System and method for automatically generating alignment correction values after alignment with a vision system

Abstract

The application discloses a system for automatically generating alignment correction values after alignment by a visual system, comprising: a displacement support, a Z-axis module driven longitudinally is arranged on the displacement support, a T-axis rotary speed reducer capable of driving rotation is arranged on the Z-axis module, and a material taking rack for obtaining a panel is arranged on the T-axis rotary speed reducer; an adjusting table is arranged at the lower part of the displacement support, a plurality of groups of parallelly arranged transfer tables and at least one group of transfer mechanisms are arranged on the adjusting table, the transfer table comprises a mounting plate arranged on the adjusting table, a roller is rotatably connected to the mounting plate, the transfer mechanism comprises a transfer frame arranged on the adjusting table, and a transfer adsorption table capable of being displaced relative to the adjusting table is arranged on the transfer frame. The application discloses a system and a method for automatically generating alignment correction values after alignment by a visual system, after a panel is gripped, a visual camera is used to identify a panel mark point, the panel is corrected and then placed on a material removing and conveying mechanism, and is put into a second cutting station.

Description

Technical Field

[0001] This invention relates to the field of visual alignment technology, and more particularly to a system and method for automatically generating alignment correction values ​​after alignment using a visual system. Background Technology

[0002] In the cutting machine, after the product completes its first cut (MSB1), it needs to be picked up via MidTransfer and transferred to the next material handling station. At this station, alignment correction is required before the product can be put back into the cutting section (MSB2) for a second cut. This alignment mechanism involves more axes and requires additional mechanisms (Lift, Floating Pad, Align Pin). This negatively impacts equipment stability and reduces maintenance space. It also leads to cost waste. Summary of the Invention

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

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a system for automatically generating alignment correction values ​​after alignment using a vision system, comprising: a displacement support, a longitudinally driven Z-axis module disposed on the displacement support, a T-axis rotary reducer disposed on the Z-axis module, and a material picker for acquiring panels disposed on the T-axis rotary reducer; an adjustment platform disposed at the lower part of the displacement support, a plurality of parallel transfer platforms and at least one transfer mechanism disposed on the adjustment platform, the transfer platform including a mounting plate disposed on the adjustment platform, rollers rotatably connected to the mounting plate, and the transfer mechanism including a transfer frame disposed on the adjustment platform, the transfer frame being provided with a transfer adsorption platform capable of displacement relative to the adjustment platform.

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

[0006] In a preferred embodiment of the present invention, a light source mounting bracket is slidably disposed on the adjusting 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 vision camera is located between adjacent mounting plates, and the side of the roller that contacts the panel is higher than the image acquisition port of the vision camera.

[0008] In a preferred embodiment of the present invention, the displacement support includes a Y-axis module one and a Y-axis module two arranged side by side and spaced apart, and an X-axis module slidably arranged across the Y-axis module one and the Y-axis module two; the Y-axis module one, the Y-axis module two, and the X-axis module all include linear guide rails, and embedded sliders are slidably arranged on the upper limit of the linear guide rails. One end of the linear guide rail is provided with a servo motor one that is driven and connected to the embedded slider, and the servo motor one drives the embedded slider to slide and move on the linear guide rail.

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

[0010] In a preferred embodiment of the present invention, the linear slide rail of the drive displacement module is set on the adjustment platform, and the linear slide rail is parallel to the setting trajectory of the transfer platform; the transfer mechanism includes a transfer frame slidably connected to the linear slide rail, and a transfer adsorption platform is provided on the transfer frame; a second suction nozzle for adsorbing the panel is provided on the transfer adsorption platform.

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

[0012] In a preferred embodiment of the present invention, an alignment method for a system that automatically generates alignment correction values ​​after alignment using a vision system is implemented using a system that automatically generates alignment correction values ​​after alignment using a vision system, and includes the following steps:

[0013] The drive displacement bracket, Z-axis module, and T-axis rotary reducer drive the material picker to move above the panel. The panel is then picked up by the suction nozzles on the material picker, thus transferring the panel.

[0014] The panel is placed on the transfer mechanism of the corresponding adjustment platform, at least partially on the transfer adsorption platform. The transfer adsorption platform is moved on the adjustment platform by the drive displacement module, and the panel adsorbed by the transfer adsorption platform is transferred to the designated position by the rollers of the transfer mechanism, thereby realizing the transfer and transfer of the panel.

