the positioning coordinate system is established with the center point of the base as the coordinate origin, so that the coordinate origin of the coordinate system can be aligned with the center point of the workbench 100, so that when the special-shaped workpiece graphic 20 is positioned to the center of the positioning coordinate system, the corresponding special-shaped workpiece is positioned to the center of the workbench 100, thereby improving the accuracy of the present invention in locating the position of the special-shaped workpiece.

[0058] See also Figure 5The embodiment of the present invention provides a special-shaped workpiece positioning system, including a workbench 100, a data acquisition module 200, a positioning module 300 and a control module 400; the workbench 100 includes a plurality of linear modules 10, each of which is slidably connected to a positioning wheel 11; the control module 400 is electrically connected to all the positioning wheels 11; the positioning module 300 is electrically connected to the data acquisition module 200 and the control module 400, respectively, wherein: the data acquisition module 200 is used to obtain the positions of all the linear modules 10, the positions of all the positioning wheels 11 and the radius of any positioning wheel 11, and determine the special-shaped workpiece, thereby obtaining the special-shaped workpiece graphic 20 based on the special-shaped workpiece; the positioning module 300 is used to establish a positioning coordinate system based on the positions of all the linear modules 10 and the positions of all the positioning wheels 11, so that the special-shaped workpiece figure 20 is positioned at the center of the positioning coordinate system, thereby expanding the special-shaped workpiece figure 20 based on the radius of the positioning wheel 11 to obtain an expanded figure 40, and then for any of the linear modules 10, the intersection coordinates of the expanded figure 40 and the linear module 10 are obtained; the control module 400 is used to adjust the position of the positioning wheel 11 on the linear module 10 for any of the linear modules 10 based on the corresponding intersection coordinates of the linear module 10, and then adjust the positions of the corresponding several positioning wheels 11 based on several of the linear modules 10 to achieve positioning of the special-shaped workpiece.

[0059] The above-mentioned special-shaped workpiece positioning system imports the graphic file of the special-shaped workpiece into the positioning coordinate system, and then determines the external expansion graphic 40 corresponding to the special-shaped workpiece according to the radius of the positioning wheel 11, so as to determine the coordinates of each positioning wheel 11 when it contacts and abuts the special-shaped workpiece according to the coordinates of the intersection of the external expansion graphic 40 and each linear module 10, thereby eliminating the cumbersome steps of manually moving the positioning wheel 11 and manually calibrating the position of the special-shaped workpiece, thereby improving the efficiency of positioning the special-shaped workpiece. Specifically, in the above-mentioned special-shaped workpiece positioning system, the control module 400 controls the positioning wheel 11 to slide to the corresponding coordinate position on the linear module 10 based on the intersection coordinates corresponding to the positioning wheel 11, and the coordinate position is the position where the positioning wheel 11 contacts and abuts the special-shaped workpiece when the special-shaped workpiece is located at the center of the workbench 100. Through the above-mentioned control process, the system eliminates the cumbersome steps of manually moving the positioning wheel 11 and manually calibrating the position of the special-shaped workpiece, thereby improving the efficiency of positioning the special-shaped workpiece. In addition, the system does not need to control the collision between the positioning wheel 11 and the special-shaped workpiece. By directly calculating the coordinates of the positioning wheel 11, the system avoids damage caused by the collision between the positioning wheel 11 and the special-shaped workpiece, thereby protecting the equipment and the workpiece and improving the reliability of positioning the special-shaped workpiece.

[0060] In a possible embodiment, in the positioning module 300, a positioning coordinate system is established based on the positions of all the linear modules 10 and the positions of all the positioning wheels 11, so that the special-shaped workpiece figure 20 is positioned at the center of the positioning coordinate system, thereby expanding the special-shaped workpiece figure 20 based on the radius of the positioning wheel 11 to obtain an expanded figure 40, and then for any of the linear modules 10, the intersection coordinates of the expanded figure 40 and the linear module 10 are obtained, including: obtaining a circumscribed rectangle 30 based on the special-shaped workpiece figure 20, and then obtaining a center point of the circumscribed rectangle 30 based on the circumscribed rectangle 30; making the center point of the circumscribed rectangle 30 coincide with the coordinate origin of the positioning coordinate system, so that the circumscribed rectangle 30 is positioned at the center of the positioning coordinate system, and thus the special-shaped workpiece figure 20 is positioned at the center of the positioning coordinate system.

