Workpiece positioning device
By combining 3D vision components and 2D vision components, using the moving mechanism and control module, the problem of the existing technology being unable to accurately locate large circular workpieces is solved, and efficient, precise positioning and angle adjustment of workpieces are achieved, and production efficiency is improved.
Patent Information
- Application Number
- CN202420958875.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-06
- Publication Date
- 2024-12-10
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing workpiece positioning devices cannot achieve accurate positioning of workpieces with large area and circular outer ring, resulting in low production efficiency and unable to meet the growing production demand.
Using a combination of 3D vision components and 2D vision components, the position information of the first reference point and the second reference point on the workpiece is obtained through the moving mechanism and the control module, and the deviation is calculated and compensated to achieve accurate positioning of the workpiece.
It realizes precise positioning of a large area and a circular workpiece with a circular outer ring, improves production efficiency, and can automatically adjust the rotation angle and position of the workpiece to meet the production needs of high precision and high efficiency.
Smart Images
Figure CN222138026U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of workpiece positioning, in particular to a workpiece positioning device. Background Art
[0002] At present, the precise positioning of workpieces generally adopts mechanical methods, such as pin positioning, rib positioning, gravity positioning, mechanical centering positioning, etc. The above mechanical positioning methods are usually suitable for small workpieces, and the workpieces have large straight edges and other features. When positioning a workpiece with a large area and a circular (or quasi-circular) outer ring, only the center of the workpiece can be located, and the workpiece cannot be rotated for positioning correction. If the angle is adjusted manually, it is time-consuming and labor-intensive, and fully automatic production cannot be achieved. The production efficiency is low and cannot meet the growing production needs. Using a separate 3D vision system cannot meet the precise positioning of larger workpieces. Using a separate 2D vision system cannot achieve a large field of view to cover the entire workpiece. Utility Model Content
[0003] In view of this, the utility model provides a workpiece positioning device to solve the problem that the existing workpiece positioning device cannot achieve accurate positioning of a workpiece with a large area and a circular (or quasi-circular) outer ring.
[0004] In a first aspect, the utility model provides a workpiece positioning device, comprising: a 3D vision component, which is arranged above the placement position of the workpiece to be positioned, the field of view of the 3D vision component covers the workpiece to be positioned, and the 3D vision component is suitable for obtaining the position of a first reference point on the workpiece to be positioned; a 2D vision component, which is spaced apart from the 3D vision component, and the field of view of the 2D vision component covers at least a single reference point on the workpiece to be positioned; a moving mechanism, which is suitable for driving the workpiece to be positioned and / or the 2D vision component to move so that the 2D vision component obtains the position of the first reference point, and is suitable for adjusting the position of the workpiece to be positioned so that the 2D vision component obtains the position of the second reference point; a control module, which is electrically connected to the 3D vision component, the 2D vision component and the moving mechanism, and the control module is suitable for calculating the deviation from the standard position according to the positions of the first reference point and the second reference point, and compensating for the deviation through the moving mechanism.
[0005] Beneficial effects: The 3D vision component is used to perform overall identification and positioning of the workpiece to be positioned, and the position information of the first reference point and the second reference point on the workpiece to be positioned is obtained through the 2D vision component, thereby obtaining the actual position of the workpiece to be positioned, and the actual position of the workpiece to be positioned is adjusted according to the preset standard position of the workpiece, so that the actual position of the first reference point and the second reference point of the workpiece to be positioned coincides with the standard position, thereby achieving precise positioning of the workpiece to be positioned.
[0006] In an optional embodiment, the 3D vision component includes a 3D vision recognition unit and a supporting truss, the 3D vision recognition unit is arranged on the supporting truss, and the 3D vision recognition unit is suitable for corresponding to the workpiece to be positioned.
[0007] In an optional embodiment, the supporting truss includes a vertical frame, the 3D vision recognition unit is arranged on the vertical frame, and the vertical frame is suitable for driving the 3D vision recognition unit to move vertically.
