A method and system for positioning a profiled workpiece

Abstract

The present application relates to a kind of special-shaped workpiece positioning method and system, comprising: based on the establishment of positioning coordinate system of preset workbench;Wherein, workbench includes several linear modules, and one positioning wheel is slidably connected on each linear module;Determine special-shaped workpiece, and obtain special-shaped workpiece pattern based on special-shaped workpiece;Special-shaped workpiece pattern is positioned to the center of positioning coordinate system;The radius of any positioning wheel is obtained, and then the special-shaped workpiece pattern is expanded outside based on the radius of positioning wheel, and the expanded pattern is obtained;For any linear module, the intersection coordinates of expanded pattern and the linear module are obtained, so that the position of positioning wheel on the linear module is adjusted based on intersection coordinates, and then the position of several positioning wheels corresponding to several linear modules is adjusted based on several linear modules, to realize the positioning of special-shaped workpiece.The present application eliminates the tedious steps of manual movement positioning wheel and calibration special-shaped workpiece position, and does not need to control the collision of positioning wheel and special-shaped workpiece, improves the efficiency and reliability of special-shaped workpiece positioning.

Description

Technical Field

[0001] This invention relates to the field of workpiece processing and production technology, and in particular to a method and system for positioning irregularly shaped workpieces. Background Technology

[0002] Currently, in the screen printing process of glass production, the glass plate must first be positioned so that it aligns with the screen printing mesh at the workstation before printing can begin. However, current positioning devices require manual movement of the positioning rollers at the workstation until they collide with the glass plate. In practice, this cumbersome and inefficient method necessitates continuous manual adjustment of the rollers and glass plate positions. This is particularly problematic in the screen printing process for automotive window glass, where irregularly shaped glass plates make positioning even more difficult. Furthermore, determining the position of the rollers and glass plate through collision is prone to damage. While an alternative solution uses pressure sensors on the rollers to automatically detect the pressure during collision, eliminating the need for manual roller movement, this method still carries the risk of damaging the glass plate and rollers. Therefore, the existing positioning methods are inadequate in terms of both efficiency and reliability, and urgently need to be improved. Summary of the Invention

[0003] The present invention aims to provide a method and system for positioning irregularly shaped workpieces to solve the above-mentioned technical problems and achieve the positioning of irregularly shaped workpieces by eliminating tedious manual operations and avoiding damage to the workpieces.

[0004] To achieve the above objectives, the first aspect of the present invention provides a method for positioning irregularly shaped workpieces, comprising the following steps: establishing a positioning coordinate system based on a preset worktable; wherein the worktable includes a plurality of linear modules, each linear module having a positioning wheel slidably connected thereon; determining the irregularly shaped workpiece and obtaining a graphic of the irregularly shaped workpiece based on the workpiece; positioning the graphic of the irregularly shaped workpiece to the center of the positioning coordinate system; obtaining the radius of any of the positioning wheels, and then expanding the graphic of the irregularly shaped workpiece outward based on the radius of the positioning wheels to obtain an expanded graphic; for any linear module, obtaining the coordinates of the intersection point between the expanded graphic and the linear module, thereby adjusting the position of the positioning wheel on the linear module based on the intersection point coordinates, and then adjusting the position of the corresponding plurality of positioning wheels based on the plurality of linear modules to achieve positioning of the irregularly shaped workpiece.

[0005] The aforementioned method for positioning irregularly shaped workpieces imports the workpiece's graphic file into a positioning coordinate system. Then, based on the radius of the positioning wheels, the corresponding outward-expanding graphic of the workpiece is determined. Finally, the coordinates of each positioning wheel when it contacts the workpiece are determined based on the intersection coordinates of the outward-expanding graphic and each linear module. This eliminates the tedious steps of manually moving the positioning wheels and manually calibrating the workpiece's position, thus improving the efficiency of irregularly shaped workpiece positioning. Furthermore, this method eliminates the need to control collisions between the positioning wheels and the workpiece. By directly calculating the coordinates of the positioning wheels, damage caused by collisions is avoided, protecting both the equipment and the workpiece and improving the reliability of irregularly shaped workpiece positioning.

[0006] In one possible implementation, positioning the irregular workpiece graphic to the center of the positioning coordinate system includes: obtaining an external rectangle based on the irregular workpiece graphic, and then obtaining the center point of the external rectangle based on the external rectangle; aligning the center point of the external rectangle with the origin of the positioning coordinate system, so that the external rectangle is positioned to the center of the positioning coordinate system, thereby positioning the irregular workpiece graphic to the center of the positioning coordinate system.

[0007] In this implementation, the circumscribed rectangle is the smallest rectangle enclosing the irregular workpiece shape, also known as the outer rectangle. The center point of the circumscribed rectangle is the intersection of its two diagonals. Based on the geometric relationship between the irregular workpiece shape and the circumscribed rectangle, the center point of the circumscribed rectangle is determined to be the geometric center point of the irregular workpiece shape. Therefore, this implementation moves the center point of the circumscribed rectangle in the positioning coordinate system until it coincides with the origin of the positioning coordinate system. This is equivalent to moving the geometric center point of the irregular workpiece shape in the positioning coordinate system until it coincides with the origin of the positioning coordinate system. Then, based on the movement and positioning process of the geometric center point, the irregular workpiece shape is moved to the center of the positioning coordinate system. This implementation achieves alignment between the irregular workpiece shape and the positioning coordinate system, improving the accuracy of positioning the irregular workpiece in this invention.