[0015] The working principle and process of the system that automatically generates alignment correction values ​​after alignment using a vision system are as follows: First, the panel is gripped by the downstream of the transfer mechanism, and the gripping method is vacuum adsorption by a suction cup.

[0016] The panel is moved above the vision camera, the markings on the panel are identified, and the deviation between the sampling position and the actual preset position is obtained through image comparison. The panel position is then adjusted in the opposite direction.

[0017] In a preferred embodiment of the present invention, the device is transferred to a transfer station and operated repeatedly. The average value of the calibration deviation is then corrected to form the parameter collection of the corrected value.

[0018] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0019] This invention discloses a system and method for automatically generating alignment correction values ​​after alignment using a vision system. After grasping the panel, the system identifies the panel marking points through a vision camera, then corrects the panel and places it on the material removal and conveying mechanism for the second cutting station.

[0020] 1. Positioning and correction accuracy: Through the coordinated action of vision and cam divider, it can be ensured that there are no errors in the incoming materials.

[0021] 2. Using visual positioning instead of mechanical positioning has significant advantages in terms of cost, ease of installation by personnel, requirements for factory operations, and the size of the maintenance space.

[0022] 3. There is great potential for development. Currently, existing cutting machine equipment uses mechanical alignment for material feeding correction before the second cut, and visual alignment will inevitably become the trend.

[0023] 4. Reduce dependence on institutions and advance together with technology in a more mature and advanced manner.

[0024] 5. The reduced demand for cycle time allows users to increase their production output, resulting in higher efficiency. Attached Figure Description

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Figure 1 This is a schematic diagram of the structure of a system that automatically generates alignment correction values ​​after alignment using a vision system, according to the present invention. Figure 1 ;

[0027] Figure 2 This is a schematic diagram of the structure of a system in this invention that automatically generates alignment correction values ​​after alignment using a vision system. Figure 2 ;

[0028] Figure 3 This is an axial view of the structure of the adjustment slide with a vision camera and a light source mounting bracket in this invention.

[0029] Figure 4 This is a schematic diagram of the axial structure of Y-axis module one, Y-axis module two, or X-axis module in this invention;

[0030] Figure 5 This is a schematic diagram of the axial view structure of the T-axis rotary reducer in this invention;

[0031] Figure 6 This is a schematic diagram of the axial view of the connecting frame with a free roller in this invention.

[0032] Figure 7 This is a front view schematic diagram of the structure in which a free roller is provided on the connecting frame in this invention;

[0033] Figure 8 This is an axial view structural schematic diagram of the transfer mechanism in this invention;

[0034] Figure 9 This is a schematic diagram of the structure of the material handling rack in this invention, which is equipped with a suction nozzle one and a suction nozzle two;

[0035] Among them, 1-Y-axis module one, 14-linear guide rail, 15-embedded slider, 16-servo motor one, 2-Y-axis module two, 3-X-axis module, 4-Z-axis module, 5-T-axis rotary reducer, 51-servo motor two, 52-cam divider, 6-material picker, 61-suction nozzle one;

[0036] 7-Adjustment table, 71-Mounting beam, 8-Adjustment slide, 81-Vision 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-Suction nozzle two, 12-Panel, 13-Electrical control box. Detailed Implementation

[0037] The technical solution of the present invention will be described in detail below with reference to 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 thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0038] The term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Example 1

[0039] like Figures 1-9As shown, this invention discloses a system for automatically generating alignment correction values ​​after alignment using a vision system, comprising: a displacement bracket, on which a longitudinally driven Z-axis module 4 is mounted, and on which a T-axis rotary reducer 5 capable of driving rotation is mounted, and on which a material picker 6 for acquiring a panel 12 is mounted. Further, the displacement bracket includes a Y-axis module 1 and a Y-axis module 2 arranged side-by-side, and an X-axis module 3 slidably mounted across the Y-axis module 1 and Y-axis module 2; each of the Y-axis module 1, Y-axis module 2, and X-axis module 3 includes a linear guide rail 14, with an embedded slider 15 slidably mounted on the upper limit of the linear guide rail 14, and a servo motor 16 connected to the embedded slider 15 at one end of the linear guide rail 14, the servo motor 16 driving the embedded slider 15 to slide and move on the linear guide rail 14. The T-axis rotary reducer 5 includes a cam divider 52 mounted on the X-axis module 3. The cam divider 52 is driven and connected to the servo motor 51 via the reducer 2.