[0061] In a possible embodiment, the data acquisition module 200 is also used to obtain the rotation angle offset of the special-shaped workpiece relative to a preset silk screen; in the positioning module 300, a positioning coordinate system is established based on the positions of all the linear modules 10 and the positions of all the positioning wheels 11, so that the special-shaped workpiece graphic 20 is positioned to the center of the positioning coordinate system, thereby expanding the special-shaped workpiece graphic 20 based on the radius of the positioning wheel 11 to obtain an expanded graphic 40, and then for any of the linear modules 10, the intersection coordinates of the expanded graphic 40 and the linear module 10 are obtained, and it also includes: adjusting the expanded graphic 40 based on the rotation angle offset.

[0062] In this embodiment, in the positioning system for the special-shaped workpiece, a screen printing screen is preset on the workbench 100, and the screen printing screen is used for printing operations on the special-shaped workpiece. Considering the inaccurate installation and positioning of the screen printing screen on the workbench 100, even if the special-shaped workpiece graphic 20 has been aligned with the positioning coordinate system established based on the workbench 100, there may still be an angular offset between the special-shaped workpiece and the screen printing screen. Therefore, this embodiment rotates and adjusts the outward expansion graphic 40 in the positioning coordinate system based on the rotation angle offset of the current special-shaped workpiece relative to the screen printing screen on the workbench 100, so that the intersection coordinates of the outward expansion graphic 40 and each linear module 10 are changed accordingly, thereby completing the position correction of each positioning wheel 11 based on the rotation angle offset of the current special-shaped workpiece relative to the screen printing screen on the workbench 100, thereby improving the accuracy of the alignment of the special-shaped workpiece with the screen printing screen. In addition, this embodiment only needs to obtain the rotation angle offset to correct the position of the positioning wheel 11, eliminating the tedious steps of manually moving the positioning wheel 11 and manually rotating the position of the special-shaped workpiece, thereby improving the efficiency of positioning the special-shaped workpiece.

[0063] In a possible embodiment, the data acquisition module 200 is also used to obtain the center point offset of the special-shaped workpiece relative to a preset silk screen screen; in the positioning module 300, a positioning coordinate system is established based on the positions of all the linear modules 10 and the positions of all the positioning wheels 11, so that the special-shaped workpiece graphic 20 is positioned to the center of the positioning coordinate system, thereby expanding the special-shaped workpiece graphic 20 based on the radius of the positioning wheel 11 to obtain an expanded graphic 40, and then for any of the linear modules 10, the intersection coordinates of the expanded graphic 40 and the linear module 10 are obtained, and it also includes: adjusting the expanded graphic 40 based on the center point offset.

[0064] As mentioned above, in this embodiment, a screen printing screen is also preset on the workbench 100. Considering the inaccurate installation and positioning of the screen printing screen on the workbench 100, the screen printing screen may be offset from the center position of the workbench 100. Therefore, even if the special-shaped workpiece graphic 20 has been aligned with the positioning coordinate system established based on the workbench 100, there may still be a certain offset between the geometric center of the special-shaped workpiece and the geometric center of the screen printing screen, making it impossible to align the special-shaped workpiece and the screen printing screen. This embodiment adjusts the outward expansion graphic 40 based on the offset of the geometric center point of the current special-shaped workpiece relative to the geometric center point of the screen printing screen, so that the geometric center of the outward expansion graphic 40 coincides with the geometric center of the screen printing screen, so that the coordinates of the intersection of the outward expansion graphic 40 and each linear module 10 are changed accordingly, thereby completing the position correction of each positioning wheel 11 based on the offset of the geometric center point of the current special-shaped workpiece relative to the geometric center point of the screen printing screen, thereby improving the accuracy of the alignment of the special-shaped workpiece with the screen printing screen. In addition, in this embodiment, the position of the positioning wheel 11 can be corrected by only obtaining the center point offset, eliminating the tedious steps of manually moving the positioning wheel 11 and the special-shaped workpiece, thereby improving the efficiency of positioning the special-shaped workpiece.

