System for automatically generating alignment correction value after alignment of visual system and alignment method

Abstract

The invention discloses a system for automatically generating an alignment correction value after alignment by using a visual system, and the system comprises a displacement support which is provided with a longitudinally-driven Z-axis module, the Z-axis module is provided with a T-axis rotation speed reducer which can be driven to rotate, and the T-axis rotation speed reducer is provided with a material taking frame for obtaining a panel; an adjusting table is arranged on the lower portion of the displacement support, a plurality of sets of transferring racks arranged side by side and at least one set of transferring mechanisms are arranged on the adjusting table, each transferring rack comprises a mounting plate arranged on the adjusting table, rollers are rotationally connected to the mounting plates, and each transferring mechanism comprises a transferring frame arranged on the adjusting table; and a transfer adsorption carrying table capable of moving relative to the adjusting table is arranged on the transfer frame. The invention discloses a system for automatically generating an alignment correction value after alignment by using a visual system and an alignment method, after a panel is grabbed, a panel mark point is identified through a visual camera, and then the panel is put on a material removing and conveying mechanism after being corrected and put into a second cutting station.

Description

Technical Field

[0001] The present invention relates to the field of vision alignment technology, and in particular to a system and an alignment method for automatically generating alignment correction values ​​after alignment using a vision system. Background Art

[0002] In the cutting machine equipment, after the product is cut for the first time (MSB1), it needs to be grabbed by MidTransfer and transferred to the next material removal and transportation station. At this station, the product needs to be corrected before it can be put into the cutting section (MSB2) for the second cutting. The alignment of the mechanism needs to involve more axes and add more mechanisms (Lift, Floating Pad, Align Pin). The stability of the equipment and the maintenance space in the later stage have a negative impact. There will also be waste in costs. Summary of the invention

[0003] The present invention overcomes the shortcomings of the prior art and provides a system and method for automatically generating alignment correction values ​​after alignment using a visual system. After grabbing the panel, the panel marking points are identified by a visual camera, and then the panel is corrected and placed on a material removal conveying mechanism and put into the second cutting station.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a system for automatically generating alignment correction values ​​after alignment with a visual system, comprising: a displacement bracket, a longitudinally driven Z-axis module is provided on the displacement bracket, a T-axis rotary reducer capable of driving rotation is provided on the Z-axis module, and a material picking rack for obtaining the panel is provided on the T-axis rotary reducer; an adjustment table is provided at the lower part of the displacement bracket, a plurality of groups of transfer racks arranged in parallel and at least one group of transfer mechanisms are provided on the adjustment table, the transfer rack comprises a mounting plate arranged on the adjustment table, a roller is rotatably connected to the mounting plate, and the transfer mechanism comprises a transfer rack arranged on the adjustment table, and a transfer adsorption carrier capable of relative displacement of the adjustment table is provided on the transfer rack.

[0005] In a preferred embodiment of the present invention, an adjustment slide is further provided on the adjustment platform, and a visual camera and / or a light source corresponding to the panel supported on the roller is provided on the adjustment slide.

[0006] In a preferred solution of the present invention, a light source mounting bracket is slidably arranged on the adjustment slide, and the light source mounting bracket is provided with and / or a light source.

[0007] In a preferred embodiment of the present invention, the visual camera is located between adjacent mounting plates, and the side of the roller in contact with the panel is higher than the position of the image acquisition port of the visual camera.

[0008] In a preferred embodiment of the present invention, the displacement bracket includes a Y-axis module 1 and a Y-axis module 2 which are arranged in parallel and spaced apart, and an X-axis module which is arranged to slide across the Y-axis module 1 and the Y-axis module 2; the Y-axis module 1, the Y-axis module 2 and the X-axis module all include a linear guide rail, an embedded slider is slidingly arranged on the upper limit of the linear guide rail, a servo motor 1 which is drivingly connected to the embedded slider is arranged at one end of the linear guide rail, and the servo motor 1 drives the embedded slider to slide and displace on the linear guide rail.