[0040] Specifically, the lower part of the displacement support is provided with an adjustment platform 7, and the adjustment platform 7 is provided with several sets of parallel transfer platforms 10 and at least one set of transfer mechanisms 11.

[0041] Furthermore, the transfer platform 10 includes a mounting plate 101 disposed on the adjustment platform 7, and rollers 102 are rotatably connected to the mounting plate 101. The rollers 102 are anti-static rollers.

[0042] Furthermore, the transfer mechanism 11 includes a transfer frame 111 mounted on the adjustment table 7, and a transfer adsorption platform 115 mounted on the transfer frame 111 that can move relative to the adjustment table 7. A linear guide rail for the drive displacement module 9 is mounted on the adjustment table 7, and the linear guide rail is parallel to the trajectory of the transfer platform 10. The transfer mechanism 11 includes a transfer frame 111 slidably connected to the linear guide rail, and a transfer adsorption platform 115 mounted on the transfer frame 111; a suction nozzle 116 for adsorbing the panel 12 is mounted on the transfer platform 115. A lifting seat 114 is mounted on the transfer frame 111, and a servo motor 112 and a servo cylinder 113 are connected to one side of the lifting seat 114. The transfer adsorption platform 115, which can move vertically, is mounted on the lifting seat 114.

[0043] Furthermore, the adjustment table 7 is also equipped with an adjustment slide 8, on which a light source mounting bracket is slidably mounted, and a light source 82 is mounted on the light source mounting bracket. The vision camera 81 and the light source 82 mounted on the adjustment slide 8 correspond to the panel 12 supported on the roller 102. Moreover, the vision camera 81 is located between adjacent mounting plates 101, and the side of the roller 102 that contacts the panel 12 is higher than the image acquisition port of the vision camera 81. Example 2

[0044] Based on Embodiment 1, the vision camera 81 is a vision camera. The vision camera 81 and the supplementary light providing the light source 82 are connected via a light source mounting bracket. The light source mounting bracket uses an aluminum plate bracket from the prior art, which fixes its relative position and allows for a 3mm adjustment allowance at the top and bottom to fine-tune the focus for accurate imaging. To accommodate model changes of different sizes of the panel 12, the adjustment slide 8 uses a sliding rail, slider, and manual screw assembly. During cutting, the position is changed by recording the marks on a ruler. The visual camera 81 uses a Basler acA2500-14gm sensor, a long-path FA2501C lens, and a Coaxial light source from a Camstar CST-COS80-W. The visual camera 81 has a target size of 1 / 2.5” (2.2µm × 2.2µm), a resolution of 2592 × 1944, a working distance of 100mm, a focal length of 25mm, a field of view of 34mm*28mm, and an imaging pixel accuracy of 0.04mm.

[0045] Specifically, the cam divider 52, also known in engineering as a cam indexer or intermittent divider, is a high-precision rotary device. A rotary cam mounted on the input shaft connects to the output turret, with cam rollers radially embedded in the circumferential surface of the output turret making linear contact with the tapered support ribs of the cam on their respective inclined surfaces. Furthermore, the Sankyo brand RA125-20GT-VRGS, with its high load capacity and high precision, ensures the accuracy of material correction during the second cut. Repeatability: ±10 arc-sec. More specifically, when the input shaft rotates, the cam rollers rotate the output turret according to a given displacement curve while simultaneously rolling along the inclined surface of the ribs. In the region where the ribs and cam end faces are in equilibrium, i.e., within the static range, the rollers engage their shafts, but the output turret itself does not rotate. The tapered support ribs typically contact 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 unevenness between the cam surface and the cam roller in the tapered support rib, the indexer will be damaged. This uneven rotation can be eliminated by adjusting the distance between the shafts. The rigidity of the indexer can be increased by adjusting the preload to approach the elastic zone of the cam roller and cam. Its structure and function represent the optimal combination of indexable cam and cam roller, enabling high-speed operation.

