Workpiece positioning method and system

Abstract

The workpiece positioning method comprises the following steps that a plurality of linear modules and positioning wheels are arranged on a workbench, at least one semicircular notch is formed in each side edge of a calibration template, a first coordinate system is established with the center of the calibration template as the original point, and the circle center coordinate of each semicircular notch is recorded; the calibration template is placed on the workbench, the positioning wheels on the linear modules are moved, the positioning wheels are embedded into the corresponding semicircular notches of the calibration template and attached to the semicircular notches, a coordinate axis system is established, and the axis coordinates of the linear modules in the coordinate axis system are recorded; the center point of the to-be-machined workpiece graph is positioned to the original point of the coordinate axis system, the coordinate position of the positioning wheel in the first coordinate system when the positioning wheel is tangent to the to-be-machined workpiece graph is recorded, and the coordinate position is a first coordinate; and according to the circle center coordinates, the axis coordinates and the first coordinates, the positioning coordinates of the linear modules are calculated, the positioning wheels of the linear modules are controlled to move to the corresponding positioning coordinates, and workpiece positioning is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece positioning, and particularly to a workpiece positioning method and system. Background Art

[0002] In the existing methods for equipment positioning and coordinate system establishment, a common approach is to first select a specific point on the equipment as a reference point to establish a Cartesian coordinate system. Usually, this reference point is selected as the lower left corner point of the workbench. Then, the linear modules X1, X2, Y1, Y2, Y3, and Y4 are returned to the workpiece zero position. Here, the zero points of each axis refer to the positions far from the center of the positioning device. Then, a ruler is used to measure the distances in the X-axis and Y-axis directions between the center points of the positioning wheels controlled by each linear module and the previously defined reference point respectively, so as to determine the exact coordinates of these points in the newly established coordinate system.

[0003] This method can only rely on a ruler for distance measurement, and this method is extremely vulnerable to human factors, such as the angular error during reading and the accuracy of ruler placement, etc., resulting in a large error in the measurement result and affecting the positioning accuracy. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that the current workpiece positioning method can only rely on a ruler for distance measurement, and this method is extremely vulnerable to human factors, such as the angular error during reading and the accuracy of ruler placement, etc., resulting in a large error in the measurement result and affecting the positioning accuracy.

[0005] To solve the above technical problem, the present invention provides a workpiece positioning method, including the following steps:

[0006] A plurality of linear modules and positioning wheels are arranged on the workbench, and the positioning wheels are slidably installed on the corresponding linear modules;

[0007] A calibration template is prepared. At least one semi-circular notch adapted to the corresponding positioning wheel is opened on each side of the calibration template, and a first coordinate system is established with the center of the calibration template as the origin, and the center coordinates of each semi-circular notch are recorded;

[0008] The calibration template is placed on the workbench and the positioning wheels on each linear module are moved so that the positioning wheels are embedded into the corresponding semi-circular notches of the calibration template and fit. Taking the position where the center of the calibration template corresponds to the position of the workbench at this time as the workpiece origin, a coordinate axis system is established, and the axis coordinates of each linear module in the coordinate axis system are recorded;

[0009] Locate the center point of the workpiece graph to be processed at the origin of the coordinate axis system, and record the coordinate position in the first coordinate system when the positioning wheel is tangent to the workpiece graph to be processed. This coordinate position is the first coordinate;

[0010] Calculate the positioning coordinates of the linear module according to the center coordinates of the circle, the axis coordinates, and the first coordinate, and control the positioning wheels of each linear module to move to the corresponding positioning coordinates to achieve the positioning of the workpiece.

[0011] Further, prepare a calibration template. At least one semi-circular notch adapted to the corresponding positioning wheel is provided on each side of the calibration template, and a first coordinate system is established with the center of the calibration template as the origin, and the center coordinates of each semi-circular notch are recorded, including:

[0012] Prepare a rectangular calibration template, and at least one semi-circular notch is provided on the four straight sides of the calibration template according to the installation position of the linear module. The semi-circular notch is adapted to the corresponding positioning wheel;

[0013] Establish a first coordinate system with the center of the calibration template as the workpiece origin, and determine and record the center coordinates of each semi-circular notch according to the size of the calibration template.

[0014] Further, placing the calibration template on the workbench includes:

[0015] Place the calibration template at the center position of the workbench, and make the first side of the calibration template parallel to the X-axis direction of the workbench, and the second side of the calibration template parallel to the Y-axis direction of the workbench;

[0016] Turn on the vacuum chuck to fix the properly positioned calibration template.