[0008] Beneficial effect: The 3D vision recognition unit can be adjusted to a suitable height through the movable vertical frame, thereby improving the adaptability of the 3D vision component.
[0009] In an optional embodiment, the supporting truss further includes a transverse frame, wherein the transverse frame is vertically arranged to the vertical frame, and the vertical frame is suitable for moving along an extension direction of the transverse frame.
[0010] In an optional embodiment, the moving mechanism includes a first transporting structure, and the first transporting structure is suitable for driving the workpiece to be positioned to transfer position.
[0011] Beneficial effect: Through the first conveying structure, the workpiece to be positioned can be transferred from the 3D vision component to the 2D vision component, and through the first conveying structure, the workpiece to be positioned can be transferred from the first reference point corresponding to the 2D vision component to the second reference point corresponding to the 2D vision component. Furthermore, through the first conveying structure, the position of the workpiece to be positioned can be adjusted according to the deviation between the actual position and the standard position; therefore, the first conveying structure integrates multiple functions and simplifies the overall structure of the workpiece positioning device.
[0012] In an optional embodiment, the first transport structure includes a robot arm and a gripper, the robot arm is in transmission connection with the gripper, and the gripper is suitable for grasping at least the center point of the workpiece to be positioned.
[0013] In an optional embodiment, the moving mechanism includes a carrying platform, the 3D vision component and / or the 2D vision component is arranged corresponding to the carrying platform, and the carrying platform is suitable for carrying the workpiece to be positioned and for adjusting the position of the workpiece to be positioned.
[0014] Beneficial effect: The 3D vision component is used to achieve the rough positioning of the workpiece to be positioned on the carrier, and then the precise positioning of the workpiece to be positioned on the carrier is achieved through the cooperation of the carrier and the 2D vision component.
[0015] In an optional embodiment, the moving mechanism includes a second transport structure, and the second transport structure is suitable for driving the 2D vision component to transfer position.
[0016] Beneficial effect: The 2D vision component is moved by the second transport structure, so that the 2D vision component can perform photo recognition at the first reference point and the second reference point respectively.
[0017] In an optional implementation, the 2D vision component is fixedly arranged.
[0018] Beneficial effect: The workpiece to be positioned is moved by the moving mechanism, and the shooting accuracy of the 2D vision component is prevented from being affected by the fixed setting of the 2D vision component.
[0019] In an optional implementation, the 2D vision component includes a 2D vision recognition unit and a bracket, the 2D vision recognition unit is disposed on the bracket, and the bracket is fixedly disposed. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0021] Figure 1 This is a front view of the 3D vision component and the workpiece to be positioned in an embodiment of the utility model;
[0022] Figure 2 This is a front view of the first handling structure, the 2D vision component and the workpiece to be positioned in an embodiment of the utility model;
[0023] Figure 3 for Figure 1 A top view of
[0024] Figure 4 This is a schematic structural diagram of a workpiece to be positioned according to an embodiment of the utility model;
[0025] Figure 5 It is a schematic diagram of the movement (△x, △y) of the workpiece to be positioned according to an embodiment of the utility model;
[0026] Figure 6 A schematic diagram showing a comparison between the actual positions and the standard positions of the first reference point and the second reference point of the workpiece to be positioned according to an embodiment of the utility model;
[0027] Figure 7 for Figure 6A comparative diagram of the workpiece to be positioned after compensating for the angle deviation;
[0028] Figure 8 for Figure 7 A partial enlarged view of middle A;
[0029] Fig. 9 for Figure 7 Comparison diagram of the workpiece to be positioned after compensating for distance deviation.
[0030] Description of reference numerals:
[0031] 1. 3D vision component; 11. 3D vision recognition unit; 12. Support truss; 121. Vertical frame; 122. Horizontal frame; 2. 2D vision component; 21. 2D vision recognition unit; 22. Bracket; 3. Workpiece to be positioned; 31. First reference point; 32. Second reference point; 33. Center point; 4. First handling structure; 41. Robotic arm; 42. Gripper. DETAILED DESCRIPTION
[0032] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.