[0009] In a preferred embodiment of the present invention, the T-axis rotary reducer includes a cam divider arranged on the X-axis module, and the cam divider is drivingly connected to the servo motor 2 through the reducer 2.

[0010] In a preferred embodiment of the present invention, a linear slide rail driving the displacement module is arranged on an adjustment table, and the setting trajectories of the linear slide rail and the transfer platform are parallel to each other; the transfer mechanism includes a transfer platform slidably connected to the linear slide rail, and a transfer adsorption platform is arranged on the transfer platform; a suction nozzle 2 for adsorbing the panel is arranged on the transfer adsorption platform.

[0011] In a preferred embodiment of the present invention, a lifting seat is provided on the transfer rack, a servo motor and a servo electric cylinder connected to the lifting seat are provided on one side, and a transfer adsorption platform capable of longitudinal lifting is provided on the lifting seat.

[0012] In a preferred embodiment of the present invention, a method for aligning a system that automatically generates an alignment correction value after alignment using a visual system is implemented using a system that automatically generates an alignment correction value after alignment using a visual system, and includes the following steps: The displacement bracket, Z-axis module, and T-axis rotary reducer drive the material retrieving rack to move above the panel, and the panel is sucked by the suction nozzle set on the material retrieving rack to realize the transfer of the panel; The panel is placed on the transfer mechanism of the corresponding adjustment table, at least partially located on the transfer adsorption platform. The transfer adsorption platform is driven to move on the adjustment platform by driving the displacement module, so that the panel adsorbed by the transfer adsorption platform is transferred to the specified position by the roller of the transfer mechanism, thereby realizing the transfer and transfer of the panel.

[0013] The working principle and process of the system that automatically generates alignment compensation values ​​after alignment using a visual system are as follows: First, the panel is grabbed downstream of the conveyor mechanism using a suction cup vacuum adsorption method; The panel moves to the top of the visual camera, identifies the mark on the panel, obtains the deviation between the sampling position and the actual preset position through image comparison, and adjusts the panel position in the opposite direction.

[0014] In a preferred embodiment of the present invention, the equipment is transferred to a transfer station, and after repeated operations for multiple times, the average value of the calibration deviation is corrected to form parameter collection of the corrected value.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention discloses a system and method for automatically generating alignment correction values ​​after alignment using a visual system. After grabbing a panel, a visual camera is used to identify panel marking points, and then the panel is corrected and placed on a material removal conveying mechanism and put into a second cutting station.

[0016] 1. The positioning correction accuracy can ensure that there is no error in the incoming material through the coordinated action of vision and cam divider.

[0017] 2. Using visual positioning instead of mechanical positioning has obvious advantages in terms of cost, convenience of personnel installation, requirements for factory affairs, and the size of maintenance space.

[0018] 3. There is a large room for development. Currently, the existing cutting machine equipment uses mechanical alignment for feeding correction before the second cutting, and visual alignment will definitely become a trend.

[0019] 4. Reduce dependence on institutions and advance together with technology in a more mature and progressive way.

[0020] 5. Reducing the demand for cycle time can increase user productivity and thus make efficiency higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 This is a schematic diagram of the structure of a system for automatically generating alignment correction values ​​after alignment using a visual system according to the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of a system that automatically generates alignment correction values ​​after alignment using a visual system in the present invention. Figure 2 ; Figure 3 It is a schematic diagram of the axial structure of the adjustment slide in the present invention, in which a visual camera and a light source mounting bracket are arranged; Figure 4 It is a schematic diagram of the axial structure of the Y-axis module 1, the Y-axis module 2, or the X-axis module in the present invention; Figure 5 It is a schematic diagram of the axial structure of the T-axis rotary reducer in the present invention; Figure 6 It is a schematic diagram of the axial structure in which a free roller is arranged on the connecting frame in the present invention; Figure 7 It is a front view structural schematic diagram of a free roller provided on the connecting frame of the present invention; Figure 8 It is a schematic diagram of the axial structure of the transfer mechanism in the present invention; Fig. 9It is a structural schematic diagram of a suction nozzle 1 and a suction nozzle 2 provided on a material taking rack in the present invention; Among them, 1-Y axis module 1, 14-linear guide rail, 15-embedded slider, 16-servo motor 1, 2-Y axis module 2, 3-X axis module, 4-Z axis module, 5-T axis rotary reducer, 51-servo motor 2, 52-cam divider, 6-feeder rack, 61-nozzle 1; 7-adjustment table, 71-mounting beam, 8-adjustment slide, 81-visual camera, 82-light source, 9-drive displacement module, 10-transfer platform, 101-mounting plate, 102-roller, 103-height adjustment frame, 11-transfer mechanism, 111-transfer frame, 112-servo motor three, 113-servo electric cylinder, 114-lifting seat, 115-transfer adsorption platform, 116-nozzle two, 12-panel, 13-electric control box. DETAILED DESCRIPTION

