High-transparency element vertical incoming material position detection system and detection method

Abstract

The application discloses a high-transparency element vertical incoming material position detection system and a detection method, which comprises a connection platform, a transfer assembly and a position detection platform arranged in sequence, wherein the position detection platform comprises a platform main body, a support table rotatably arranged in the middle of the platform main body, and detection elements fixedly arranged on both sides of the support table; after the transfer assembly places the high-transparency element on the support table, the detection elements can detect the spatial position of the high-transparency element; after the support table is horizontally rotated by 90 degrees, the detection elements can face the high-transparency element directly and detect the direction of the etching surface of the high-transparency element. The beneficial effect is that the automatic degree of the whole detection system is ensured through the connection platform, the transfer assembly and the position detection platform arranged in sequence, the detection elements can detect the spatial position of the high-transparency element and the direction of the etching surface, and the detection precision and the detection efficiency are ensured.

Description

Technical Field

[0001] This invention relates to the field of posture detection technology, specifically to a posture detection system and method for vertically incoming high-transparency components. Background Technology

[0002] For special large-aperture high-transmittance optical components, which are characterized by polished edges and special optical properties (such as etching surface, etching direction, usage posture, high cleanliness, etc.), the assembly and calibration process of such components requires accurate identification of their assembly and calibration characteristics. This often requires accurate identification of spatial information, etching surface and etching direction on tooling with vertical material inlet.

[0003] In existing technologies, the etching surface of optical components is mainly determined by manual visual inspection. However, this method has the following drawbacks: 1. It is difficult to ensure the cleanliness of the module through manual assembly and calibration; 2. It is impossible to determine the etching direction by human eyes; 3. It is difficult to accurately identify the spatial pose information of high-transparency components; 4. The degree of automation is low. When the inspector determines that the etching surface is facing incorrectly, it cannot be fed back to the automated production line in a timely manner. Additional manual operation is required for adjustment, which increases assembly efficiency.

[0004] Currently, there is a lack of an automated detection system and method that can integrate the detection of the component's spatial pose, etched surface, and etched direction. Summary of the Invention

[0005] In view of this, one of the objectives of the present invention is to provide a high-transparency element vertical material feeding posture detection system, which can realize posture detection, etching surface and etching direction identification of high-transparency elements.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows:

[0007] A vertical feeding pose detection system for high-transparency components includes a connecting platform, a transfer assembly, and a pose detection platform arranged sequentially. The connecting platform is used to temporarily store the high-transparency components. The transfer assembly is used to transfer the high-transparency components from the connecting platform to the pose detection platform. The pose detection platform is used to detect the spatial pose and orientation of the etched surface of the high-transparency components. The key features are: the pose detection platform includes a platform body, a support platform rotatably disposed in the middle of the platform body, and detection elements fixedly disposed on both sides of the support platform; after the transfer assembly places the high-transparency components on the support platform, the detection elements can detect the spatial pose of the high-transparency components; after the support platform rotates horizontally by 90°, the detection elements can face the high-transparency components and detect the orientation of the etched surface of the high-transparency components.

[0008] By adopting the above structure, the automation level of the entire inspection system is ensured by the sequentially arranged docking platform, transfer components and pose detection platform. The set detection elements can detect the spatial pose of high-transparency components and the orientation of the etched surface, ensuring inspection accuracy and efficiency.

[0009] Preferably, the support platform includes a turntable rotatably mounted in the middle of the platform body, a drive motor for driving the turntable to rotate, and a U-shaped bracket fixedly mounted on the top of the turntable. Two parallel support rods pass through the top of the high-transparency element, with both ends of the support rods supported at the top ends of the U-shaped bracket. With this structure, the drive motor ensures that the support platform can rotate horizontally relative to the platform body, and the U-shaped bracket ensures stable support for the high-transparency element, thereby guaranteeing the detection accuracy of the detection element.

[0010] Preferably, the detection element includes a pose detection element and an etching surface detection element. Four pose detection elements are symmetrically arranged at the upper and lower ends of both sides of the support platform along its length. The etching surface detection element is located on one side of the support platform along its length, and a reflective screen is located on the other side of the support platform corresponding to the etching surface detection element. Using this structure, the spatial pose of the high-transparency element can be accurately determined by the four symmetrically distributed pose detection elements, while the etching surface detection element and reflective screen can accurately detect the orientation of the etching surface of the high-transparency element.