[0017] Further, move the positioning wheels on each linear module so that the positioning wheels are embedded in and fit the corresponding semi-circular notches of the calibration template. Establish a coordinate axis system with the center position of the calibration template corresponding to the position of the workbench at this time as the workpiece origin, and record the axis coordinates of each linear module in the coordinate axis system, including:

[0018] Adjust the linear module located in the X-axis direction to be horizontal with the X-axis direction of the workbench in sequence, and make the center of the semi-circular notch on the center line of the moving track of the positioning wheel on the corresponding linear module. Move the positioning wheel on the linear module so that the outer side of the positioning wheel fits the outer side of the semi-circular notch;

[0019] Adjust the linear module located in the Y-axis direction to be horizontal with the Y-axis direction of the workbench in sequence, and make the center of the semi-circular notch on the center line of the moving track of the positioning wheel on the corresponding linear module. Move the positioning wheel on the linear module to make the outer side of the positioning wheel fit with the outer side of the semi-circular notch.

[0020] Take the position where the center of the calibration template corresponds to the workbench at this time as the workpiece origin to establish a coordinate axis system, and record the axis coordinates of each linear module in the coordinate axis system.

[0021] Further, use a marble square or a right-angle ruler to adjust the positional relationship between the calibration template and the workbench and the positional relationship between the linear module and the workbench.

[0022] Further, positioning the center point of the workpiece graph to be processed at the origin of the coordinate axis system includes:

[0023] Import the workpiece graph to be processed into the coordinate axis system.

[0024] Establish a circumscribed rectangle according to the workpiece graph to be processed, and position the center point of the circumscribed rectangle at the origin of the coordinate axis system.

[0025] Further, recording the coordinate position in the first coordinate system when the positioning wheel is tangent to the workpiece graph to be processed, and before this coordinate position is the first coordinate also includes:

[0026] Expand the outer contour line of the workpiece graph to be processed by one radius of the positioning wheel to construct the outer contour line.

[0027] Further, recording the coordinate position in the first coordinate system when the positioning wheel is tangent to the workpiece graph to be processed, and this coordinate position is the first coordinate includes:

[0028] Determine the intersection point of the outer contour line and the axis center of the corresponding linear module, and mark this intersection point as the coordinate position in the first coordinate system when the corresponding positioning wheel is tangent to the workpiece graph to be processed, and record the corresponding first coordinate.

[0029] Further, calculating the positioning coordinates of the linear module according to the center coordinates, the axis coordinates and the first coordinate includes:

[0030] Calculate the coordinate difference between the center coordinates and the axis coordinates according to the center coordinates and the axis coordinates.

[0031] Calculate the positioning coordinates of the linear module according to the coordinate difference and the first coordinate.

[0032] The present invention also provides a workpiece positioning system, which uses the workpiece positioning method as described above for workpiece positioning. The workpiece positioning system includes: a workbench, a plurality of linear modules, positioning wheels, a calibration template, a control module, an acquisition module, and a calculation module. A plurality of linear modules and positioning wheels are arranged on the workbench. The positioning wheels are slidably mounted on the corresponding linear modules. The calibration template is used to be placed on the workbench, and at least one semi-circular notch adapted to the corresponding positioning wheel is formed on each side of the calibration template. The control module is used to control the sliding of the positioning wheels on the linear modules. The acquisition module is used to acquire the center coordinates of the semi-circular notches, the axis coordinates of the linear modules, and the first coordinates. The calculation module is used to calculate the positioning coordinates of the linear modules.

[0033] Compared with the prior art, the workpiece positioning method and system according to the embodiments of the present invention have the following beneficial effects:

[0034] By using the calibration template and the method of assisting calibration with multiple coordinate systems, the calibration accuracy is improved, the influence of human factors on the calibration result is reduced, the error caused by human factors is reduced, and the accuracy and efficiency of workpiece positioning are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a flowchart of the workpiece positioning method provided by the embodiment of the present invention;

[0036] Figure 2 is a structural schematic diagram of the calibration template provided by the embodiment of the present invention;

[0037] Figure 3 is a schematic diagram of the usage state of the workpiece positioning system provided by the embodiment of the present invention;

[0038] Figure 4 is a schematic diagram of the state of determining the positioning coordinates of the workpiece positioning system provided by the embodiment of the present invention;

[0039] In the figure, 1, calibration template; 11, first semi-circular notch; 12, second semi-circular notch; 13, third semi-circular notch; 14, fourth semi-circular notch; 15, fifth semi-circular notch; 16, sixth semi-circular notch; 2, first linear module; 3, second linear module; 4, third linear module; 5, fourth linear module; 6, fifth linear module; 7, sixth linear module; 8, processed workpiece graph; 9, circumscribed rectangle; 10, outer contour line. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. It should be noted that the following detailed description is an exemplary description, aiming to provide further details of the present invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "comprising" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the specification and claims of this application or the above drawings are used to distinguish different objects and are not used to describe a specific order.