[0046] Specifically, the working principle of the transfer adsorption stage 115 is as follows: When a sheet needs to be transferred, the lifting seat 114 rises, and when the transfer adsorption stage 115 contacts the panel 12, the vacuum is opened, and the suction nozzle 116 and the transfer adsorption stage 115 simultaneously adsorb the panel 12. Then, the transfer adsorption stage 115 moves downstream to deliver the sheet, completing the transfer of the panel 12.

[0047] Specifically, because the conveying panel 12 is a pre-cut glass panel, the anti-static rollers must be made of anti-static material. They are assembled with the connecting frame using sheet metal parts. Height adjustment blocks are also installed during assembly to adjust the rollers' level. The conveying rollers are made of UHMW-PE with a surface resistivity of 10^6~10^9. The free roller height is within ±0.3mm, with a height deviation within 0.3mm.

[0048] Specifically, nozzle 61, a silicone suction cup head, can adsorb a large area of ​​panel 12, providing stability during flipping. The suction cup head of nozzle 61 has a double-layer accordion structure with a certain amount of buffered downward pressure, ensuring that the product is not damaged due to pressure when adsorbing panel 12. In addition, the suction cup rod of nozzle 61 also has a 13mm buffer stroke, protecting panel 12 from hard collision with the suction cup head and causing damage when the adsorption part is lifted. All suction cup heads have an air inlet diameter of 4mm, meeting industrial air intake standards and enabling efficient product adsorption. Example 3

[0049] Based on Embodiment 1 or Embodiment 2, in a preferred embodiment of the present invention, an alignment method of a system that automatically generates alignment correction values ​​after alignment using a visual system is implemented using the aforementioned system that automatically generates alignment correction values ​​after alignment using a visual system, and includes the following steps:

[0050] The drive displacement bracket, Z-axis module 4, and T-axis rotary reducer 5 drive the material picker 6 to move above the panel 12. The picker 6 picks up the panel 12 through the suction nozzle 61, thus transferring the panel 12.

[0051] The panel 12 is placed on the transfer mechanism 11 of the corresponding adjustment platform 7, at least partially on the transfer adsorption platform 115. The transfer adsorption platform 115 is moved on the adjustment platform 7 by the drive displacement module 9, and the panel 12 adsorbed by the transfer adsorption platform 115 is transferred to the designated position by the roller 102 of the transfer mechanism 11, thereby realizing the transfer and transfer of the panel 12.

[0052] The working principle and process of the system that automatically generates alignment correction values ​​after alignment using a vision system are as follows: First, the panel 12 is gripped downstream of the transfer mechanism 11 by suction cup vacuum adsorption.

[0053] The panel 12 is moved above the vision camera 81 to identify the mark on the panel 12. After image comparison, the deviation between the sampling position and the actual preset position is obtained, and the position of the panel 12 is adjusted in the opposite direction. Example 4

[0054] Based on Example 3, the data is transferred to a transfer station and repeatedly processed multiple times. The average value of the calibration deviation is then corrected to form the parameter collection of the corrected value.

[0055] Working principle:

[0056] This invention discloses a system alignment method that automatically generates alignment correction values ​​after alignment using a vision system. A robotic arm grasps the panel, and a vision camera identifies the panel's marked points. After correction, the panel is placed on a material handling and conveying mechanism and then fed into the second cutting station (MSB2). The positioning correction accuracy is ensured through the coordinated action of the vision system and the cam divider, guaranteeing zero incoming material error. Using vision positioning instead of mechanical positioning offers significant advantages in terms of cost, ease of installation, plant requirements, and maintenance space. There is significant room for development; currently, existing cutting machines all use mechanical alignment for material feeding correction before the second cut, and vision alignment will inevitably become the trend. It reduces reliance on mechanical systems, allowing for more mature and advanced technological advancements. The reduced cycle time requirement allows for increased production output, resulting in higher efficiency.