[0065] In a possible embodiment, the workbench 100 includes a base, on which a plurality of the linear modules 10 are arranged; the data acquisition module 200 is also used to obtain the center point of the base; in the positioning module 300, a positioning coordinate system is established based on the positions of all the linear modules 10 and the positions of all the positioning wheels 11, so that the special-shaped workpiece figure 20 is positioned to the center of the positioning coordinate system, thereby expanding the special-shaped workpiece figure 20 based on the radius of the positioning wheel 11 to obtain an expanded figure 40, and then for any of the linear modules 10, the intersection coordinates of the expanded figure 40 and the linear module 10 are obtained, including: based on the positions of all the linear modules 10 and the positions of all the positioning wheels 11, the positioning coordinate system is established with the center point of the base as the coordinate origin.

[0066] The embodiment of the present invention also provides another method for positioning a special-shaped workpiece, comprising the following steps:

[0067] S201 , establishing a positioning coordinate system based on a preset workbench 100 ; wherein the workbench 100 includes a plurality of linear modules 10 , and each of the linear modules 10 is slidably connected to a positioning wheel 11 .

[0068] Specifically, see Figure 6 , the positioning coordinate system is established based on the preset workbench 100, and the positioning coordinate system is established with the center of the workbench 100 as the coordinate origin O. The coordinates of the positioning wheels 11 on the six linear modules 10 in the positioning coordinate system are calibrated when each returns to the zero position of the workpiece, and the zero point is defined as the end of the positioning wheel 11 on the linear module 10 away from the coordinate origin. Among them: the coordinates of the positioning wheel Y1 are (-237.7685, 560.6243), the coordinates of the positioning wheel Y2 are (237.7685, 560.6243), the coordinates of the positioning wheel Y3 are (-237.7685, -560.6243), the coordinates of the positioning wheel Y4 are (237.7685, -560.6243), the coordinates of the positioning wheel X1 are (-570.2495, 0), and the coordinates of the positioning wheel X2 are (570.2495, 0).

[0069] S202, determining the glass to be processed, and obtaining a DXF drawing of the glass to be processed based on the glass to be processed, and then importing the DXF drawing of the glass to be processed into a positioning coordinate system.

[0070] S203 , obtaining a circumscribed rectangle 30 based on the DXF graphic of the glass to be processed, and then obtaining a center point of the circumscribed rectangle based on the circumscribed rectangle 30 .

[0071] S204, aligning the center point of the circumscribed rectangle with the coordinate origin of the positioning coordinate system, so that the circumscribed rectangle 30 is positioned at the center of the positioning coordinate system, and thus the DXF drawing of the glass to be processed is positioned at the center of the positioning coordinate system.

[0072] Specifically, see Figure 7 After the DXF graphic file of the glass to be processed is imported into the positioning coordinate system, the circumscribed rectangle 30 of the glass to be processed is obtained and the center point of the circumscribed rectangle 30 is calculated so that the center point of the circumscribed rectangle coincides with the origin of the coordinate system of the positioning coordinate system. The center point of the circumscribed rectangle is the intersection point of the diagonal lines of the circumscribed rectangle 30.

[0073] S205 , obtaining the radius of any of the positioning wheels 11 , and then expanding the special-shaped workpiece pattern based on the radius of the positioning wheel 11 to obtain an expanded pattern 40 .

[0074] Specifically, see Figure 7, the outer contour line of the DXF drawing of the glass to be processed is expanded by a positioning wheel radius to form a new outer contour line as the expanded drawing 40. The intersection of the expanded drawing 40 and the axis of each linear module 10 is the positioning coordinate when the positioning wheel 11 and the glass to be processed are tangent. Among them: the coordinates of the positioning wheel Y1.1 are (-237.7685, 353.6771), the coordinates of the positioning wheel Y2.1 are (237.7685, 208.2179), the coordinates of the positioning wheel Y3.1 are (-237.7685, -280.7921), the coordinates of the positioning wheel Y4.1 are (237.7685, -300.4904), the coordinates of the positioning wheel X1.1 are (-441.3957, 0), and the coordinates of the positioning wheel X2.1 are (448.8260, 0).

[0075] S206, obtaining the rotation angle offset of the special-shaped workpiece relative to the preset screen printing screen; it should be noted that due to the problem of inaccurate installation and positioning of the screen printing screen, the above positioning and the screen printing screen have an angular offset. In this embodiment, the angular offset of the glass to be processed and the screen printing screen is measured to be 8.92°.