[0008] In one possible implementation, before obtaining the intersection coordinates of the extended graphic and the linear module for any linear module, and adjusting the position of the positioning wheel on the linear module based on the intersection coordinates, and then adjusting the position of the corresponding positioning wheel based on the linear modules to achieve positioning of the irregular workpiece, the method further includes: obtaining the rotation angle offset of the irregular workpiece relative to a preset screen printing plate; and adjusting the extended graphic based on the rotation angle offset.

[0009] In this implementation, considering the inaccurate positioning of the screen printing stencil on the worktable, even if the irregular workpiece graphic is aligned with the positioning coordinate system established based on the worktable, there may still be an angular offset between the irregular workpiece and the screen printing stencil. Therefore, this implementation adjusts the outer shape in the positioning coordinate system based on the rotational angular offset of the current irregular workpiece relative to the screen printing stencil on the worktable, so that the coordinates of the intersection points of the outer shape and each linear module change accordingly. This allows for the position correction of each positioning wheel based on the rotational angular offset of the current irregular workpiece relative to the screen printing stencil on the worktable, improving the accuracy of the irregular workpiece alignment with the screen printing stencil. Furthermore, this implementation only requires obtaining the rotational angular offset to correct the position of the positioning wheels, eliminating the tedious steps of manually moving the positioning wheels and manually rotating the irregular workpiece, thus improving the efficiency of irregular workpiece positioning.

[0010] In one possible implementation, before obtaining the intersection coordinates of the extended graphic and the linear module for any linear module, and adjusting the position of the positioning wheel on the linear module based on the intersection coordinates, and then adjusting the position of the corresponding positioning wheel based on the linear modules to achieve positioning of the irregular workpiece, the method further includes: obtaining the center point offset of the irregular workpiece relative to a preset screen printing plate; and adjusting the extended graphic based on the center point offset.

[0011] As mentioned earlier, in this implementation, considering the inaccurate installation and positioning of the screen printing stencil on the workbench, there may be a certain offset between the screen printing stencil and the center position of the workbench. Therefore, even if the irregular workpiece graphic is aligned with the positioning coordinate system established based on the workbench, the geometric center of the irregular workpiece and the geometric center of the screen printing stencil may still be offset, making it impossible for the irregular workpiece and the screen printing stencil to be aligned. This implementation adjusts the outward-expanding graphic based on the offset of the current geometric center point of the irregular workpiece relative to the geometric center point of the screen printing stencil, so that the geometric center of the outward-expanding graphic coincides with the geometric center of the screen printing stencil, thereby changing the coordinates of the intersection points of the outward-expanding graphic and each linear module accordingly. This allows the position correction of each positioning wheel to be completed based on the offset of the current geometric center point of the irregular workpiece relative to the geometric center point of the screen printing stencil, improving the accuracy of aligning the irregular workpiece with the screen printing stencil. In addition, this implementation only needs to obtain the center point offset to correct the position of the positioning wheels, eliminating the tedious steps of manually moving the positioning wheels and the irregular workpiece, and improving the efficiency of irregular workpiece positioning.

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

[0013] In this implementation, the positioning coordinate system is established with the center point of the base as the origin of the coordinate system, which enables the origin of the coordinate system to be aligned with the center point of the worktable. This allows the irregular workpiece to be positioned at the center of the worktable when the irregular workpiece graphic is positioned at the center of the positioning coordinate system, thereby improving the accuracy of positioning the irregular workpiece in this invention.

[0014] A second aspect of the present invention provides a positioning system for irregularly shaped workpieces, comprising a worktable, a data acquisition module, a positioning module, and a control module; the worktable includes a plurality of linear modules, each linear module having a positioning wheel slidably connected thereon; 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 to determine the irregularly shaped workpiece, thereby acquiring an irregularly shaped workpiece graphic based on the irregularly shaped workpiece; the positioning module is used to determine the position of the irregularly shaped workpiece based on the position of the linear modules, the position of any positioning wheel, and the radius of any positioning wheel; and to determine the irregularly shaped workpiece, thereby acquiring an irregularly shaped workpiece graphic based on the irregularly shaped workpiece. A positioning coordinate system is established based on the positions of the linear modules and all the positioning wheels, so that the irregular workpiece graphic is positioned to the center of the positioning coordinate system. The irregular workpiece graphic is then expanded outward based on the radius of the positioning wheels to obtain an expanded graphic. Furthermore, for any linear module, the coordinates of the intersection point between the expanded graphic and the linear module are obtained. The control module is used to adjust the position of the positioning wheels on any linear module based on the intersection point coordinates, and then adjust the position of several positioning wheels corresponding to several linear modules to achieve the positioning of the irregular workpiece.

[0015] The aforementioned irregular workpiece positioning system imports the graphic file of the irregular workpiece into the positioning coordinate system. Then, based on the radius of the positioning wheels, it determines the corresponding extended shape of the irregular workpiece. Finally, based on the intersection coordinates of the extended shape and each linear module, it determines the coordinates at which each positioning wheel contacts the irregular workpiece. This eliminates the tedious steps of manually moving the positioning wheels and manually calibrating the position of the irregular workpiece, thus improving the efficiency of irregular workpiece positioning. Specifically, in the above-mentioned irregular workpiece positioning system, the control module controls the positioning wheels to slide on the linear modules to the corresponding coordinate position based on the intersection coordinates of the positioning wheels. This coordinate position is the position where the positioning wheel contacts the irregular workpiece when it is located at the center of the worktable. Through this control process, the system eliminates the tedious steps of manually moving the positioning wheels and manually calibrating the position of the irregular workpiece, improving the efficiency of irregular workpiece positioning. Furthermore, this system eliminates the need to control collisions between the positioning wheels and the irregular workpiece. By directly calculating the coordinates of the positioning wheels, it avoids damage caused by collisions, protecting the equipment and the workpiece, and improving the reliability of irregular workpiece positioning.