[0023] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. The embodiments of the present invention and the technical features in the embodiments may be combined with each other unless there is a conflict.

[0024] The term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the related objects are in an "or" relationship. Embodiment 1

[0025] like Figure 1-Figure 9 As shown, the present invention discloses a system for automatically generating alignment correction values ​​after alignment with a visual system, comprising: a displacement bracket, a longitudinally driven Z-axis module 4 is arranged on the displacement bracket, a T-axis rotary reducer 5 capable of driving rotation is arranged on the Z-axis module 4, and a material picker 6 for obtaining a panel 12 is arranged on the T-axis rotary reducer 5. Further, the displacement bracket comprises a Y-axis module 1 and a Y-axis module 2 2 arranged in parallel and spaced relation, and an X-axis module 3 arranged to slide across the Y-axis module 1 and the Y-axis module 2 2; the Y-axis module 1 1, the Y-axis module 2 2, and the X-axis module 3 all comprise a linear guide rail 14, an embedded slider 15 is slidably arranged on the upper limit position of the linear guide rail 14, a servo motor 1 16 connected to the embedded slider 15 is arranged at one end of the linear guide rail 14, and the servo motor 1 16 drives the embedded slider 15 to slide and displace on the linear guide rail 14. The T-axis rotary reducer 5 includes a cam divider 52 disposed on the X-axis module 3 , and the cam divider 52 is drivingly connected to the servo motor 2 51 through the reducer 2 .

[0026] Specifically, an adjustment platform 7 is disposed at the lower part of the displacement bracket, and a plurality of groups of transfer platforms 10 disposed in parallel and at least one group of transfer mechanisms 11 are disposed on the adjustment platform 7 .

[0027] Furthermore, the transfer platform 10 comprises a mounting plate 101 arranged on the adjustment platform 7, and a roller 102 is rotatably connected to the mounting plate 101. The roller 102 is an anti-static roller.

[0028] Furthermore, the transfer mechanism 11 includes a transfer frame 111 arranged on the adjustment platform 7, and the transfer frame 111 is provided with a transfer adsorption platform 115 that can be displaced relative to the adjustment platform 7. The linear slide rail that drives the displacement module 9 is arranged on the adjustment platform 7, and the setting tracks of the linear slide rail and the transfer frame 10 are parallel to each other. The transfer mechanism 11 includes a transfer frame 111 slidably connected to the linear slide rail, and the transfer frame 111 is provided with a transfer adsorption platform 115; the transfer adsorption platform 115 is provided with a suction nozzle 2 116 for adsorbing the panel 12. A lifting seat 114 is provided on the transfer frame 111, and a servo motor 3 112 and a servo electric cylinder 113 are provided on one side of the lifting seat 114 for driving connection, and a transfer adsorption platform 115 that can be lifted and lowered longitudinally is provided on the lifting seat 114.