[0057] Based on the preferred embodiments of the present invention, and through the above description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A system for automatically generating alignment correction values after alignment with a vision system, characterized by, The utility model relates to a kind of automatic transfer system of panel, including: Displacement support is provided with longitudinal drive Z-axis module (4) on it, Z-axis module (4) is provided with T-axis rotary speed reducer (5) that can drive rotation on it, T-axis rotary speed reducer (5) is provided with the material taking frame (6) for obtaining panel (12) on it; The lower portion of the displacement support is provided with an adjustment table (7), which is provided with a plurality of sets of parallelly arranged transfer table frames (10) and at least one set of transfer mechanisms (11). The transfer table frame (10) includes a mounting plate (101) disposed on the adjustment table (7), and a roller (102) is rotatably connected to the mounting plate (101). The transfer mechanism (11) includes a transfer frame (111) disposed on the adjustment table (7), and a transfer adsorption loading table (115) capable of being displaced relative to the adjustment table (7) is disposed on the transfer frame (111). The transfer adsorption loading table (115) is provided with a suction nozzle (116) for adsorbing the panel (12). The linear guide rail of the driving displacement module (9) is disposed on the adjustment table (7), and the linear guide rail and the setting track of the transfer table frame (10) are parallel to each other. The transfer frame (111) is slidingly connected to the linear guide rail. The transfer frame (111) is provided with a lifting seat (114), one side of the lifting seat (114) is provided with a drivingly connected servo motor (112) and a servo cylinder (113), and the lifting seat (114) is provided with a transfer adsorption loading table (115) capable of being vertically lifted. The alignment method of the system for automatically generating alignment correction values after alignment by a visual system includes the following steps: The driving displacement support, Z-axis module (4), T-axis rotary speed reducer (5) and material taking frame (6) are driven to move above the panel (12), the panel (12) is sucked by a suction nozzle (61) provided on the material taking frame (6), and the transfer of the panel (12) is realized. The panel (12) is placed on the transfer mechanism (11) of the corresponding adjustment table (7), at least part of which is located on the transfer adsorption loading table (115). The transfer adsorption loading table (115) is driven by the driving displacement module (9) to move on the adjustment table (7), and the panel (12) adsorbed by the transfer adsorption loading table (115) is conveyed to a designated position by the roller (102) of the transfer mechanism (11), realizing the conveying and transferring of the panel (12). The working principle and process of the system for automatically generating alignment correction values after alignment by a visual system are as follows: first, the panel (12) is grabbed by the transfer mechanism (11) in a suction mode by a vacuum suction cup. The panel (12) moves above the visual camera (81), recognizes the mark on the panel (12), and obtains the deviation amount of the sampling position and the actual preset position through image comparison, and adjusts the position of the panel (12) in the reverse direction. After repeated operation for multiple times, the average value of the calibration deviation value is corrected to form a parameter collection of the correction value.

2. The system for automatically generating alignment correction values after alignment by a vision system according to claim 1, wherein: The adjusting platform (7) is further provided with an adjusting sliding platform (8), and the adjusting sliding platform (8) is provided with a visual camera (81) and a light source (82) corresponding to the panel (12) received on the roller (102).

3. The system for automatically generating alignment correction values after alignment by a vision system according to claim 2, wherein: The adjusting sliding platform (8) is slidably provided with a light source mounting bracket, and the light source mounting bracket is provided with the light source (82).

4. The system for automatically generating alignment correction values after alignment by a vision system according to claim 3, wherein: The visual camera (81) is located between the 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 (81).

5. The system for automatically generating alignment correction values after alignment by a vision system according to claim 4, wherein: The displacement bracket comprises Y-axis module one (1) and Y-axis module two (2) arranged side by side and spaced apart, and X-axis module (3) transversely and slidably arranged on the Y-axis module one (1) and the Y-axis module two (2); The Y-axis module one (1), the Y-axis module two (2) and the X-axis module (3) all comprise a linear guide rail (14), and an embedded sliding block (15) is limitingly and slidably arranged on the linear guide rail (14); one end of the linear guide rail (14) is provided with a servo motor one (16) in driving connection with the embedded sliding block (15), and the servo motor one (16) drives the embedded sliding block (15) to slide and displace on the linear guide rail (14).

6. The system for automatically generating alignment correction values after alignment by a vision system according to claim 5, wherein: The T-axis rotary speed reducer (5) comprises a cam divider (52) arranged on the X-axis module (3), and the cam divider (52) is in driving connection with a servo motor two (51) through a speed reducer two.

Images