[0033] Combine the following Figures 1 to 9 , describing an embodiment of the utility model.
[0034] According to an embodiment of the utility model, on the one hand, a workpiece positioning device is provided, comprising a 3D vision component 1, a 2D vision component 2, a moving mechanism and a control module. The 3D vision component 1 is arranged above the placement position of the workpiece 3 to be positioned, the field of view of the 3D vision component 1 covers the workpiece 3 to be positioned, and the 3D vision component 1 is suitable for obtaining the position of the first reference point 31 on the workpiece 3 to be positioned. The 2D vision component 2 is arranged at intervals from the 3D vision component 1, and the field of view of the 2D vision component 2 covers at least a single reference point on the workpiece 3 to be positioned. The moving mechanism is suitable for driving the workpiece 3 to be positioned and / or the 2D vision component 2 to move so that the 2D vision component 2 obtains the position of the first reference point 31, and is suitable for adjusting the position of the workpiece 3 to be positioned so that the 2D vision component 2 obtains the position of the second reference point 32. The control module is electrically connected to the 3D vision component 1, the 2D vision component 2 and the moving mechanism, and the control module is suitable for calculating the deviation from the standard position according to the position of the first reference point 31 and the second reference point 32, and compensating the deviation through the moving mechanism.
[0035] The 3D vision component 1 is used to perform overall identification and positioning of the workpiece 3 to be positioned, and the position information of the first reference point 31 and the second reference point 32 on the workpiece 3 to be positioned is obtained through the 2D vision component 2, so as to obtain the actual position of the workpiece 3 to be positioned, and the actual position of the workpiece 3 to be positioned is adjusted according to the preset standard position of the workpiece, so that the actual position of the first reference point 31 and the second reference point 32 of the workpiece 3 to be positioned coincides with the standard position, thereby achieving accurate positioning of the workpiece 3 to be positioned.
[0036] It is worth mentioning that please refer to Figures 1 to 4 , the 3D vision component 1 can have a large visual range, but can only roughly locate the workpiece 3 to be located, and cannot achieve precise positioning of the workpiece 3 to be located; the 2D vision component 2 can have a high precision and be used to accurately identify the reference point position of the workpiece 3 to be located, but the field of view of the 2D vision component 2 is small. Therefore, in this embodiment, the 3D vision component 1 and the 2D vision component 2 are used in combination, and the moving mechanism is used to achieve precise positioning of the workpiece 3 to be located.
[0037] It should be noted that, in the present embodiment, the first reference point 31 and the second reference point 32 are reference holes opened on the workpiece 3 to be positioned.
[0038] In one embodiment, Figure 2 As shown, the moving mechanism includes a first transport structure 4, and the first transport structure 4 is suitable for driving the workpiece 3 to be positioned to transfer its position. Through the first transport structure 4, the workpiece 3 to be positioned can be transferred from the 3D vision component 1 to the 2D vision component 2, and through the first transport structure 4, the workpiece 3 to be positioned can be transferred from the first reference point 31 corresponding to the 2D vision component 2 to the second reference point 32 corresponding to the 2D vision component 2. Further, through the first transport structure 4, the position of the workpiece 3 to be positioned can be adjusted according to the deviation between the actual position and the standard position; therefore, the first transport structure 4 integrates multiple functions and simplifies the overall structure of the workpiece positioning device.