[0041] It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order restriction and can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0042] As Figures 1 to 3 shown, the present invention provides a workpiece positioning method, which includes the following steps:

[0043] S110. Set a plurality of linear modules and positioning wheels on the workbench, and the positioning wheels are slidably installed on the corresponding linear modules;

[0044] This step provides a controllable mechanical platform, enabling the positioning wheels to move precisely along the linear modules, providing a hardware basis for subsequent positioning. In this embodiment, there are six linear modules, namely the first linear module 2 and the second linear module 3 in the horizontal direction, and the first linear module 2 and the second linear module 3 in the horizontal direction are arranged parallel to each other; the third linear module 4, the fourth linear module 5, the fifth linear module 6, and the sixth linear module 7 in the vertical direction, and the third linear module 4, the fourth linear module 5, the fifth linear module 6, and the sixth linear module 7 in the vertical direction are arranged parallel to each other.

[0045] S120. Prepare a calibration template 1, at least one semi-circular notch adapted to the corresponding positioning wheel is opened on each side of the calibration template 1, and a first coordinate system is established with the center of the calibration template 1 as the origin, and the center coordinates of each semi-circular notch are recorded;

[0046] This step provides a standard reference object for calibrating and calibrating the device in subsequent steps to ensure that the system can accurately identify positions. Among them, the calibration template 1 has six semi-circular notches. The first semi-circular notch 11 and the second semi-circular notch 12 are located in the X-axis direction. The third semi-circular notch 13, the fourth semi-circular notch 14, the fifth semi-circular notch 15, and the sixth semi-circular notch 16 are located in the Y-axis direction. Among them, the first semi-circular notch 11 is located on the negative half-axis of the X-axis of the first coordinate system, the second semi-circular notch 12 is located on the positive half-axis of the X-axis of the first coordinate system, the third semi-circular notch 13 is located in the second quadrant of the first coordinate system, the fourth semi-circular notch 14 is located in the first quadrant of the first coordinate system, the fifth semi-circular notch 15 is located in the third quadrant of the first coordinate system, and the sixth semi-circular notch 16 is located in the fourth quadrant of the first coordinate system.

[0047] S130. Place the calibration template 1 on the workbench and move the positioning wheels on each linear module so that the positioning wheels are embedded in the corresponding semi-circular notches of the calibration template 1 and fit. Take the position corresponding to the center position of the calibration template 1 at this time as the workpiece origin to establish a coordinate axis system, and record the axis coordinates of each linear module in the coordinate axis system;

[0048] In this step, the first linear module 2 is moved to fit with the first semi-circular notch 11, the second linear module 3 is moved to fit with the second semi-circular notch 12, the third linear module 4 is moved to fit with the third semi-circular notch 13, the fourth linear module 5 is moved to fit with the fourth semi-circular notch 14, the fifth linear module 6 is moved to fit with the fifth semi-circular notch 15, and the sixth linear module 7 is moved to fit with the sixth semi-circular notch 16. By using the above physical contact method to determine the center position of the workpiece to be processed, a coordinate axis system corresponding to the first coordinate system is established to ensure the accuracy of subsequent operations.

[0049] S140. Locate the center point of the workpiece graphic 8 to the origin of the coordinate axis system, and record the coordinate position in the first coordinate system when the positioning wheel is tangent to the workpiece graphic 8 to be processed. This coordinate position is the first coordinate;

[0050] This step assists the subsequent coordinate position of the positioning wheel in the coordinate axis system by determining the specific position of the workpiece to be processed relative to the coordinate axis system and the coordinate position in the first coordinate system when the positioning wheel is tangent to the workpiece to be processed.

[0051] S150. Calculate the positioning coordinates of the linear module according to the center coordinates, axis coordinates, and the first coordinate, and control the positioning wheels of each linear module to move to the corresponding positioning coordinates to achieve the positioning of the workpiece.

[0052] This step uses the above coordinates to calculate the data for adjusting the position of the linear module, achieving the purpose of positioning.

[0053] In this embodiment, by using the calibration template 1 and multiple coordinate systems for auxiliary calibration, the calibration accuracy is improved, the influence of human factors on the calibration result is reduced, the error caused by human factors is reduced, and the accuracy and efficiency of workpiece positioning are improved.