[0016] In one possible implementation, in the positioning module, establishing a positioning coordinate system based on the positions of all the linear modules and all the positioning wheels, so that the irregular workpiece graphic is positioned to the center of the positioning coordinate system, thereby expanding the irregular workpiece graphic outward based on the radius of the positioning wheels to obtain an expanded graphic, and then, for any linear module, obtaining the coordinates of the intersection point between the expanded graphic and the linear module, includes: obtaining an external rectangle based on the irregular workpiece graphic, and then obtaining the center point of the external rectangle based on the external rectangle; aligning the center point of the external rectangle with the origin of the positioning coordinate system, so that the external rectangle is positioned to the center of the positioning coordinate system, thereby positioning the irregular workpiece graphic to the center of the positioning coordinate system.

[0017] In one possible implementation, the data acquisition module is further configured to acquire the rotational angle offset of the irregular workpiece relative to the preset screen printing plate; in the positioning module, the step of establishing a positioning coordinate system based on the positions of all the linear modules and all the positioning wheels, so that the irregular workpiece graphic is positioned to the center of the positioning coordinate system, thereby expanding the irregular workpiece graphic outward based on the radius of the positioning wheels to obtain the expanded graphic, and then, for any linear module, acquiring the intersection coordinates of the expanded graphic and the linear module, further includes: adjusting the expanded graphic based on the rotational angle offset.

[0018] In this implementation, the irregular workpiece positioning system includes a pre-installed screen printing stencil on the worktable, used for printing on the irregular workpiece. Considering the possibility of inaccurate positioning of the screen printing stencil on the worktable, even if the irregular workpiece graphic is aligned with the positioning coordinate system established based on the worktable, there may still be an angular offset between the irregular workpiece and the screen printing stencil. Therefore, this implementation adjusts the outer shape in the positioning coordinate system based on the rotational angular offset of the current irregular workpiece relative to the screen printing stencil on the worktable. This causes the coordinates of the intersection points of the outer shape and each linear module to change accordingly, thereby correcting the position of each positioning wheel based on the rotational angular offset of the current irregular workpiece relative to the screen printing stencil on the worktable, improving the accuracy of aligning the irregular workpiece with the screen printing stencil. Furthermore, this implementation only requires obtaining the rotational angular offset to correct the position of the positioning wheels, eliminating the tedious steps of manually moving the positioning wheels and manually rotating the irregular workpiece, thus improving the efficiency of irregular workpiece positioning.

[0019] In one possible implementation, the data acquisition module is further used to acquire the offset of the center point of the irregular workpiece relative to the preset screen printing plate; in the positioning module, the step of establishing a positioning coordinate system based on the positions of all the linear modules and all the positioning wheels, so that the irregular workpiece graphic is positioned to the center of the positioning coordinate system, thereby expanding the irregular workpiece graphic outward based on the radius of the positioning wheels to obtain the expanded graphic, and then for any linear module, acquiring the intersection coordinates of the expanded graphic and the linear module, further includes: adjusting the expanded graphic based on the center point offset.

[0020] As mentioned earlier, in this implementation, a screen printing stencil is also pre-installed on the worktable. Considering the possibility of inaccurate installation and positioning of the screen printing stencil on the worktable, there may be a certain offset between the screen printing stencil and the center position of the worktable. Therefore, even if the irregular workpiece graphic is aligned with the positioning coordinate system established based on the worktable, the geometric center of the irregular workpiece and the geometric center of the screen printing stencil may still be offset, making it impossible for the irregular workpiece and the screen printing stencil to be aligned. This implementation adjusts the outward-expanding graphic based on the offset of the current geometric center point of the irregular workpiece relative to the geometric center point of the screen printing stencil, so that the geometric center of the outward-expanding graphic coincides with the geometric center of the screen printing stencil. This causes the coordinates of the intersection points of the outward-expanding graphic and each linear module to change accordingly. Thus, based on the offset of the current geometric center point of the irregular workpiece relative to the geometric center point of the screen printing stencil, the position correction of each positioning wheel is completed, improving the accuracy of aligning the irregular workpiece with the screen printing stencil. Furthermore, this method only requires obtaining the center point offset to correct the position of the positioning wheel, eliminating the tedious steps of manually moving the positioning wheel and irregularly shaped workpieces, thus improving the efficiency of positioning irregularly shaped workpieces.

[0021] In one possible implementation, the workbench includes a base on which a plurality of the linear modules are disposed; the data acquisition module is further configured to acquire the center point of the base; in the positioning module, the step of establishing a positioning coordinate system based on the positions of all the linear modules and all the positioning wheels, so as to position the irregular workpiece graphic to the center of the positioning coordinate system, thereby expanding the irregular workpiece graphic outward based on the radius of the positioning wheels to obtain an expanded graphic, and then, for any linear module, acquiring the coordinates of the intersection point of the expanded graphic and the linear module, includes: establishing the positioning coordinate system with the center point of the base as the origin based on the positions of all the linear modules and all the positioning wheels. Attached Figure Description

[0022] Figure 1 This is a flowchart of a method for positioning irregularly shaped workpieces provided in an embodiment of the present invention;

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

[0024] Figure 3 This is a schematic diagram of a positioning coordinate system and an irregularly shaped workpiece graphic provided in an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of another positioning coordinate system and irregular workpiece graphic provided in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of an irregular workpiece positioning system provided in an embodiment of the present invention;

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

[0028] Figure 7 This is a schematic diagram of locating an irregularly shaped workpiece in a positioning coordinate system according to an embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of adjusting the rotational offset of an irregularly shaped workpiece in a positioning coordinate system, provided by an embodiment of the present invention.