[0029] Furthermore, an adjustment slide 8 is also provided on the adjustment platform 7, and a light source mounting bracket is slidably provided on the adjustment slide 8, and a light source 82 is provided on the light source mounting bracket. The visual camera 81 and the light source 82 provided on the adjustment slide 8 correspond to the panel 12 supported by the roller 102. Moreover, the visual camera 7 is located between adjacent mounting plates 101, and the side of the roller 102 in contact with the panel 12 is higher than the image acquisition port position of the visual camera 7. Embodiment 2

[0030] On the basis of the first embodiment, the visual camera 81 is a Vision Camera, and the visual camera 81 and the fill light providing the light source 82 are connected through a light source mounting bracket, and the light source mounting bracket adopts an aluminum plate bracket in the prior art, so that its relative position is fixed, and a 3mm adjustment amount is reserved for each upper and lower parts, so as to visually fine-tune the focal length for precise imaging. In order to cope with the model changes of panels 12 of different sizes, the adjustment slide 8 adopts a slide rail, a slider and a manual screw to assemble the adjustment slide, and the position is changed by recording the mark points on the scale during cutting. The visual camera 81 uses Basler acA2500-14gm, the lens uses long-step FA2501C, and the coaxial light source uses Kangshida CST-COS80-W; the target surface size of the visual camera 81 is: 1 / 2.5” (2.2µm × 2.2µm), resolution: 2592 × 1944; the working distance is 100mm, the focal length is 25mm, the field of view is 34mm*28mm, and the imaging pixel accuracy is 0.04mm.

[0031] Specifically, the cam divider 52 is also called a cam indexer or intermittent divider in engineering. The cam divider 52 is a high-precision rotary device. The indexing cam installed in the input shaft is connected to the output turret, and the cam roller radially embedded in the circumferential surface of the output turret makes linear contact with the tapered support rib of the cam on their corresponding inclined surfaces. Further, Sankyo brand RA125-20GT-VRGS; high load, high precision, ensures the correction accuracy of the incoming material during the second cutting. Repeat positioning accuracy: ±10arc-sec. More specifically, when the input shaft rotates, the cam roller rotates the output turret according to a given displacement curve, while rolling along the inclined surface of the rib. In the area where the rib and the end face of the cam are balanced, that is, in the static range, the roller is connected to its shaft, but the output turret itself does not rotate. The tapered support rib is usually in contact with two or three cam rollers so that the rotation of the input shaft can be evenly transmitted to the output shaft. If there is any roughness between the cam surface of the tapered support rib and the cam roller, it will damage the divider. The phenomenon of rough rotation can be eliminated by adjusting the distance between the shafts. The rigidity of the divider can be enhanced by adjusting the preload to approach the elastic area of ​​the cam roller and cam. Its structure and function are the best performance of the combination of indexing cam and cam roller, which can operate at high speed.

[0032] Specifically, the working principle of the transfer adsorption platform 115 is as follows: when the film needs to be transferred, the lifting seat 114 rises, and the transfer adsorption platform 115 contacts the panel 12, the vacuum is turned on, the suction nozzle 116 and the transfer adsorption platform 115 adsorb the panel 12 at the same time, and then the transfer adsorption platform 115 moves downstream for delivery, completing the transfer of the panel 12.

[0033] Specifically, because the panel 12 to be transported is a cut glass panel, the material of the anti-static roller must be anti-static, and the sheet metal is assembled with the connecting frame. When the sheet metal is assembled with the connecting frame, a height adjustment block is also installed to adjust the level of the roller. The material of the conveying roller is: UHMW-PE surface resistance 10^6~10^9. The free roller height is within ±0.3mm, and the height deviation is within 0.3mm.