[0054] It should be noted that the horizontal direction of this embodiment is parallel to the X-axis direction, and the vertical direction is parallel to the Y-axis direction.

[0055] Furthermore, prepare the calibration template 1. At least one semicircular notch adapted to the corresponding positioning wheel is opened on each side of the calibration template 1. A first coordinate system is established with the center of the calibration template 1 as the origin, and the center coordinates of each semicircular notch are recorded, including:

[0056] S121. Prepare a rectangular calibration template 1, and open at least one semicircular notch on the four straight sides of the calibration template 1 according to the installation position of the linear module. The semicircular notch is adapted to the corresponding positioning wheel.

[0057] This step makes a rectangular calibration template 1 and opens at least one semicircular notch on each side (usually four sides) of the template according to actual needs (such as the layout of the linear module and the position of the positioning wheel). These semicircular notches are used to match the positioning wheels. It should be noted that in this embodiment, one semicircular notch is provided on each short side of the rectangular calibration template 1, namely the first semicircular notch 11 and the second semicircular notch 12, and two semicircular notches are provided on each long side of the rectangular calibration template 1, namely the third semicircular notch 13 and the fourth semicircular notch 14, the fifth semicircular notch 15 and the sixth semicircular notch 16. Among them, the first semicircular notch 11 and the second semicircular notch 12 are on the same horizontal line, the third semicircular notch 13 and the fifth semicircular notch 15 are on the same vertical line, and the fourth semicircular notch 14 and the sixth semicircular notch 16 are on the same vertical line. Through the above settings, when the positioning wheel needs to be embedded into the semicircular notch of the calibration template 1, it can ensure that the positioning wheel accurately aligns with the predetermined position, thus realizing precise positioning and providing a physical reference standard for the subsequent establishment of the coordinate system. It can be understood that the arc notch facilitates the positioning wheel to enter the semicircular notch during subsequent alignment. The calibration template 1 is made of steel and processed by a CNC milling machine.

[0058] S122. Establish a first coordinate system with the center of the calibration template 1 as the workpiece origin, and determine and record the center coordinates of each semicircular notch according to the size of the calibration template 1.

[0059] This step selects the geometric center of the calibration template 1 as the origin of the newly established coordinate system (the first coordinate system), and calculates the coordinates of the center of each semi-circular notch based on this origin and the actual size of the template. Subsequent operations (such as the movement of the positioning wheel, the placement of the workpiece to be processed, etc.) are carried out relative to this fixed reference point, improving the positioning accuracy and consistency. In addition, recording the coordinates of the center of each semi-circular notch provides more accurate calibration points, enabling the device to self-correct its position error and further enhancing the positioning accuracy.

[0060] In this embodiment, the center coordinates of the first semi-circular notch 11 are: (-370.2695, 0), the center coordinates of the second semi-circular notch 12 are: (370.2695, 0), the center coordinates of the third semi-circular notch 13 are: (-237.7685, 244.0025), the center coordinates of the fourth semi-circular notch 14 are: (237.7685, 244.0025), the center coordinates of the fifth semi-circular notch 15 are: (-237.7685, -244.0025), and the center coordinates of the sixth semi-circular notch 16 are: (237.7685, -244.0025).

[0061] Furthermore, placing the calibration template 1 on the workbench includes:

[0062] S131. Place the calibration template 1 at the center position of the workbench, and make the first side of the calibration template 1 parallel to the X-axis direction of the workbench, and the second side of the calibration template 1 parallel to the Y-axis direction of the workbench;

[0063] This step involves precisely placing the calibration template 1 at the center of the workbench and adjusting its orientation so that the long side (the first side) of the calibration template 1 is parallel to the X-axis of the workbench, and the short side (the second side) of the calibration template 1 is parallel to the Y-axis of the workbench, ensuring that the position and direction of the subsequent calibration template 1 are consistent with the preset coordinate system of the workbench, thereby providing a reliable reference framework for subsequent operations and guaranteeing the basis of positioning accuracy.

[0064] S132. Turn on the vacuum chuck to fix the correctly placed and aligned calibration template 1.

[0065] In this step, once the calibration template 1 is correctly placed and aligned, the vacuum chuck is used to firmly fix it on the workbench. The vacuum chuck adsorbs the surface of the template by generating negative pressure, thereby preventing its displacement during the operation. The fixed calibration template 1 will not move due to external interference (such as vibration, collision, etc.), ensuring the stability of the calibration template 1 during the entire calibration process and guaranteeing the accuracy of subsequent measurement and positioning work. In addition, using a vacuum chuck instead of other fixing methods can reduce damage to the surface of the calibration template 1.