[0030] Figure 9 This is a schematic diagram of adjusting the X-axis offset of an irregularly shaped workpiece in a positioning coordinate system, provided by an embodiment of the present invention.

[0031] Figure 10 This is a schematic diagram of adjusting the Y-axis offset of an irregularly shaped workpiece in a positioning coordinate system, provided by an embodiment of the present invention.

[0032] The components are as follows: 100, worktable; 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, irregular workpiece graphic; 30, externally tangent rectangle; 40, externally expanded graphic; 200, data acquisition module; 300, positioning module; 400, control module. Detailed Implementation

[0033] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that the following detailed descriptions are exemplary and intended to provide further detailed explanation of the invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings are used to distinguish different objects, not to describe a particular order.

[0034] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0035] Currently, in the screen printing process of glass production, the glass plate must first be positioned so that it aligns with the screen printing mesh at the workstation before printing can begin. However, current positioning devices require manual movement of the positioning rollers at the workstation until they collide with the glass plate. In practice, this cumbersome and inefficient method necessitates continuous manual adjustment of the rollers and glass plate positions. This is particularly problematic in the screen printing process for automotive window glass, where irregularly shaped glass plates make positioning even more difficult. Furthermore, determining the position of the rollers and glass plate through collision is prone to damage. While an alternative solution uses pressure sensors on the rollers to automatically detect the pressure during collision, eliminating the need for manual roller movement, this method still carries the risk of damaging the glass plate and rollers. Therefore, the existing positioning methods are inadequate in terms of both efficiency and reliability, and urgently need to be improved.

[0036] To address the aforementioned technical problems, embodiments of the present invention provide a method for positioning irregularly shaped workpieces. Please refer to... Figure 1 The method for positioning irregularly shaped workpieces includes the following steps:

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

[0038] Specifically, please see Figure 2 , Figure 2 This is a schematic diagram of a positioning coordinate system provided in an embodiment of the present invention. In this embodiment, the worktable 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. A first positioning wheel 11a is slidably connected to the first linear module 10a, a second positioning wheel 11b is slidably connected to the second linear module 10b, a third positioning wheel 11c is slidably connected to the third linear module 10c, a fourth positioning wheel 11d is slidably connected to the fourth linear module 10d, a fifth positioning wheel 11e is slidably connected to the fifth linear module 10e, and a sixth positioning wheel 11f is slidably connected to the sixth linear module 10f. The radii 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 the same. Figure 2 As shown, in this embodiment, the positioning coordinate system established based on the preset workbench 100 is a rectangular coordinate system, including a number axis X and a number axis Y. The arrows on the number axes X and Y indicate the positive directions of the number axes, and the intersection of the number axes X and Y is the origin O of the positioning coordinate system, which represents the center point of the workbench 100. This positioning coordinate system can represent the coordinate positions of all linear modules 10 and all positioning wheels 11 within the workbench 100.

[0039] Wherein, the first linear module 10a is located on the negative half-axis of the X-axis, the second linear module 10b is located on 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. Determine the irregular workpiece and obtain the irregular workpiece graphic 20 based on the irregular workpiece.

[0041] S103. Position the irregular workpiece graphic 20 to the center of the positioning coordinate system.

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

[0043] S104. Obtain the radius of any of the positioning wheels 11, and then expand the irregular workpiece pattern 20 based on the radius of the positioning wheels 11 to obtain the expanded pattern 40.

[0044] Specifically, please see Figure 4 , Figure 4 This is a schematic diagram of another positioning coordinate system and irregular workpiece pattern 20 provided in an embodiment of the present invention. The expanded pattern 40 is represented by a dashed line in the diagram, and the expanded pattern 40 is obtained by expanding the irregular workpiece pattern 20 based on the radius of any positioning wheel 11.

[0045] S105. For any linear module 10, obtain the coordinates of the intersection point between the extended graphic 40 and the linear module 10, and adjust the position of the positioning wheel 11 on the linear module 10 based on the intersection coordinates. Then, adjust the position of the corresponding positioning wheel 11 based on the linear modules 10 to achieve positioning of the irregular workpiece.

[0046] Specifically, please see Figure 4 , Figure 4 The image 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 on the linear module according to their corresponding intersection point coordinates in the positioning coordinate system. Figure 4 By adjusting the position of the positioning wheel 11 in the positioning coordinate system to the position of the positioning wheel 11 on the actual worktable, the irregular workpiece can be positioned.

[0047] The aforementioned method for positioning irregularly shaped workpieces involves importing the graphic file of the irregularly shaped workpiece into a positioning coordinate system. Then, based on the radius of any positioning wheel 11, the corresponding extended graphic 40 of the irregularly shaped workpiece is determined. The coordinates of the intersection points of the extended graphic 40 with the first linear module 10a, second linear module 10b, third linear module 10c, fourth linear module 10d, fifth linear module 10e, and sixth linear module 10f are used to determine the coordinates when the first positioning wheel 11a, second positioning wheel 11b, third positioning wheel 11c, fourth positioning wheel 11d, fifth positioning wheel 11e, and sixth positioning wheel 11f come into contact with the irregularly shaped workpiece. This eliminates the tedious steps of manually moving the positioning wheels 11 and manually calibrating the position of the irregularly shaped workpiece, thus improving the efficiency of irregularly shaped workpiece positioning. Furthermore, this method eliminates the need to control collisions between the positioning wheels 11 and the irregularly shaped workpiece. By directly calculating the coordinates of the positioning wheels 11, damage caused by collisions is avoided, protecting both the equipment and the workpiece and improving the reliability of irregularly shaped workpiece positioning.