[0011] Preferably, columns are fixed on both sides of the platform body along its length. Two of the pose detection elements are fixedly mounted on the tops of the two columns, and the remaining two pose detection elements are symmetrically arranged on the platform body. The etching surface detection element is located in the middle of one of the columns. With this structure, the columns facilitate the installation of the detection elements and the reflective screen. Furthermore, placing the columns on both sides of the platform body along its length prevents them from obstructing the horizontal rotation of the support platform.

[0012] Preferably, the transfer assembly includes a gantry bracket fixedly mounted on one side of the pose detection platform, a cantilever mounted on the upper end of the gantry bracket, and a drive component for moving the cantilever. With this structure, the cantilever can be driven by the drive component to transfer the high-transparency element.

[0013] Preferably, the driving component includes a first electric cylinder arranged along the length of the gantry support. A support is provided on the top of the first electric cylinder, and a second electric cylinder is vertically arranged on the side of the support near the pose detection platform. One end of the cantilever is fixedly mounted on one end of the second electric cylinder. The first electric cylinder drives the cantilever to move horizontally closer to or away from the pose detection platform, and the second electric cylinder drives the cantilever to move vertically closer to or away from the pose detection platform. With this structure, by driving the first and second electric cylinders, the cantilever can move forward and backward as well as vertically.

[0014] Preferably, the lower end of the cantilever is provided with four sets of hooks, which are used to connect to the support rod. This structure allows for basket-like gripping of high-transparency components, reducing the technological difficulty and manufacturing cost of the transfer assembly.

[0015] Preferably, the top two sides of the U-shaped bracket are provided with arc-shaped grooves that conform to the bottom contour of the support rod. This structure ensures that the high-transparency element is stably supported on the support platform, preventing the element from wobbling when the support platform rotates, thus guaranteeing the detection accuracy of the detection element.

[0016] Preferably, a coding identification head is provided at the lower middle part of the cantilever. This structure facilitates the cantilever's auxiliary positioning for grasping high-transparency components.

[0017] The second objective of this invention is to provide a detection method based on the vertical material arrival pose detection system of the high-transparency element, specifically including the following steps:

[0018] Step 1: The transfer assembly transfers the high-transparency components temporarily stored on the docking platform to the support platform;

[0019] Step 2: The pose detection element detects the spatial pose of the high-transparency element;

[0020] Step 3: Drive the support platform to rotate horizontally by 90° relative to the platform body so that the high-transparency element and the etched surface detection element are directly opposite each other;

[0021] Step 4: The etching surface detection element detects the orientation of the etching surface of the high-transparency element;

[0022] Step 5: Drive the support platform to rotate 90° in the opposite direction to the horizontal direction of the platform body to complete the vertical material orientation detection of the high-transparency component.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. The high-transparency element vertical material feeding posture detection system provided by the present invention, through the sequentially set docking platform, transfer component and posture detection platform, ensures the automation level of the entire detection system. The set detection elements can detect the spatial posture of the high-transparency element and the orientation of the etched surface, ensuring detection accuracy and detection efficiency.

[0025] 2. The transfer component uses hooks to support the rods and a basket to transfer the high-transparency components, which greatly simplifies the transfer of high-transparency components and reduces the manufacturing cost of the transfer equipment. Attached Figure Description

[0026] Figure 1 A schematic diagram of a vertical material arrival posture detection system for high-transparency components;

[0027] Figure 2 A schematic diagram of the vertical material feeding posture detection system for high-transparency components (top view).

[0028] Figure 3 This is a schematic diagram of the high-transmittance element 14;

[0029] Figure 4 This is a structural diagram of the docking platform A;

[0030] Figure 5 This is a schematic diagram of the structure of transfer component B;

[0031] Figure 6 This is a schematic diagram of the pose detection platform C.

[0032] Figure 7 This is a schematic diagram of the structure of support platform 2;

[0033] Figure 8 This is a reference diagram showing the actual usage state of the pose detection platform C for etching surface orientation detection. Detailed Implementation

[0034] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0035] The high-transparency element 14 described in this embodiment is specifically as follows: Figure 3 As shown, it includes an optical lens 14a and a V-shaped support frame 14b for supporting and placing the optical lens 14a. One side of the optical lens 14a is etched. The top two ends of the V-shaped support frame 14b are connected by support rods 4. In this embodiment, two support rods 4 are inserted through the top two ends of the V-shaped support frame 14b and are arranged in parallel.