[0066] The above two steps work together to ensure that the calibration template 1 can be placed on the workbench accurately and remain stable during operation. This not only improves the accuracy of workpiece positioning but also enhances the reliability and repeatability of the entire system.

[0067] Further, move the positioning wheels on each linear module so that the positioning wheels are embedded in and fit the corresponding semi-circular notches of the calibration template 1. Establish a coordinate axis system with the position of the center of the calibration template 1 corresponding to the position of the workbench as the workpiece origin, and record the axis coordinates of each linear module in the coordinate axis system, including:

[0068] S133. Adjust the linear modules in the X-axis direction to be horizontal with the X-axis direction of the workbench in sequence, and make the center of the semi-circular notch on the center line of the moving track of the positioning wheel on the corresponding linear module. Move the positioning wheel on the linear module so that the outer side of the positioning wheel fits the outer side of the semi-circular notch.

[0069] This step first adjusts the linear modules in the X-axis direction (i.e., the first linear module 2 and the second linear module 3) to ensure that they are parallel to the X-axis of the workbench. Then, move the positioning wheels on the first linear module 2 and the second linear module 3 until they are exactly on the center lines of the first semi-circular notch 11 and the second semi-circular notch 12 respectively, and the outer sides of the positioning wheels fit tightly with the outer sides of the first semi-circular notch 11 and the second semi-circular notch 12, ensuring that the positioning wheels in the X-axis direction can accurately align with specific positions on the calibration template 1, providing necessary physical reference points for the subsequent establishment of the coordinate axis system.

[0070] S134. Adjust the linear modules in the Y-axis direction to be horizontal with the Y-axis direction of the workbench in sequence, and make the center of the semi-circular notch on the center line of the moving track of the positioning wheel on the corresponding linear module. Move the positioning wheel on the linear module so that the outer side of the positioning wheel fits the outer side of the semi-circular notch.

[0071] This step adjusts the linear modules in the Y-axis direction (i.e., the third linear module 4, the fourth linear module 5, the fifth linear module 6, and the sixth linear module 7) to ensure that they are parallel to the Y-axis of the workbench. Then, move the positioning wheels so that the third linear module 4 fits the third semi-circular notch 13, the fourth linear module 5 fits the fourth semi-circular notch 14, the fifth linear module 6 fits the fifth semi-circular notch 15, and the sixth linear module 7 fits the sixth semi-circular notch 16, ensuring that the positioning wheels in the Y-axis direction can also accurately align with the designated positions on the calibration template 1, further improving the calibration basis of the entire system.

[0072] S135. Establish a coordinate axis system with the position of the center of the calibration template 1 corresponding to the position of the workbench as the workpiece origin, and record the axis coordinates of each linear module in the coordinate axis system.

[0073] After completing the above adjustments, take the center of the calibration template 1 as the new workpiece origin (i.e., the origin of the coordinate axis system), and record the specific coordinate positions of each linear module on this basis. The coordinate axis system established in this way provides a reference framework directly related to the actual physical position, enabling all subsequent operations to be carried out based on this coordinate axis system. At the same time, recording the coordinate positions of each linear module helps with subsequent calculations and adjustments, ensuring the accuracy of the positioning process.

[0074] Among them, the axis coordinate of the first linear module 2 is 254.3212, the axis coordinate of the second linear module 3 is -255.1953, the axis coordinate of the third linear module 4 is -395.3641, the axis coordinate of the fourth linear module 5 is -394.9827, the axis coordinate of the fifth linear module 6 is 396.1434, and the axis coordinate of the sixth linear module 7 is 395.4675. It should be noted that the coordinate axis system of this embodiment includes two perpendicularly arranged coordinate axes, and the axis coordinate of each linear module on the corresponding coordinate axis represents the distance from its projection along the corresponding direction to the origin of this coordinate axis system. For example, the axis coordinate of the first linear module 2 being 254.3212 means that in the X-axis direction, the first linear module 2 is in the positive direction and is 254.3212 away from the origin of this coordinate axis system. The direction of the coordinate axis system in this embodiment is opposite to that of the first coordinate system. In some embodiments, the direction of the coordinate axis system can be the same as that of the first coordinate system.