[0048] In one possible embodiment, positioning the irregular workpiece graphic 20 to the center of the positioning coordinate system includes: obtaining an external rectangle 30 based on the irregular workpiece graphic 20, and then obtaining the center point of the external rectangle 30 based on the external rectangle 30; aligning the center point of the external rectangle 30 with the origin of the positioning coordinate system, so that the external rectangle 30 is positioned to the center of the positioning coordinate system, thereby positioning the irregular workpiece graphic 20 to the center of the positioning coordinate system.

[0049] Specifically, please see Figure 3 , Figure 3 This is a schematic diagram of a positioning coordinate system and an irregularly shaped workpiece graphic provided by an embodiment of the present invention, showing the irregularly shaped workpiece graphic 20 and the circumscribed rectangle 30 positioned at the center of the positioning coordinate system. The circumscribed rectangle 30 is the smallest rectangle enclosing the irregularly shaped workpiece graphic 20, also known as the circumscribed rectangle, and its center point is the intersection of its two diagonals. Based on the geometric relationship between the irregularly shaped workpiece graphic 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 irregularly shaped workpiece graphic 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 origin of the positioning coordinate system, which is equivalent to moving the geometric center point of the irregularly shaped workpiece graphic 20 in the positioning coordinate system so that the geometric center point of the irregularly shaped workpiece graphic 20 coincides with the origin of the positioning coordinate system. Then, based on the movement and positioning process of the geometric center point, the irregularly shaped workpiece graphic 20 is moved, positioning it at the center of the positioning coordinate system. This embodiment achieves alignment between the irregular workpiece graphic 20 and the positioning coordinate system, improving the accuracy of positioning the irregular workpiece in this invention.

[0050] In one possible embodiment, before obtaining the intersection coordinates of the extended graphic 40 and the linear module 10 for any linear module 10, and adjusting the position of the positioning wheel 11 on the linear module 10 based on the intersection coordinates, and further adjusting the position of the corresponding positioning wheel 11 based on the linear modules 10 to achieve positioning of the irregular workpiece, the method further includes: obtaining the rotation angle offset of the irregular workpiece relative to a preset screen printing plate; and adjusting the extended graphic 40 based on the rotation angle offset.

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

[0052] In this embodiment, considering the inaccurate installation and positioning of the screen printing stencil on the workbench 100, even if the irregular workpiece graphic 20 is aligned with the positioning coordinate system established based on the workbench 100, there may still be an angular offset between the irregular workpiece and the screen printing stencil. Therefore, this embodiment rotates and adjusts the outer shape 40 in the positioning coordinate system based on the rotational angular offset of the current irregular workpiece relative to the screen printing stencil on the workbench 100, so that the coordinates of the intersection points of the outer shape 40 and each linear module 10 change accordingly. This allows the position correction of each positioning wheel 11 to be completed based on the rotational angular offset of the current irregular workpiece relative to the screen printing stencil on the workbench 100, improving the accuracy of the irregular workpiece alignment with the screen printing stencil. In addition, this embodiment only needs to obtain the rotational angular 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 irregular workpiece, thus improving the efficiency of irregular workpiece positioning.

[0053] In one possible embodiment, before obtaining the intersection coordinates of the extended graphic 40 and the linear module 10 for any linear module 10, and adjusting the position of the positioning wheel 11 on the linear module 10 based on the intersection coordinates, and further adjusting the position of the corresponding positioning wheel 11 based on the linear modules 10 to achieve positioning of the irregular workpiece, the method further includes: obtaining the center point offset of the irregular workpiece relative to the preset screen printing plate; and adjusting the extended graphic 40 based on the center point offset.

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

[0055] As mentioned earlier, in this embodiment, considering the inaccurate installation and positioning of the screen printing stencil on the workbench 100, the screen printing stencil may be offset from the center position of the workbench 100. Therefore, even if the irregular workpiece graphic 20 is aligned with the positioning coordinate system established based on the workbench 100, the geometric center of the irregular workpiece and the geometric center of the screen printing stencil may still be offset, making it impossible for the irregular workpiece and the screen printing stencil to be aligned. This embodiment adjusts the outward expansion graphic 40 based on the offset of the current geometric center point of the irregular workpiece relative to the geometric center point of the screen printing stencil, so that the geometric center of the outward expansion graphic 40 coincides with the geometric center of the screen printing stencil, thereby changing the coordinates of the intersection points of the outward expansion graphic 40 and each linear module 10 accordingly. This allows for the position correction of each positioning wheel 11 based on the offset of the current geometric center point of the irregular workpiece relative to the geometric center point of the screen printing stencil, improving the accuracy of aligning the irregular workpiece with the screen printing stencil. Furthermore, this embodiment only requires obtaining the center point offset to correct the position of the positioning wheel 11, eliminating the tedious steps of manually moving the positioning wheel 11 and the irregular workpiece, thus improving the efficiency of positioning the irregular workpiece.

[0056] In one possible embodiment, the workbench 100 includes a base on which a plurality of the linear modules 10 are disposed; the step of 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 origin of the coordinate system.

[0057] In this embodiment, the positioning coordinate system is established with the center point of the base as the origin of the coordinate system, which enables the origin of the coordinate system to be aligned with the center point of the worktable 100. This allows the irregular workpiece graphic 20 to be positioned at the center of the positioning coordinate system, and the corresponding irregular workpiece to be positioned at the center of the worktable 100, thereby improving the accuracy of positioning the irregular workpiece in this invention.