[0039] It is worth mentioning that please refer to Figures 6 to 8 , the standard position of the first reference point 31 is point a, the standard position of the second reference point 32 is point b, points a and b determine straight line ab; the actual position of the first reference point 31 is a', the actual position of the second reference point 32 is b', points a' and b' determine straight line a'b'. Figures 6 to 9 It can be seen that there is not only a distance deviation but also an angle deviation between the straight line ab and the straight line a'b'. After determining the straight line a'b', the control module first calculates the angle deviation between the straight line a'b' and the straight line ab, that is, Figure 6The first handling structure 4 drives the workpiece 3 to rotate to achieve the compensation of the angle deviation. At this time, the straight line a'b' becomes a straight line a"b"; then, the 2D vision component 2 takes a picture again at the position corresponding to the second reference point 32, and the control module obtains the coordinates of point b" and calculates the distance deviation from point b, that is, Figure 8 In (m, n), the first handling structure 4 drives the workpiece 3 to move, and the distance deviation is compensated. At this time, the straight line a"b" coincides with the straight line ab. That is, the workpiece 3 to be positioned is adjusted from the actual position to the standard position, and the workpiece 3 to be positioned is accurately positioned.
[0040] In one embodiment, the 2D vision component 2 is fixedly arranged. The workpiece 3 to be positioned is driven to transfer position by a moving mechanism, and the 2D vision component 2 is fixedly arranged to avoid affecting the shooting accuracy of the 2D vision component 2.
[0041] It is worth mentioning that please refer to Figure 5 Since the 2D vision component 2 is fixedly arranged, the field of view of the 2D vision component 2 is fixed. After the 3D vision component 1 identifies the workpiece 3 to be positioned, the workpiece 3 to be positioned is transported by the first transport structure 4 so that the first reference point 31 of the workpiece 3 to be positioned is within the field of view of the 2D vision component 2. After the 2D vision component 2 takes a picture of the first reference point 31, the first transport structure 4 moves the workpiece 3 to be positioned (△x, △y) so that the second reference point 32 of the workpiece 3 to be positioned is within the field of view of the 2D vision component 2, and the 2D vision component 2 is used to take a picture of the second reference point 32.
[0042] For further explanation, please refer to Figure 5 , (△x, △y) is determined by the coordinate difference between the first reference point 31 and the second reference point 32 on the workpiece 3 to be positioned.
[0043] In one embodiment, Figure 2 As shown, the first handling structure 4 includes a mechanical arm 41 and a gripper 42 , the mechanical arm 41 is in transmission connection with the gripper 42 , and the gripper 42 is suitable for gripping at least the center point 33 of the workpiece 3 to be positioned.
[0044] It is worth mentioning that please refer to Figure 2 The gripper 42 grasps the center point 33 of the workpiece 3 to be positioned and the remaining positions of the workpiece 3 along the circumferential direction at the same time to ensure the stability of grasping.
[0045] It is worth noting that in other alternative embodiments, the moving mechanism may include a carrier, and the 3D vision component 1 and / or the 2D vision component 2 are arranged corresponding to the carrier, and the carrier is suitable for carrying the workpiece 3 to be positioned and for adjusting the position of the workpiece 3 to be positioned. The 3D vision component 1 is used to achieve rough positioning of the workpiece 3 to be positioned on the carrier, and then the cooperation between the carrier and the 2D vision component 2 is used to achieve precise positioning of the workpiece 3 to be positioned on the carrier.
[0046] It is worth noting that in other alternative embodiments, the 2D vision component 2 is movably arranged. Specifically, the moving mechanism includes a second transport structure, and the second transport structure is suitable for driving the 2D vision component 2 to transfer position. After the 3D vision component 1 visually identifies the workpiece 3 to be positioned, the 2D vision component 2 is moved by the second transport structure, so that the 2D vision component 2 is photographed and identified at the first reference point 31 and the second reference point 32 respectively.
[0047] In one embodiment, Figure 2 As shown, the 2D vision component 2 includes a 2D vision recognition unit 21 and a bracket 22. The 2D vision recognition unit 21 is arranged on the bracket 22, and the bracket 22 is fixedly arranged.
[0048] In one embodiment, Figure 1 As shown, the 3D vision component 1 includes a 3D vision recognition unit 11 and a supporting truss 12 . The 3D vision recognition unit 11 is disposed on the supporting truss 12 . The 3D vision recognition unit 11 is suitable for corresponding to the workpiece 3 to be positioned.