[0075] It can be understood that the coordinate axis system of this embodiment can also be calibrated using the method of a planar coordinate system. At this time, the axis coordinate of the first linear module 2 is (254.3212, 0), the axis coordinate of the second linear module 3 is (-255.1953, 0), the axis coordinate of the third linear module 4 is (-237.7685, -395.3641), the axis coordinate of the fourth linear module 5 is (237.7685, -394.9827), the axis coordinate of the fifth linear module 6 is (-237.7685, 396.1434), and the axis coordinate of the sixth linear module 7 is (237.7685, 395.4675).

[0076] Furthermore, use a marble square or a right-angle square to adjust the positional relationship between the calibration template 1 and the workbench and the positional relationship between the linear module and the workbench.

[0077] In this embodiment, by using these tools, the position of the calibration template 1 relative to the workbench can be accurately adjusted, and at the same time, it can be ensured that the positional relationship between the linear module and the workbench meets the requirements (such as being parallel), thereby providing a reliable physical basis for subsequent operations.

[0078] Such asFigure 4 As shown in the figure, positioning the center point of the workpiece graph 8 to be processed to the origin of the coordinate system includes:

[0079] S141. Import the workpiece graph 8 to be processed into the coordinate system;

[0080] First of all, it is necessary to import the design graph (such as DXF graph) of the workpiece to be processed into the system and place it within the previously established coordinate system, which provides a basis for subsequent workpiece positioning, enabling the design information of the workpiece to correspond to the actual physical position and facilitating subsequent operations.

[0081] S142. Establish a circumscribed rectangle 9 based on the workpiece graph 8 to be processed and position the center point of the circumscribed rectangle 9 to the origin of the coordinate system.

[0082] In this step, a circumscribed rectangle 9 is created around the workpiece graph 8 to be processed. This rectangle completely encompasses all parts of the workpiece graph, ensuring that the center point (i.e., the intersection of the diagonals) of this circumscribed rectangle 9 coincides with the origin of the coordinate system. This can ensure that the workpiece maintains the correct relative position throughout the processing, reducing positioning deviations caused by irregular shapes and improving the manufacturing accuracy of the final product. In this embodiment, by using the center of the circumscribed rectangle 9 as a reference point for alignment, the positioning process of workpieces with complex shapes can be simplified.

[0083] Furthermore, recording the coordinate position in the first coordinate system when the positioning wheel is tangent to the workpiece graph 8 to be processed, this coordinate position before the first coordinate further includes:

[0084] S143. Expand the outer contour line 10 of the workpiece graph 8 to be processed by a positioning wheel radius to construct the outer contour line 10.

[0085] In this step, first, the workpiece graph 8 to be processed is processed, and all the outer contour lines of the workpiece are expanded outward by a distance equal to the positioning wheel radius. In actual operation, the positioning wheel needs to contact the workpiece or its peripheral equipment to determine the boundary. Using the original contour directly will result in positioning deviations. By pre-adjusting the contour line, it is ensured that when the positioning wheel moves along this new contour, its center actually follows the contour line of the original workpiece, thus ensuring the processing accuracy.

[0086] Furthermore, recording the coordinate position in the first coordinate system when the positioning wheel is tangent to the workpiece graph 8 to be processed, this coordinate position being the first coordinate includes:

[0087] S144. Determine the intersection point of the outer contour line and the axis center of the corresponding linear module. This intersection point is marked as the coordinate position in the first coordinate system when the corresponding positioning wheel is tangent to the workpiece graph 8 to be processed, and record the corresponding first coordinate.

[0088] First, it is necessary to identify the intersection points between the extended outer contour line (the new contour considering the radius of the positioning wheel) and the axis of the linear module. These intersection points represent the positions where the positioning wheel just touches the outer contour of the workpiece when it moves along its corresponding linear module. Record the specific coordinate values of these intersection points as the "first coordinates". By this method, the specific positions where the positioning wheel touches the workpiece can be determined, ensuring the accuracy of subsequent machining operations. Understandably, by recording these coordinate values, the automated control system can program based on these data to control the movement of the linear module and the positioning wheel, thereby achieving high-precision operations.

[0089] The coordinates of the positioning wheel of the first linear module 2 are (-441.3957, 0), the coordinates of the positioning wheel of the second linear module 3 are (448.8260, 0), the coordinates of the positioning wheel of the third linear module 4 are (-237.7685, 353.6771), the coordinates of the positioning wheel of the fourth linear module 5 are (237.7685, 208.2179), the coordinates of the positioning wheel of the fifth linear module 6 are (-237.7685, -280.7921), and the coordinates of the positioning wheel of the sixth linear module 7 are (237.7685, -300.4904);

[0090] Furthermore, according to the center coordinates, axis coordinates, and first coordinates, the positioning coordinates of the linear module are calculated, including:

[0091] S151: Calculate the coordinate difference between the center coordinates and the axis coordinates according to the center coordinates and the axis coordinates;

[0092] In this embodiment, by calculating the coordinate difference between the center coordinates and the axis coordinates, the distance and direction that each positioning wheel needs to move relative to its target position (i.e., the center of the semi-circular notch) can be determined. As shown in the following table:

[0093]

[0094] S152: Calculate the positioning coordinates of the linear module according to the coordinate difference and the first coordinates.