[0034] Specifically, the suction nozzle 61, the silicone suction cup head, can absorb the panel 12 over a large area, and play a role in stability when flipping; the suction cup head of the suction nozzle 61 is a double-layer accordion structure, with a certain amount of buffering downward pressure, to ensure that the product will not be damaged by pressure when the panel 12 is absorbed. In addition, the suction cup rod of the suction nozzle 61 also has a 13mm buffer stroke, which protects the panel 12 from being damaged by the head-on collision with the suction cup head when the absorption part is lifted. The air inlet diameter of all suction cup heads is 4mm, which meets the industrial air standard and can efficiently complete the absorption of products. Embodiment 3

[0035] On the basis of the first or second embodiment, in a preferred embodiment of the present invention, a method for aligning a system that automatically generates an alignment correction value after alignment using a visual system is implemented by using the system that automatically generates an alignment correction value after alignment using a visual system, and includes the following steps: The driving displacement bracket, the Z-axis module 4 and the T-axis rotary reducer 5 drive the material taking frame 6 to move to above the panel 12 , and the panel 12 is sucked by a suction nozzle 61 provided on the material taking frame 6 to realize the transfer of the panel 12 .

[0036] The panel 12 is placed on the transfer mechanism 11 of the corresponding adjustment platform 7, and is at least partially located on the transfer adsorption platform 115. The displacement module 9 is driven to drive the transfer adsorption platform 115 to move on the adjustment platform 7, so that the panel 12 adsorbed by the transfer adsorption platform 115 is transferred to the specified position by the roller 102 of the transfer mechanism 11, thereby realizing the transfer and transfer of the panel 12.

[0037] The working principle and process of the system that automatically generates alignment correction values ​​after alignment using a visual system are as follows: First, the panel 12 is grabbed downstream of the conveying mechanism 11 by vacuum adsorption using a suction cup.

[0038] The panel 12 is moved to above the visual camera 7, the mark on the panel 12 is identified, and the deviation between the sampling position and the actual preset position is obtained through image comparison, and the position of the panel 12 is adjusted in the reverse direction. Embodiment 4

[0039] On the basis of the third embodiment, the equipment is transferred to the transfer station, and after repeated operations for several times, the average value of the calibration deviation value is corrected to form parameter collection of the correction value.

[0040] Working principle: The present invention discloses a method for aligning a system that automatically generates alignment correction values ​​after alignment with a visual system. A robot arm grabs a panel and then uses a visual camera to identify panel marking points. The panel is then corrected and placed on a material removal and conveying mechanism, and then put into the second cutting station (MSB2). The positioning correction accuracy can ensure that the incoming material has no errors through the coordinated action of vision and cam dividers. Replacing mechanism positioning with visual positioning has very obvious advantages in terms of cost, convenience of personnel installation, requirements for factory affairs, and the size of maintenance space. There is a large room for development. Currently, existing cutting machine equipment uses mechanism alignment for material feeding correction before the second cutting, and visual alignment will definitely become a trend. Reduce dependence on mechanisms and advance with technology in a more mature and advanced way. The demand for beats is reduced, which can increase user production and thus make efficiency higher.

[0041] Based on the ideal embodiment of the present invention, through the above description, relevant personnel can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A system for automatically generating alignment correction values ​​after alignment using a visual system, characterized in that: include: A displacement bracket, wherein a longitudinally driven Z-axis module (4) is disposed on the displacement bracket, a T-axis rotary reducer (5) capable of driving rotation is disposed on the Z-axis module (4), and a material taking frame (6) for obtaining a panel (12) is disposed on the T-axis rotary reducer (5); An adjustment platform (7) is arranged at the bottom of the displacement bracket, and a plurality of groups of transfer platforms (10) arranged in parallel and at least one group of transfer mechanisms (11) are arranged on the adjustment platform (7), and the transfer platform (10) comprises a mounting plate (101) arranged on the adjustment platform (7), and a roller (102) is rotatably connected to the mounting plate (101), and the transfer mechanism (11) comprises a transfer frame (111) arranged on the adjustment platform (7), and a transfer adsorption carrier (115) capable of displacement relative to the adjustment platform (7) is arranged on the transfer frame (111).

2. A system for automatically generating alignment correction values ​​after alignment using a visual system according to claim 1, characterized in that: An adjustment slide (8) is also provided on the adjustment platform (7), and a visual camera (81) and / or a light source (82) corresponding to the panel (12) supported on the roller (102) is provided on the adjustment slide (8).