[0076] S207: Adjust the outward-expanding graphic based on the rotation angle offset.

[0077] Specifically, see Figure 8 , the glass figure to be processed is rotated counterclockwise by 8.92° with the center point of the circumscribed rectangle of the glass figure to be processed as the rotation center, and the positioning coordinates of each positioning wheel 11 when it is tangent to the glass to be processed are recalculated after the figure is rotated. Among them: the coordinates of the positioning wheel Y1.2 are (-237.7685, 318.4070), the coordinates of the positioning wheel Y2.2 are (237.7685, 233.6485), the coordinates of the positioning wheel Y3.2 are (-237.7685, -294.5975), the coordinates of the positioning wheel Y4.2 are (237.7685, -266.5823), the coordinates of the positioning wheel X1.2 are (-455.8201, 0), and the coordinates of the positioning wheel X2.2 are (266.5823, 0).

[0078] S208, obtaining the center point offset of the special-shaped workpiece relative to the preset screen printing screen; it should be noted that due to the problem of inaccurate installation and positioning of the screen printing screen, the above positioning and the screen printing screen have a center point offset, and the center point offset specifically includes an X-axis axial offset and a Y-axis axial offset. In this embodiment, the X-axis axial offset of the glass to be processed and the screen printing screen is measured to be 70.330, and the Y-axis axial offset of the glass to be processed and the screen printing screen is 100.421.

[0079] S209: Adjust the outward-expanding graphic based on the center point offset.

[0080] S210. For any of the linear modules 10, the intersection coordinates of the outward-expanding figure 40 and the linear module 10 are obtained, so as to adjust the position of the positioning wheel 11 on the linear module 10 based on the intersection coordinates, and then adjust the positions of the corresponding several positioning wheels 11 based on several of the linear modules 10 to achieve the positioning of the glass to be processed.

[0081] Specifically, see Fig. 9 and Fig.10 , Fig. 9 In the process, the X-axis axial offset calibration is performed on the DXF drawing of the glass to be processed. After the DXF drawing of the glass to be processed is offset by 70.330 in the positive direction of the X-axis, the positioning coordinates of each positioning wheel 11 and the special-shaped workpiece graphic 20 when they are tangent are recalculated. The coordinates of the positioning wheel Y1.3 are (-237.7685, 310.3771), the coordinates of the positioning wheel Y2.3 are (237.7685, 250.5312), the coordinates of the positioning wheel Y3.3 are (-237.7685, -292.8687), the coordinates of the positioning wheel Y4.3 are (237.7685, -305.0528), the coordinates of the positioning wheel X1.3 are (-385.4642, 0), and the coordinates of the positioning wheel X2.3 are (534.3372, 0). Based on Figure 8 The result of adjusting the X-axis offset of the special-shaped workpiece, Fig. 9 In the process, the Y-axis axial offset calibration is performed on the DXF drawing of the glass to be processed. After the DXF drawing of the glass to be processed is offset by 100.421 in the negative direction of the Y-axis, the positioning coordinates of each positioning wheel 11 when tangent to the DXF drawing of the glass to be processed are recalculated. The coordinates of the positioning wheel Y1.4 are (-237.7685, 209.9538), the coordinates of the positioning wheel Y2.4 are (237.7685, 150.0924), the coordinates of the positioning wheel Y3.4 are (-237.7685, -393.2865), the coordinates of the positioning wheel Y4.4 are (237.7685, -405.4501), the coordinates of the positioning wheel X1.4 are (-414.3902, 0), and the coordinates of the positioning wheel X2.4 are (504.8261, 0).

[0082] The method and system for positioning a special-shaped workpiece provided according to an embodiment of the present invention have at least the following advantages compared with the prior art:

[0083] The embodiment of the present invention imports the DXF graphic file of the glass to be processed into the positioning coordinate system, and then determines the external expansion graphic 40 corresponding to the DXF graphic of the glass to be processed according to the radius of the positioning wheel 11, thereby determining the coordinates of each positioning wheel 11 and the DXF graphic of the glass to be processed when they are in contact and abut against each other according to the coordinates of the intersection of the external expansion graphic 40 and each linear module 10, eliminating the tedious steps of manually moving the positioning wheel 11 and manually calibrating the position of the glass to be processed, thereby improving the efficiency of positioning the glass to be processed in the glass silk-screen printing process. In addition, the method does not need to control the collision between the positioning wheel 11 and the glass to be processed, and directly calculates the coordinates of the positioning wheel 11 to avoid the collision between the positioning wheel 11 and the glass to be processed, thereby avoiding glass cracking and damage, protecting the equipment and the workpiece, and improving the reliability of positioning the glass to be processed.