[0036] like Figure 1 , Figure 2 and Figure 6As shown, a high-transparency element vertical material arrival pose detection system includes a connecting platform A, a transfer component B, and a pose detection platform C arranged sequentially. The connecting platform A is used to temporarily store the high-transparency element 14 transported by an AGV trolley. The transfer component B is used to transfer the high-transparency element 14 from the connecting platform A to the pose detection platform C. The pose detection platform C is used to detect the spatial pose and orientation of the etched surface of the high-transparency element 14. The pose detection platform C includes a platform body 1, a support platform 2 rotatably disposed in the middle of the platform body 1, and detection elements 3 fixedly disposed on both sides of the support platform 2.

[0037] After the transfer component B places the high-transparency element 14 on the support platform 2, the detection element 3 can first detect the spatial orientation of the high-transparency element 14. Then, after the support platform 2 rotates horizontally by 90° relative to the platform body 1, the detection element 3 can face the high-transparency element 14 and detect the orientation of the etched surface of the high-transparency element 14.

[0038] This design, through the sequentially arranged docking platform A, transfer component B, and pose detection platform C, makes the entire detection system more automated. The detection element 3 can detect both the spatial pose of the high-transparency element 14 and the orientation of the etched surface, ensuring detection accuracy and efficiency.

[0039] like Figure 7 As shown, the support platform 2 includes a turntable 2a rotatably mounted in the middle of the platform body 1, a drive motor 2b for driving the turntable 2a to rotate, and a U-shaped bracket 2c fixedly mounted on the top of the turntable 2a. The two ends of the support rod 4 are supported on the top ends of the U-shaped bracket 2c. This design, through the drive motor 2b, ensures that the support platform 2 can rotate horizontally relative to the platform body 1, while the U-shaped bracket 2c ensures stable support for the high-transparency element 14, thereby ensuring more accurate detection by the detection element 3.

[0040] Specifically, in this embodiment, both sides of the top of the U-shaped bracket 2c are formed with arc-shaped grooves 2c1 that conform to the bottom contour of the support rod 4. This design ensures that the high-transparency element 14 is stably supported on the support platform 2, and avoids the high-transparency element 14 from swaying when the support platform 2 rotates, thus affecting the detection accuracy of the detection element 3.

[0041] like Figure 6 and Figure 8As shown, the detection element 3 includes a pose detection element 3a and an etching surface detection element 3b. Four pose detection elements 3a are symmetrically arranged at the upper and lower ends on both sides of the support platform 2 along its length. The etching surface detection element 3b is located at one end of the support platform 2 along its length, and a reflective screen 5 is located at the other end of the support platform 2 corresponding to the etching surface detection element 3b. This design allows for accurate determination of the spatial pose of the high-transparency element 14 through the symmetrically distributed four pose detection elements 3a, while the etching surface detection element 3b and reflective screen 5 accurately detect the orientation of the etching surface of the high-transparency element 14.

[0042] Furthermore, columns 6 are fixedly installed on both sides of the platform body 1 along its length. Two pose detection elements 3a are fixedly installed on the top of the two columns 6, and the remaining two pose detection elements 3a are symmetrically arranged on the platform body 1. The etching surface detection element 3b is fixedly installed in the middle of one of the columns 6. This design facilitates the installation of the detection elements 3 by using the columns 6, and placing the columns 6 on both sides of the platform body 1 along its length avoids the columns 6 obstructing the horizontal rotation of the support platform 2.

[0043] like Figure 5 As shown, the transfer assembly B includes a gantry bracket 7 fixedly mounted on one side of the pose detection platform C, a cantilever 8 mounted on the upper end of the gantry bracket 7, and a drive component for moving the cantilever 8. This design enables the transfer of the high-transparency element 14 by driving the cantilever 8 through the drive component.

[0044] In this embodiment, the length extension direction of the gantry support 7 is spatially perpendicular to the length extension direction of the platform body 1. Two columns 6 are respectively set at the end near the gantry support 7 and the end away from the gantry support 7. The etching surface detection element 3b is fixedly installed in the middle of the column at the end near the gantry support 7. A support part 1a is set at the end of the platform body 1 away from the gantry support 7. The reflective screen 5 is fixedly installed on the support part 1a and is set opposite to the etching surface detection element 3b. Another column 6 is fixedly installed on the top of the support part 1a.