[0095] This step combines the coordinate difference and the first coordinates to be able to determine the exact target position of the positioning wheel on the linear module, guiding the linear module to accurately move to the specified position for subsequent machining operations.

[0096] The positioning coordinates of the first linear module 2 are 183.195, the coordinates of the positioning wheel of the second linear module 3 are -176.6388, the coordinates of the positioning wheel of the third linear module 4 are -285.6895, the coordinates of the positioning wheel of the fourth linear module 5 are -430.7673, the coordinates of the positioning wheel of the fifth linear module 6 are 359.3538, and the coordinates of the positioning wheel of the sixth linear module 7 are 338.9796; it can be understood that each linear module in this embodiment can achieve accurate movement positioning of the linear module by moving the corresponding distance along the direction and corresponding values of the coordinate axis system.

[0097] In summary, these two steps work together to determine the target positioning coordinates of the linear module by calculating the relative position relationships between various key points, which not only improves the accuracy of workpiece positioning but also provides reliable data support for automated processing, enabling complex-shaped workpieces to be processed.

[0098] The present invention also provides a workpiece positioning system that uses the above workpiece positioning method for workpiece positioning. The workpiece positioning system includes: a workbench, multiple linear modules, positioning wheels, a calibration template 1, a control module, an acquisition module, and a calculation module. The workbench provides a stable platform for carrying workpieces to be processed and components. Multiple linear modules and positioning wheels are arranged on the workbench. The positioning wheels are slidably installed on the corresponding linear modules, enabling the positioning wheels to reach designated positions for precise workpiece positioning. The calibration template 1 is used to be placed on the workbench, and at least one semi-circular notch adapted to the corresponding positioning wheel is provided on each side of the calibration template 1 to allow the positioning wheel to be embedded therein for precise alignment; the control module is used to control the sliding of the positioning wheels on the linear modules. According to the instructions of the system, the control module can accurately guide the positioning wheels to move to designated positions for workpiece positioning or processing operations; the acquisition module is used to acquire the center coordinates of the semi-circular notches, the axis coordinates of the linear modules, and the first coordinates; the calculation module is used to calculate the positioning coordinates of the linear modules.

[0099] In summary, the embodiment of the present invention provides a workpiece positioning method and system. By using the calibration template 1 and multiple coordinate systems for auxiliary calibration, the calibration accuracy is improved, the influence of human factors on the calibration results is reduced, the errors caused by human factors are reduced, and the accuracy and efficiency of workpiece positioning are improved.

[0100] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0101] As used herein, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments. For the sake of brevity of description, not all possible combinations of all the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope recorded in this specification.

[0102] The above-described embodiments merely represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several improvements and substitutions can still be made, and these improvements and substitutions should also be regarded as within the protection scope of the present invention. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A workpiece positioning method, characterized in that, It includes the following steps: A plurality of linear modules and positioning wheels are arranged on the workbench, and the positioning wheels are slidably mounted on the corresponding linear modules; Prepare a calibration template. At least one semi-circular notch adapted to the corresponding positioning wheel is formed on each side of the calibration template. A first coordinate system is established with the center of the calibration template as the origin, and the center coordinates of each semi-circular notch are recorded; Place the calibration template on the workbench and move the positioning wheels on each linear module so that the positioning wheels are embedded in and fit with the corresponding semi-circular notches of the calibration template. An axis coordinate system is established with the center position of the calibration template corresponding to the position of the workbench as the workpiece origin, and the axis coordinates of each linear module in the axis coordinate system are recorded; Position the center point of the workpiece graph to be processed at the origin of the axis coordinate system, and record the coordinate position in the first coordinate system when the positioning wheel is tangent to the workpiece graph to be processed. This coordinate position is the first coordinate; According to the center coordinates, the axis coordinates and the first coordinate, calculate the positioning coordinates of the linear modules, and control the positioning wheels of each linear module to move to the corresponding positioning coordinates to achieve the positioning of the workpiece.