[0084] Furthermore, the embodiment of the present invention takes into account the inaccurate installation and positioning of the silk screen stencil on the workbench. Even if the DXF drawing of the glass to be processed has been aligned with the positioning coordinate system established based on the workbench, there may still be an angle and center position offset between the special-shaped workpiece and the silk screen stencil. Therefore, based on the rotation angle offset and center point offset of the current glass to be processed relative to the silk screen stencil on the workbench, the present invention rotates and adjusts the outward expansion figure 40 in the positioning coordinate system in an axial manner, so that the intersection coordinates of the outward expansion figure 40 and each linear module 10 change accordingly, thereby completing the position correction of each positioning wheel based on the rotation angle offset and center point offset of the current glass to be processed relative to the silk screen stencil, thereby improving the accuracy of the alignment of the glass to be processed with the silk screen stencil. The tedious steps of manually moving the positioning wheel and manually rotating the position of the special-shaped workpiece are eliminated, thereby improving the efficiency of positioning the special-shaped workpiece.

[0085] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0086] The "embodiment" mentioned in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. In order to make the description concise, not all possible combinations of the various technical features in the above embodiments are described, however, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope recorded in this specification.

[0087] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several improvements and substitutions may be made without departing from the concept of the present application, and these improvements and substitutions shall also be regarded as the protection scope of the present invention. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for positioning a special-shaped workpiece, characterized in that: include: A positioning coordinate system is established based on a preset workbench; wherein the workbench includes a plurality of linear modules, each of which is slidably connected to a positioning wheel; Determine a special-shaped workpiece, and obtain a special-shaped workpiece graphic based on the special-shaped workpiece; Positioning the special-shaped workpiece graphic to the center of the positioning coordinate system; Acquire the radius of any positioning wheel, and then expand the special-shaped workpiece figure based on the radius of the positioning wheel to obtain an expanded figure; For any of the linear modules, the intersection coordinates of the outward-expanding graphic and the linear module are obtained, so as to adjust the position of the positioning wheel on the linear module based on the intersection coordinates, and then adjust the positions of the corresponding positioning wheels based on several of the linear modules to achieve positioning of the special-shaped workpiece.

2. A method for positioning a special-shaped workpiece according to claim 1, characterized in that: Positioning the special-shaped workpiece graphic to the center of the positioning coordinate system includes: Acquire a circumscribed rectangle based on the special-shaped workpiece graphic, and then acquire a center point of the circumscribed rectangle based on the circumscribed rectangle; The center point of the circumscribed rectangle is made to coincide with the coordinate origin of the positioning coordinate system, so that the circumscribed rectangle is positioned at the center of the positioning coordinate system, thereby positioning the special-shaped workpiece graphic at the center of the positioning coordinate system.

3. A method for positioning a special-shaped workpiece according to claim 1, characterized in that: Before obtaining the intersection coordinates of the outward-expanded pattern and the linear module for any of the linear modules, thereby adjusting the position of the positioning wheel on the linear module based on the intersection coordinates, and then adjusting the positions of the corresponding positioning wheels based on the linear modules to achieve positioning of the special-shaped workpiece, the method further includes: Obtaining a rotation angle offset of the special-shaped workpiece relative to a preset screen printing screen; The outward-expanding graphic is adjusted based on the rotation angle offset.

4. A method for positioning a special-shaped workpiece according to claim 1, characterized in that: Before obtaining the intersection coordinates of the outward-expanded pattern and the linear module for any of the linear modules, thereby adjusting the position of the positioning wheel on the linear module based on the intersection coordinates, and then adjusting the positions of the corresponding positioning wheels based on the linear modules to achieve positioning of the special-shaped workpiece, the method further includes: Obtaining the center point offset of the special-shaped workpiece relative to a preset screen printing screen; The outward-expanding graphic is adjusted based on the center point offset.