3. The system for automatically generating alignment correction values ​​after alignment using a visual system according to claim 2, characterized in that: A light source mounting bracket is slidably disposed on the adjustment slide (8), and the light source mounting bracket is provided with and / or a light source (82).

4. The system for automatically generating alignment correction values ​​after alignment using a visual system according to claim 3, characterized in that: The visual camera (7) is located between adjacent mounting plates (101), and the side of the roller (102) in contact with the panel (12) is higher than the position of the image acquisition port of the visual camera (7).

5. The system for automatically generating alignment correction values ​​after alignment using a visual system according to claim 4, characterized in that: The displacement bracket comprises a Y-axis module 1 (1) and a Y-axis module 2 (2) which are arranged in parallel and spaced apart, and an X-axis module (3) which is arranged to slide across the Y-axis module 1 (1) and the Y-axis module 2 (2); The Y-axis module 1 (1), the Y-axis module 2 (2), and the X-axis module (3) all include a linear guide rail (14), the upper limit sliding position of the linear guide rail (14) is provided with an embedded slider (15), one end of the linear guide rail (14) is provided with a servo motor 1 (16) connected to the embedded slider (15), and the servo motor 1 (16) drives the embedded slider (15) to slide on the linear guide rail (14).

6. A system for automatically generating alignment correction values ​​after alignment using a visual system according to claim 5, characterized in that: The T-axis rotary reducer (5) comprises a cam divider (52) arranged on the X-axis module (3), and the cam divider (52) is drivingly connected to the second servo motor (51) via the second reducer.

7. The system for automatically generating alignment correction values ​​after alignment using a visual system according to claim 1, characterized in that: The linear slide rail of the driving displacement module (9) is arranged on the adjustment platform (7), and the arrangement tracks of the linear slide rail and the transfer platform (10) are parallel to each other; The transfer mechanism (11) comprises a transfer rack (111) slidably connected to the linear slide rail, the transfer rack (111) being provided with a transfer adsorption platform (115); the transfer adsorption platform (115) being provided with a second suction nozzle (116) for adsorbing the panel (12).

8. The system for automatically generating alignment correction values ​​after alignment using a visual system according to claim 7, characterized in that: The transfer rack (111) is provided with a lifting seat (114), one side of the lifting seat (114) is provided with a servo motor 3 (112) and a servo electric cylinder (113) which are drive-connected, and the lifting seat (114) is provided with a transfer adsorption platform (115) which can be lifted and lowered longitudinally.

9. A method for aligning a system by automatically generating an alignment correction value after alignment using a visual system, characterized in that: The system for automatically generating alignment correction values ​​after alignment using a visual system as claimed in claim 8 is implemented, comprising the following steps: The displacement bracket, the Z-axis module (4), and the T-axis rotary reducer (5) are driven to drive the material taking frame (6) to move to the top of the panel (12), and the panel (12) is sucked by a suction nozzle (61) provided on the material taking frame (6), thereby realizing the transfer of the panel (12); The panel (12) is placed on the transfer mechanism (11) of the corresponding adjustment platform (7), and at least part of it is located on the transfer adsorption platform (115). The panel (12) adsorbed by the transfer adsorption platform (115) is transferred to a designated position on the roller (102) of the transfer mechanism (11) by driving the displacement module (9) to drive the transfer adsorption platform (115) to move on the adjustment platform (7), thereby realizing the transfer and transfer of the panel (12); The working principle and working process of the system for automatically generating alignment compensation values ​​after alignment using a visual system are as follows: first, the panel (12) is grasped downstream of the conveying mechanism (11) by vacuum adsorption using a suction cup; The panel (12) is moved above the visual camera (7), the mark on the panel (12) is identified, and the deviation between the sampling position and the actual preset position is obtained through image comparison, and the position of the panel (12) is adjusted in the opposite direction.

10. The alignment method of a system for automatically generating alignment correction values ​​after alignment using a visual system according to claim 9, characterized in that: After being transferred to the transfer station and repeated for many times, the average value of the calibration deviation is corrected to form parameter collection of the correction value.

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