2. The workpiece positioning method according to claim 1, characterized in that, Prepare a calibration template. At least one semi-circular notch adapted to the corresponding positioning wheel is formed on each side of the calibration template. A first coordinate system is established with the center of the calibration template as the origin, and the center coordinates of each semi-circular notch are recorded, including: Prepare a rectangular calibration template, and at least one semi-circular notch is formed on the four linear side orientations of the calibration template according to the installation positions of the linear modules. The semi-circular notch is adapted to the corresponding positioning wheel; Establish a first coordinate system with the center of the calibration template as the workpiece origin, and determine and record the center coordinates of each semi-circular notch according to the size of the calibration template.

3. The workpiece positioning method according to claim 1, characterized in that, Placing the calibration template on the workbench includes: Place the calibration template at the center position of the workbench, and make the first side of the calibration template parallel to the X-axis direction of the workbench, and the second side of the calibration template parallel to the Y-axis direction of the workbench; Turn on the vacuum chuck to fix the calibrated template after alignment.

4. The workpiece positioning method according to claim 3, wherein Move the positioning wheels on each linear module so that the positioning wheels are embedded in and fit with the corresponding semi-circular notches of the calibration template. An axis coordinate system is established with the center position of the calibration template corresponding to the position of the workbench as the workpiece origin, and the axis coordinates of each linear module in the axis coordinate system are recorded, including: Adjust the linear module in the X-axis direction to be horizontal with the X-axis direction of the workbench in sequence, and make the center of the semi-circular notch on the center line of the moving track of the positioning wheel on the corresponding linear module. Move the positioning wheel on the linear module so that the outer side of the positioning wheel fits with the outer side of the semi-circular notch; Adjust the linear module located in the Y-axis direction to be horizontal with the Y-axis direction of the workbench in sequence, and make the center of the semi-circular notch on the center line of the moving track of the positioning wheel on the corresponding linear module. Move the positioning wheel on the linear module to make the outer side of the positioning wheel fit with the outer side of the semi-circular notch. Establish a coordinate axis system with the center position of the calibration template corresponding to the position of the workbench at this time as the workpiece origin, and record the axis coordinates of each linear module in the coordinate axis system.

5. The workpiece positioning method according to claim 4, characterized in that, Use a marble square or a right angle ruler to adjust the positional relationship between the calibration template and the workbench and the positional relationship between the linear module and the workbench.

6. The workpiece positioning method according to claim 1, wherein, Positioning the center point of the workpiece to be machined at the origin of the coordinate axis system includes: Import the workpiece to be machined into the coordinate axis system. Establish a circumscribed rectangle according to the workpiece to be machined, and position the center point of the circumscribed rectangle at the origin of the coordinate axis system.

7. The workpiece positioning method according to claim 1 or 6, characterized in that Record the coordinate position of the positioning wheel when it is tangent to the workpiece to be machined in the first coordinate system. Before this coordinate position is the first coordinate, it also includes: Expand the outer contour line of the workpiece to be machined by a radius of the positioning wheel to construct an outer contour line.

8. The workpiece positioning method according to claim 7, characterized in that, Record the coordinate position of the positioning wheel when it is tangent to the workpiece to be machined in the first coordinate system. This coordinate position is the first coordinate, and it includes: Determine the intersection point of the outer contour line and the axis center of the corresponding linear module. This intersection point is marked as the coordinate position of the corresponding positioning wheel when it is tangent to the workpiece to be machined in the first coordinate system, and record the corresponding first coordinate.

9. The workpiece positioning method according to claim 1, characterized in that Calculate the positioning coordinates of the linear module according to the center coordinates, the axis coordinates, and the first coordinate, including: Calculate the coordinate difference between the center coordinates and the axis coordinates according to the center coordinates and the axis coordinates. Calculate the positioning coordinates of the linear module according to the coordinate difference and the first coordinate.

10. A workpiece positioning system, characterized in that, Apply the workpiece positioning method described in any one of claims 1-9 for workpiece positioning. The workpiece positioning system includes: a workbench, a plurality of linear modules, positioning wheels, a calibration template, a control module, an acquisition module, and a calculation module. A plurality of linear modules and positioning wheels are arranged on the workbench. The positioning wheels are slidably installed on the corresponding linear modules. The calibration template is used to be placed on the workbench, and at least one semi-circular notch adapted to the corresponding positioning wheel is opened on each side of the calibration template. The control module is used to control the sliding of the positioning wheels on the linear modules. The acquisition module is used to acquire the center coordinates of the semi-circular notch, the axis coordinates of the linear modules, and the first coordinate. The calculation module is used to calculate the positioning coordinates of the linear modules.

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