[0049] In one embodiment, Figure 1 As shown, the support truss 12 includes a vertical frame 121, and the 3D vision recognition unit 11 is arranged on the vertical frame 121. The vertical frame 121 is suitable for driving the 3D vision recognition unit 11 to move vertically. Through the movable vertical frame 121, the 3D vision recognition unit 11 is adjusted to a suitable height, thereby improving the adaptability of the 3D vision component 1.
[0050] In one embodiment, Figure 1 As shown, the support truss 12 further includes a transverse frame 122 , which is vertically disposed to the vertical frame 121 , and the vertical frame 121 is adapted to move along the extension direction of the transverse frame 122 .
[0051] The steps of positioning the workpiece 3 to be positioned using the workpiece positioning device of this embodiment include:
[0052] Step (i): The 3D visual recognition unit 11 is adjusted to an appropriate photographing height through the support truss 12, and the 3D visual recognition unit 11 performs 3D visual recognition on the workpiece 3 to be positioned, obtains the height, the position of the center point 33 and the position of the first reference point 31 of the workpiece 3 to be positioned, and transmits the obtained data to the first transport structure 4;
[0053] Step (ii): the first transport structure 4 grabs the workpiece 3 to be positioned according to the received data, and moves the first reference point 31 of the workpiece 3 to be positioned to the bottom of the 2D visual recognition unit 21. After the first transport structure 4 moves the workpiece 3 to be positioned into position, it sends a position signal to the 2D visual recognition unit 21;
[0054] Step (iii): After receiving the in-position signal, the 2D visual recognition unit 21 takes a photo of the first reference point 31, obtains the position information of the first reference point 31, and transmits it to the control module;
[0055] Step (four): After the 2D visual recognition unit 21 completes taking photos, the first transport structure 4 moves the workpiece 3 to be positioned (△x, △y), so that the second reference point 32 of the workpiece 3 to be positioned is moved to the bottom of the 2D visual recognition unit 21. After the first transport structure 4 moves the workpiece 3 to be positioned into position, it sends a position signal to the 2D visual recognition unit 21;
[0056] Step (V): After receiving the in-position signal, the 2D visual recognition unit 21 takes a photo of the second reference point 32, obtains the position information of the second reference point 32, and transmits it to the control module;
[0057] Step (six): the control module compares and analyzes the received position information of the first reference point 31 and the second reference point 32 with the preset standard position information to obtain the angle deviation α, and transmits it to the first transport structure 4;
[0058] Step (seven): the first transport structure 4 rotates the workpiece 3 to be positioned according to the angle deviation α, so that the workpiece 3 to be positioned is rotated to the correct angle. After the first transport structure 4 rotates the workpiece 3 to be positioned into position, it sends a position signal to the 2D visual recognition unit 21;
[0059] Step (eight): After receiving the in-position signal, the 2D visual recognition unit 21 takes a photo of the second reference point 32 again, obtains the position information of the second reference point 32 at this time, and transmits it to the control module;
[0060] Step (IX): the control module compares and analyzes the received position information of the second reference point 32 with the preset standard position information of the second reference point 32 to obtain the distance deviation (m, n), and transmits it to the first transport structure 4;
[0061] Step (ten): the first transport structure 4 moves the workpiece 3 to be positioned according to the distance deviation (m, n), so that the actual position of the workpiece 3 to be positioned coincides with the standard position, thereby completing the positioning of the workpiece 3 to be positioned.