5. A method for positioning a special-shaped workpiece according to claim 1, characterized in that: The workbench comprises a base, and a plurality of linear modules are arranged on the base; The establishing of a positioning coordinate system based on a preset workbench comprises: Obtaining the center point of the base; The positioning coordinate system is established with the center point of the base as the coordinate origin.

6. A special-shaped workpiece positioning system, characterized in that: It includes a workbench, a data acquisition module, a positioning module and a control module; the workbench includes a plurality of linear modules, each of which is slidably connected to a positioning wheel; the control module is electrically connected to all the positioning wheels; the positioning module is electrically connected to the data acquisition module and the control module, respectively, wherein: The data acquisition module is used to acquire the positions of all the linear modules, the positions of all the positioning wheels and the radius of any positioning wheel, and determine the special-shaped workpiece, so as to acquire the special-shaped workpiece graphics based on the special-shaped workpiece; The positioning module is used to establish a positioning coordinate system based on the positions of all the linear modules and the positions of all the positioning wheels, so that the special-shaped workpiece figure is positioned at the center of the positioning coordinate system, thereby expanding the special-shaped workpiece figure based on the radius of the positioning wheel to obtain an expanded figure, and then for any of the linear modules, the intersection coordinates of the expanded figure and the linear module are obtained; The control module is used to adjust the position of the positioning wheel on any of the linear modules based on the intersection coordinates corresponding to the linear module, and then adjust the positions of several corresponding positioning wheels based on several linear modules to achieve positioning of the special-shaped workpiece.

7. A special-shaped workpiece positioning system according to claim 6, characterized in that: In the positioning module, a positioning coordinate system is established based on the positions of all the linear modules and the positions of all the positioning wheels, so that the special-shaped workpiece figure is positioned at the center of the positioning coordinate system, thereby expanding the special-shaped workpiece figure based on the radius of the positioning wheel to obtain an expanded figure, and then for any linear module, the intersection coordinates of the expanded figure and the linear module are obtained, including: Acquire a circumscribed rectangle based on the special-shaped workpiece graphic, and then acquire a center point of the circumscribed rectangle based on the circumscribed rectangle; The center point of the circumscribed rectangle is made to coincide with the coordinate origin of the positioning coordinate system, so that the circumscribed rectangle is positioned at the center of the positioning coordinate system, thereby positioning the special-shaped workpiece graphic at the center of the positioning coordinate system.

8. The special-shaped workpiece positioning system according to claim 6, characterized in that: The data acquisition module is also used to acquire the rotation angle offset of the special-shaped workpiece relative to the preset screen printing screen; In the positioning module, a positioning coordinate system is established based on the positions of all the linear modules and the positions of all the positioning wheels, so that the special-shaped workpiece figure is positioned at the center of the positioning coordinate system, thereby expanding the special-shaped workpiece figure based on the radius of the positioning wheel to obtain an expanded figure, and then for any of the linear modules, the intersection coordinates of the expanded figure and the linear module are obtained, and it also includes: The outward-expanding graphic is adjusted based on the rotation angle offset.

9. The special-shaped workpiece positioning system according to claim 6, characterized in that: The data acquisition module is also used to obtain the center point offset of the special-shaped workpiece relative to the preset screen printing screen; in the positioning module, a positioning coordinate system is established based on the positions of all the linear modules and the positions of all the positioning wheels, so that the special-shaped workpiece graphic is positioned at the center of the positioning coordinate system, thereby expanding the special-shaped workpiece graphic based on the radius of the positioning wheel to obtain an expanded graphic, and then for any of the linear modules, the intersection coordinates of the expanded graphic and the linear module are obtained, and it also includes: The outward-expanding graphic is adjusted based on the center point offset.

10. The special-shaped workpiece positioning system according to claim 6, characterized in that: The workbench includes a base, and a plurality of the linear modules are arranged on the base; the data acquisition module is also used to obtain the center point of the base; in the positioning module, a positioning coordinate system is established based on the positions of all the linear modules and the positions of all the positioning wheels, so that the special-shaped workpiece figure is positioned at the center of the positioning coordinate system, thereby expanding the special-shaped workpiece figure based on the radius of the positioning wheel to obtain an expanded figure, and then for any of the linear modules, the intersection coordinates of the expanded figure and the linear module are obtained, including: Based on the positions of all the linear modules and the positions of all the positioning wheels, the positioning coordinate system is established with the center point of the base as the coordinate origin.

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