[0045] Furthermore, such as Figure 5 As shown, the driving component includes a first electric cylinder 9 arranged along the length of the gantry bracket 7. A support 10 is provided on the top of the first electric cylinder 9. A second electric cylinder 11 is vertically fixed on the side of the support 10 near the pose detection platform C. One end of the cantilever 8 is fixedly provided at one end of the second electric cylinder 11. The first electric cylinder 9 is used to drive the cantilever 8 to move closer to or away from the pose detection platform C in the horizontal direction. The second electric cylinder 11 is used to drive the cantilever 8 to move closer to or away from the pose detection platform C in the vertical direction. Four sets of hooks 12 are provided at the lower end of the cantilever 8. The four sets of hooks 12 are symmetrically distributed in pairs at both ends of the length of the cantilever 8. The hooks 12 are used to hook the support rod 4.

[0046] To facilitate a more stable hooking of the support rod 4 by the hook 12, annular grooves 4a are provided at both ends of the support rod 4, and the hook 12 hooks the support rod 4 at the location of the annular grooves 4a.

[0047] Based on the above structure, when pose detection is required, the first electric cylinder 9 operates, causing the cantilever 8 to move along the length of the gantry support 7 and eventually be positioned at the top of the docking platform A. Then, the second electric cylinder 11 operates, causing the cantilever 8 to move vertically downwards. Next, the first electric cylinder 9 operates, causing the cantilever 8 to move along the length of the gantry support 7 until the hook 12 is directly below the support rod 4. Then, the second electric cylinder 11 operates, causing the cantilever 8 to move vertically upwards so that the high-transparency element 14 is grasped and lifted. Finally, the first electric cylinder 9 operates, causing the cantilever 8 to move along the length of the gantry support 7. The frame 7 moves along its length so that the high-transparency element 14 is transferred to the top of the pose detection platform C. Then, the second electric cylinder 11 operates to drive the cantilever 8 to move vertically downward so that the end of the support rod 4 is supported in the arc groove 2c1 at the top of the U-shaped bracket 2c. Then, the first electric cylinder 9 operates to move the hook 12 away from directly below the support rod 4. Finally, the second electric cylinder 11 operates to drive the cantilever 8 to move vertically upward to the highest point. The first electric cylinder 9 operates to drive the cantilever 8 to move along the length of the gantry bracket 7 to the top of the docking platform A to wait for the next transfer.

[0048] like Figure 5 As shown, in this embodiment, an encoding identification head 13 is provided at the lower middle part of the cantilever 8. This design facilitates the cantilever 8 to assist in the positioning of the high-transparency element 14, ensuring that the high-transparency element 14 can be stably grasped and transported by the transfer component B.

[0049] like Figure 4 As shown, the docking platform A includes a docking base 15. Fixed brackets 16 are symmetrically arranged at both ends of the docking base 15 along its length. A clamping cylinder 18 is fixedly installed on the top of each fixed bracket 16. Two support frames 17 are symmetrically arranged in the area between the two fixed brackets 16 on the docking base 15. The support frames 17 are used to support the high-transparency element 14. Three sets of photoelectric sensors 19 are also symmetrically arranged on the two fixed brackets 16. The photoelectric sensors 19 are used to detect the position of the AGV trolley and the high-transparency element 14.

[0050] Specifically, the AGV trolley moves the high-transparency element 14 between the two support frames 17 and places the high-transparency element 14 on top of the support frame 17. Then, the clamping cylinder 18 clamps and fixes the high-transparency element 14, thus completing the temporary storage of the high-transparency element 14. Throughout the process, the photoelectric sensor 19 detects in real time whether the AGV trolley and the high-transparency element 14 have moved into place, thereby ensuring stable temporary storage.

[0051] Example 2:

[0052] A detection method based on the high-transparency element vertical incoming pose detection system described in Embodiment 1 specifically includes the following steps:

[0053] Step 1: Transfer component B transfers the high-transparency element 14 temporarily stored on the docking platform A to the support platform 2 in the form of a basket, and makes the support rod 4 support the arc grooves 2c1 at both ends of the top of the U-shaped bracket 2c. After the high-transparency element 14 is placed on the support platform 2, the transfer component B returns to the position of the docking platform A.

[0054] Step 2: The four sets of pose detection elements 3a respectively detect the four corners of the high-transparency element 14 to determine the spatial pose of the high-transparency element 14;

[0055] Step 3: Drive motor 2b to rotate turntable 2a horizontally by 90° relative to platform body 1, so that high-transparency element 14 is directly facing the etching surface detection element 3b;

[0056] Step 4: The etching surface detection element 3b irradiates the high-transmittance element 14, and the orientation of the etching surface is determined by the projection on the reflective screen 5;

[0057] Step 5: Drive motor 2b to rotate turntable 2a 90° in the opposite direction to the platform body 1, and then use a robot to remove the high-transparency element 14 that has been inspected from the support table 2, thus completing the vertical material orientation detection of the high-transparency element 14.