[0058] Please see Figure 5This invention provides a positioning system for irregularly shaped workpieces, including a worktable 100, a data acquisition module 200, a positioning module 300, and a control module 400. The worktable 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 both the data acquisition module 200 and the control module 400. The data acquisition module 200 acquires 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 determines the irregularly shaped workpiece, thereby acquiring an irregularly shaped workpiece graphic 20 based on the workpiece. The positioning module... The control module 400 is used to establish a positioning coordinate system based on the positions of all the linear modules 10 and all the positioning wheels 11, so that the irregular workpiece graphic 20 is positioned at the center of the positioning coordinate system, thereby expanding the irregular workpiece graphic 20 outward based on the radius of the positioning wheels 11 to obtain the expanded graphic 40. Then, for any linear module 10, the coordinates of the intersection point between the expanded graphic 40 and the linear module 10 are obtained. The control module 400 is used to adjust the position of the positioning wheel 11 on any linear module 10 based on the intersection point coordinates corresponding to the linear module 10, and then adjust the position of the corresponding positioning wheel 11 based on several linear modules 10 to realize the positioning of the irregular workpiece.

[0059] The aforementioned irregular workpiece positioning system imports the graphic file of the irregular workpiece into the positioning coordinate system. Then, based on the radius of the positioning wheel 11, it determines the corresponding extended graphic 40 of the irregular workpiece. Finally, based on the intersection coordinates of the extended graphic 40 and each linear module 10, it determines the coordinates at which each positioning wheel 11 contacts the irregular workpiece. This eliminates the tedious steps of manually moving the positioning wheel 11 and manually calibrating the position of the irregular workpiece, thus improving the efficiency of irregular workpiece positioning. Specifically, in the aforementioned irregular workpiece positioning system, the control module 400 controls the positioning wheel 11 to slide on the linear module 10 to the corresponding coordinate position based on the intersection coordinates of the positioning wheel 11. This coordinate position is the position where the positioning wheel 11 contacts the irregular workpiece when it is located at the center of the worktable 100. Through this control process, the system eliminates the tedious steps of manually moving the positioning wheel 11 and manually calibrating the position of the irregular workpiece, thus improving the efficiency of irregular workpiece positioning. Furthermore, this system eliminates the need to control the collision between the positioning wheel 11 and the irregularly shaped workpiece. By directly calculating the coordinates of the positioning wheel 11, it avoids damage caused by the collision between the positioning wheel 11 and the irregularly shaped workpiece, thus protecting the equipment and the workpiece and improving the reliability of the positioning of the irregularly shaped workpiece.

[0060] In one possible embodiment, in the positioning module 300, the step of establishing a positioning coordinate system based on the positions of all the linear modules 10 and all the positioning wheels 11, so that the irregular workpiece graphic 20 is positioned to the center of the positioning coordinate system, thereby expanding the irregular workpiece graphic 20 outward based on the radius of the positioning wheels 11 to obtain an expanded graphic 40, and then obtaining the intersection coordinates of the expanded graphic 40 and the linear module 10 for any linear module 10, includes: obtaining an external rectangle 30 based on the irregular workpiece graphic 20, and then obtaining the center point of the external rectangle 30 based on the external rectangle 30; aligning the center point of the external rectangle 30 with the origin of the positioning coordinate system, so that the external rectangle 30 is positioned to the center of the positioning coordinate system, thereby positioning the irregular workpiece graphic 20 to the center of the positioning coordinate system.

[0061] In one possible embodiment, the data acquisition module 200 is further configured to acquire the rotation angle offset of the irregular workpiece relative to the preset screen printing plate; in the positioning module 300, the establishment of a positioning coordinate system based on the positions of all the linear modules 10 and all the positioning wheels 11, so that the irregular workpiece graphic 20 is positioned to the center of the positioning coordinate system, thereby expanding the irregular workpiece graphic 20 outward based on the radius of the positioning wheels 11 to obtain the expanded graphic 40, and further, for any linear module 10, acquiring the intersection coordinates of the expanded graphic 40 and the linear module 10, also includes: adjusting the expanded graphic 40 based on the rotation angle offset.

[0062] In this embodiment, in the irregular workpiece positioning system, a screen printing stencil is pre-installed on the worktable 100, which is used for printing on the irregular workpiece. Considering the possibility of inaccurate installation and positioning of the screen printing stencil on the worktable 100, even if the irregular workpiece graphic 20 is aligned with the positioning coordinate system established based on the worktable 100, there may still be an angular offset between the irregular workpiece and the screen printing stencil. Therefore, this embodiment adjusts the outer shape 40 in the positioning coordinate system by rotating it based on the rotational angular offset of the current irregular workpiece relative to the screen printing stencil on the worktable 100, so that the coordinates of the intersection points of the outer shape 40 and each linear module 10 change accordingly. This allows for the position correction of each positioning wheel 11 based on the rotational angular offset of the current irregular workpiece relative to the screen printing stencil on the worktable 100, improving the accuracy of aligning the irregular workpiece with the screen printing stencil. Furthermore, this embodiment only requires obtaining 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 irregular workpiece, thus improving the efficiency of positioning the irregular workpiece.

[0063] In one possible embodiment, the data acquisition module 200 is further configured to acquire the offset of the center point of the irregular workpiece relative to the preset screen printing plate; in the positioning module 300, the step of establishing a positioning coordinate system based on the positions of all the linear modules 10 and all the positioning wheels 11, so that the irregular workpiece graphic 20 is positioned to the center of the positioning coordinate system, thereby expanding the irregular workpiece graphic 20 outward based on the radius of the positioning wheels 11 to obtain the expanded graphic 40, and further, for any linear module 10, acquiring the intersection coordinates of the expanded graphic 40 and the linear module 10, also includes: adjusting the expanded graphic 40 based on the center point offset.