[0062] By applying the workpiece positioning device of this embodiment, first, the 3D vision component 1 and the 2D vision component 2 can work in coordination with each other to achieve high-precision and high-efficiency workpiece positioning and correction, saving time and effort and greatly improving work efficiency; second, the flexible coordination of the mechanical arm 41 (robot) and the supporting truss 12 can be applied to workpieces of different heights and sizes and with reference points at different positions, thereby improving the flexibility of the entire system; third, the workpiece positioning device can be applied to circular workpieces that cannot be positioned by straight edges and have circular angle requirements, thereby solving the problem of difficulty in positioning and correcting larger workpieces; fourth, rough positioning is performed through the 3D vision component 1, and then close-range high-precision 2D visual recognition is achieved through the coordination of the robot and the 2D vision component 2. With the control module algorithm, the correction accuracy can reach within 0.2 mm.
[0063] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.
Claims
1. A workpiece positioning device, characterized in that: include: A 3D vision component (1) is arranged above a placement position of a workpiece (3) to be positioned, the field of view of the 3D vision component (1) covers the workpiece (3) to be positioned, and the 3D vision component (1) is suitable for acquiring the position of a first reference point (31) on the workpiece (3) to be positioned; A 2D vision component (2) is spaced apart from the 3D vision component (1), and a field of view of the 2D vision component (2) at least covers a single reference point on the workpiece (3) to be positioned; A moving mechanism, adapted to drive the workpiece to be positioned (3) and / or the 2D vision component (2) to move so that the 2D vision component (2) acquires the position of a first reference point (31), and adapted to adjust the position of the workpiece to be positioned (3) so that the 2D vision component (2) acquires the position of a second reference point (32); A control module is electrically connected to the 3D vision component (1), the 2D vision component (2) and the moving mechanism, and the control module is suitable for calculating the deviation from the standard position based on the positions of the first reference point (31) and the second reference point (32), and compensating the deviation through the moving mechanism.
2. The workpiece positioning device according to claim 1, characterized in that: The 3D vision component (1) comprises a 3D vision recognition unit (11) and a supporting truss (12); the 3D vision recognition unit (11) is arranged on the supporting truss (12); and the 3D vision recognition unit (11) is suitable for corresponding to the workpiece (3) to be positioned.
3. The workpiece positioning device according to claim 2, characterized in that: The supporting truss (12) comprises a vertical frame (121), the 3D visual recognition unit (11) is arranged on the vertical frame (121), and the vertical frame (121) is suitable for driving the 3D visual recognition unit (11) to move vertically.
4. The workpiece positioning device according to claim 3, characterized in that: The supporting truss (12) further comprises a transverse frame (122), wherein the transverse frame (122) is arranged perpendicularly to the vertical frame (121), and the vertical frame (121) is suitable for moving along the extension direction of the transverse frame (122).
5. The workpiece positioning device according to any one of claims 1 to 4, characterized in that: The moving mechanism comprises a first transport structure (4), and the first transport structure (4) is suitable for driving the workpiece (3) to be positioned to transfer position.
6. The workpiece positioning device according to claim 5, characterized in that: The first handling structure (4) comprises a mechanical arm (41) and a gripper (42), wherein the mechanical arm (41) is transmission-connected to the gripper (42), and the gripper (42) is suitable for grasping at least a center point (33) of the workpiece (3) to be positioned.
7. The workpiece positioning device according to any one of claims 1 to 4, characterized in that: The moving mechanism comprises a carrying platform, the 3D vision component (1) and / or the 2D vision component (2) are arranged corresponding to the carrying platform, and the carrying platform is suitable for carrying the workpiece (3) to be positioned and for adjusting the position of the workpiece (3) to be positioned.
8. The workpiece positioning device according to any one of claims 1 to 4, characterized in that: The moving mechanism comprises a second transport structure, and the second transport structure is suitable for driving the 2D vision component (2) to transfer position.
9. The workpiece positioning device according to any one of claims 1 to 4, characterized in that: The 2D vision component (2) is fixedly arranged.
10. The workpiece positioning device according to claim 9, characterized in that: The 2D vision component (2) comprises a 2D vision recognition unit (21) and a bracket (22); the 2D vision recognition unit (21) is arranged on the bracket (22), and the bracket (22) is fixedly arranged.