[0058] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention. Those skilled in the art, under the guidance of the present invention, can make various similar representations without departing from the spirit and claims of the present invention, and such modifications all fall within the protection scope of the present invention.

Claims

1. A high-transparency element vertical infeed pose detection system, comprising a receiving platform (A), a transfer assembly (B), and a pose detection platform (C) arranged sequentially, wherein the receiving platform (A) is used to temporarily store the high-transparency element, the transfer assembly (B) is used to transfer the high-transparency element from the receiving platform (A) to the pose detection platform (C), and the pose detection platform (C) is used to detect the spatial pose and orientation of the etched surface of the high-transparency element, characterized in that: The pose detection platform (C) includes a platform body (1), a support platform (2) rotatably disposed in the middle of the platform body (1), and detection elements (3) fixedly disposed on both sides of the support platform (2). After the transfer assembly (B) places the high-transparency element on the support platform (2), the detection element (3) can detect the spatial pose of the high-transparency element. After the support platform (2) rotates horizontally by 90°, the detection element (3) can face the high-transparency element and detect the orientation of the etched surface of the high-transparency element. The detection element (3) includes a pose detection element (3a) and an etched surface detection element (3b). There are four pose detection elements (3a), which are symmetrically arranged at the upper and lower ends on both sides of the support platform (2) along its length. The etched surface detection element (3b) is arranged on one side of the support platform (2) along its length. A reflective screen (5) is provided on the other side of the support platform (2) corresponding to the etched surface detection element (3b). The transfer assembly (B) includes a gantry bracket (7) fixedly mounted on one side of the pose detection platform (C), a cantilever (8) mounted on the upper end of the gantry bracket (7), and a drive component for driving the cantilever (8) to move. The driving component includes a first electric cylinder (9) arranged along the length of the gantry bracket (7), a support (10) is provided on the top of the first electric cylinder (9), and a second electric cylinder (11) is vertically arranged on the side of the support (10) near the pose detection platform (C). One end of the cantilever (8) is fixedly arranged at one end of the second electric cylinder (11). The first electric cylinder (9) is used to drive the cantilever (8) to move closer to or away from the pose detection platform (C) in the horizontal direction, and the second electric cylinder (11) is used to drive the cantilever (8) to move closer to or away from the pose detection platform (C) in the vertical direction.

2. The high-transparency element vertical material feeding posture detection system according to claim 1, characterized in that: The support platform (2) includes a turntable (2a) rotatably installed in the middle of the platform body (1), a drive motor (2b) for driving the turntable (2a) to rotate, and a U-shaped bracket (2c) fixedly installed on the top of the turntable (2a). Two parallel support rods (4) are inserted through the top of the high-transparency element, and the two ends of the support rods (4) are supported on the top two ends of the U-shaped bracket (2c).

3. The high-transparency element vertical material arrival posture detection system according to claim 1, characterized in that: The platform body (1) has columns (6) fixed on both sides along its length. Two pose detection elements (3a) are fixedly installed on the top of the two columns (6), and the remaining two pose detection elements (3a) are symmetrically arranged on the platform body (1). The etching surface detection element (3b) is located in the middle of one of the columns (6).

4. The high-transparency element vertical material arrival posture detection system according to claim 2, characterized in that: The lower end of the cantilever (8) is provided with four sets of hooks (12), which are used to connect with the support rod (4).

5. The high-transparency element vertical material arrival posture detection system according to claim 2, characterized in that: The top two sides of the U-shaped bracket (2c) are provided with arc-shaped grooves (2c1) that are adapted to the bottom contour of the support rod (4).

6. The high-transparency element vertical material feeding posture detection system according to claim 1, characterized in that: The lower end of the cantilever (8) is provided with a coding identification head (13).

7. A detection method based on the high-transparency element vertical material arrival pose detection system according to any one of claims 1 to 6, characterized in that, Includes the following steps: Step 1: The transfer component (B) transfers the high-transparency components temporarily stored on the docking platform (A) to the support platform (2); Step 2: The pose detection element (3a) detects the spatial pose of the high-transparency element; Step 3: Drive the support platform (2) to rotate horizontally by 90° relative to the platform body (1) so that the high-transparency element and the etching surface detection element (3b) are directly opposite each other; Step 4: The etching surface detection element (3b) detects the orientation of the etching surface of the high-transparency element; Step 5: Drive the support platform (2) to rotate 90° in the opposite direction to the platform body (1) to complete the vertical material orientation detection of the high-transparency element.

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