[0064] As mentioned earlier, in this embodiment, a screen printing stencil is also pre-installed on the workbench 100. Considering the possibility of inaccurate installation and positioning of the screen printing stencil on the workbench 100, there may be a certain offset between the screen printing stencil and the center position of the workbench 100. Therefore, even if the irregular workpiece graphic 20 is 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 irregular workpiece and the geometric center of the screen printing stencil, making it impossible for the irregular workpiece and the screen printing stencil to be aligned. This embodiment adjusts the outward expansion graphic 40 based on the offset of the current geometric center point of the irregular workpiece relative to the geometric center point of the screen printing stencil, so that the geometric center of the outward expansion graphic 40 coincides with the geometric center of the screen printing stencil, thereby changing the coordinates of the intersection points of the outward expansion graphic 40 and each linear module 10 accordingly. This allows for the position correction of each positioning wheel 11 based on the offset of the current geometric center point of the irregular workpiece relative to the geometric center point of the screen printing stencil, improving the accuracy of aligning the irregular workpiece with the screen printing stencil. Furthermore, this embodiment only requires obtaining the center point offset to correct the position of the positioning wheel 11, eliminating the tedious steps of manually moving the positioning wheel 11 and the irregular workpiece, thus improving the efficiency of positioning the irregular workpiece.

[0065] In one possible embodiment, the workbench 100 includes a base on which a plurality of linear modules 10 are disposed; the data acquisition module 200 is further configured to acquire the center point of the base; in the positioning module 300, the establishment of a positioning coordinate system based on the positions of all linear modules 10 and all positioning wheels 11, so that the irregular workpiece graphic 20 is positioned to the center of the positioning coordinate system, thereby expanding the irregular workpiece graphic 20 outward based on the radius of the positioning wheels 11 to obtain an expanded graphic 40, and then, for any linear module 10, acquiring the coordinates of the intersection point of the expanded graphic 40 and the linear module 10, includes: establishing the positioning coordinate system with the center point of the base as the origin based on the positions of all linear modules 10 and all positioning wheels 11.

[0066] This invention also provides another method for positioning irregularly shaped workpieces, comprising the following steps:

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

[0068] Specifically, please see Figure 6 The positioning coordinate system established based on the preset worktable 100 is established with the center of the worktable 100 as the origin O. The coordinates of the positioning wheels 11 on the six linear modules 10 in the positioning coordinate system when they return to their respective workpiece zero-point positions are calibrated. The zero point is defined as the end of the positioning wheel 11 on the linear module 10 that is furthest from the origin. Specifically: the coordinates of positioning wheel Y1 are (-237.7685, 560.6243), positioning wheel Y2 are (237.7685, 560.6243), positioning wheel Y3 are (-237.7685, -560.6243), positioning wheel Y4 are (237.7685, -560.6243), positioning wheel X1 is (-570.2495, 0), and positioning wheel X2 is (570.2495, 0).

[0069] S202. Determine the glass to be processed, and obtain the DXF image of the glass to be processed based on the glass to be processed, and then import the DXF image of the glass to be processed into the positioning coordinate system.

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

[0071] S204. Make the center point of the circumscribed rectangle coincide with the 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 DXF pattern of the glass to be processed at the center of the positioning coordinate system.

[0072] Specifically, please see Figure 7 After importing the DXF graphic file of the glass to be processed 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 positioning coordinate system. The center point of the circumscribed rectangle is the intersection of the diagonals of the circumscribed rectangle 30.

[0073] S205. Obtain the radius of any of the positioning wheels 11, and then expand the irregular workpiece pattern based on the radius of the positioning wheels 11 to obtain the expanded pattern 40.

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

[0075] S206. Obtain the rotational angle offset of the irregularly shaped workpiece relative to the preset screen printing stencil. It should be noted that due to the possibility of inaccurate installation and positioning of the screen printing stencil, there may be an angular offset between the above positioning and the screen printing stencil. In this embodiment, the measured angular offset between the glass to be processed and the screen printing stencil is 8.92°.

[0076] S207. Adjust the outward expansion pattern based on the rotation angle offset.

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

[0078] S208. Obtain the offset of the center point of the irregularly shaped workpiece relative to the preset screen printing stencil. It should be noted that due to potential issues with inaccurate installation and positioning of the screen printing stencil, there may be an offset between the center point of the aforementioned positioning and the screen printing stencil. Specifically, the offset of the center point includes offset along the X-axis and offset along the Y-axis. In this embodiment, the measured X-axis offset between the glass to be processed and the screen printing stencil is 70.330, and the Y-axis offset between the glass to be processed and the screen printing stencil is 100.421.

[0079] S209. Adjust the outward expansion pattern based on the center point offset.

[0080] S210. For any of the linear modules 10, obtain the coordinates of the intersection point between the outer expansion pattern 40 and the linear module 10, and adjust the position of the positioning wheel 11 on the linear module 10 based on the intersection coordinates. Then, adjust the position of the corresponding positioning wheel 11 based on the linear modules 10 to achieve the positioning of the glass to be processed.

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

[0082] The method and system for positioning irregularly shaped workpieces provided in the embodiments of the present invention have at least the following advantages compared with the prior art:

[0083] This invention imports the DXF graphic file of the glass to be processed into the positioning coordinate system. Then, based on the radius of the positioning wheel 11, the corresponding extended graphic 40 is determined. The coordinates of the intersection point between the extended graphic 40 and each linear module 10 are then used to determine the coordinates when each positioning wheel 11 and the DXF graphic of the glass to be processed come into contact. This eliminates the tedious steps of manually moving the positioning wheel 11 and manually calibrating the position of the glass to be processed, improving the efficiency of glass positioning in the glass screen printing process. Furthermore, this method eliminates the need to control collisions between the positioning wheel 11 and the glass to be processed. By directly calculating the coordinates of the positioning wheel 11, collisions that could cause cracking or damage to the glass are avoided, protecting both the equipment and the workpiece and improving the reliability of glass positioning.

[0084] Furthermore, this embodiment of the invention considers the factor of inaccurate installation and positioning of the screen printing stencil on the workbench. Even if the DXF graphic of the glass to be processed is aligned with the positioning coordinate system established based on the workbench, there may still be angular and center position offsets between the irregular workpiece and the screen printing stencil. Therefore, this invention, based on the rotational angle offset and center point offset of the glass to be processed relative to the screen printing stencil on the workbench, rotates and axially adjusts the outward expansion graphic 40 in the positioning coordinate system, so that the intersection coordinates of the outward expansion graphic 40 and each linear module 10 change accordingly. This completes the position correction of each positioning wheel based on the rotational angle offset and center point offset of the glass to be processed relative to the screen printing stencil, improving the accuracy of aligning the glass to be processed with the screen printing stencil. It eliminates the tedious steps of manually moving the positioning wheels and manually rotating the irregular workpiece, improving the efficiency of irregular workpiece positioning.

[0085] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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), magnetic 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0086] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described; however, any combination of these technical features that does not contradict each other should be considered within the scope of this specification.

[0087] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various improvements and substitutions without departing from the concept of this application, and these improvements and substitutions should also be considered within the scope of protection of this invention. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A method for positioning irregularly shaped workpieces, characterized in that, include: A positioning coordinate system is established based on a preset workbench; wherein, the workbench includes several linear modules, and each linear module is slidably connected to a positioning wheel; Identify the irregularly shaped workpiece and obtain its graphic based on it; Positioning the irregularly shaped workpiece graphic to the center of the positioning coordinate system specifically involves: The outer rectangle is obtained based on the irregular workpiece graphic, and then the center point of the outer rectangle is obtained based on the outer rectangle; The center point of the circumscribed rectangle is made to coincide with the 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; Obtain the radius of any of the positioning wheels, and then expand the irregular workpiece shape based on the radius of the positioning wheels to obtain the expanded shape; Obtain the rotation angle offset of the irregular workpiece relative to the preset screen printing plate; Adjust the outward expansion pattern based on the rotation angle offset; Obtain the offset of the irregular workpiece relative to the center point of the preset screen printing plate; Adjust the outward expansion pattern based on the center point offset; For any linear module, the coordinates of the intersection point between the extended graphic and the linear module are obtained, and the position of the positioning wheel on the linear module is adjusted based on the intersection coordinates. Then, the position of the corresponding positioning wheel is adjusted based on the linear modules to achieve positioning of the irregular workpiece.

2. The method for positioning irregularly shaped workpieces according to claim 1, characterized in that, The workbench includes a base, and a plurality of the linear modules are disposed on the base; The establishment of a positioning coordinate system based on a preset workbench includes: Obtain the center point of the base; The positioning coordinate system is established with the center point of the base as the origin.

3. A positioning system for irregularly shaped workpieces, characterized in that, The system includes a workbench, a data acquisition module, a positioning module, and a control module. The workbench comprises several linear modules, each with a positioning wheel slidably connected to it. The control module is electrically connected to all the positioning wheels. The positioning module is electrically connected to both the data acquisition module and the control module. 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 to determine the irregular workpiece, thereby acquiring the irregular workpiece graphic based on the irregular workpiece; The positioning module is used to establish a positioning coordinate system based on the positions of all the linear modules and all the positioning wheels, so that the irregular workpiece graphic is positioned to the center of the positioning coordinate system. This allows the irregular workpiece graphic to be expanded outwards based on the radius of the positioning wheels, resulting in an expanded graphic. Furthermore, for any linear module, the coordinates of the intersection point between the expanded graphic and the linear module are obtained, specifically: The outer rectangle is obtained based on the irregular workpiece graphic, and then the center point of the outer rectangle is obtained based on the outer rectangle; The center point of the circumscribed rectangle is made to coincide with the 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; The data acquisition module is also used to acquire the rotation angle offset of the irregular workpiece relative to the preset screen printing plate, and the center point offset of the irregular workpiece relative to the preset screen printing plate. The positioning module is also used to adjust the outward expansion pattern based on the rotation angle offset; and to adjust the outward expansion pattern based on the center point offset; The control module is used to adjust the position of the positioning wheel on any linear module based on the coordinates of the intersection point corresponding to the linear module, and then adjust the position of the corresponding positioning wheel based on several linear modules to achieve positioning of the irregular workpiece.

4. The irregular workpiece positioning system according to claim 3, characterized in that, The workbench includes a base on which a plurality of linear modules are disposed; the data acquisition module is further configured to acquire 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 irregular workpiece graphic is positioned to the center of the positioning coordinate system, thereby expanding the irregular workpiece graphic outward based on the radius of the positioning wheels to obtain an expanded graphic, and then, for any linear module, the coordinates of the intersection point between the expanded graphic and the linear module are acquired, including: Based on the positions of all the linear modules and all the positioning wheels, the positioning coordinate system is established with the center point of the base as the origin.

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