阅读说明：本技术 一种玉石床垫定位装置和视觉定位方法 (Jade mattress positioning device and visual positioning method ) 是由 曲建民 曲丽英 王佳心 于 2020-05-15 设计创作，主要内容包括：本发明公开了一种玉石床垫定位装置和视觉定位方法,包括床垫定位系统、工作台定位系统和机器人定位系统。所述床垫定位系统包括床垫定位设备架、定位相机、托盘、夹紧装置、工控机和显示器；所述床垫定位设备架包括底框、立柱和安装杆,所述底框包括两根横杆、三根连接杆和两根端部杆,三根连接杆位于两根横杆之间且连接杆的两端分别与横杆固定连接,横杆的两端分别固定连接有端部杆,所述立柱设有四根,且四根立柱的中部分别与端部杆的端部固定连接；本发明采用自动化技术不仅可以把工人从繁重的体力劳动中解放出来,而且能扩展人的器官功能,极大地提高劳动生产率；同时相较于工人定位操作,本发明更加高效。(The invention discloses a jade mattress positioning device and a visual positioning method. The mattress positioning system comprises a mattress positioning equipment frame, a positioning camera, a tray, a clamping device, an industrial personal computer and a display; the mattress positioning equipment frame comprises a bottom frame, stand columns and mounting rods, wherein the bottom frame comprises two cross rods, three connecting rods and two end rods, the three connecting rods are positioned between the two cross rods, two ends of each connecting rod are fixedly connected with the cross rods respectively, two ends of each cross rod are fixedly connected with the end rods respectively, the number of the stand columns is four, and the middle parts of the four stand columns are fixedly connected with the end parts of the end rods respectively; the invention adopts an automatic technology, which not only can release workers from heavy physical labor, but also can expand the functions of human organs, thereby greatly improving the labor productivity; meanwhile, compared with positioning operation of workers, the method is more efficient.)

1. A jade mattress positioning device is characterized by comprising a mattress positioning system, a workbench positioning system and a manipulator; the workbench positioning system is positioned below the manipulator, and the mattress positioning system is positioned on the side surface of the workbench positioning system;

the mattress positioning system comprises a mattress positioning equipment frame, a positioning camera, a tray, a positioning plate, a clamping device, an industrial personal computer and a display;

the mattress positioning equipment frame comprises a bottom frame, upright posts, ejector rods, mounting rods and extension rods;

the bottom frame is arranged in the space surrounded by the upright posts and comprises two cross rods, three connecting rods and two end rods, the three connecting rods are positioned between the two cross rods, two ends of each connecting rod are fixedly connected with the cross rods respectively, and two ends of each cross rod are fixedly connected with the end rods respectively; the stand is equipped with four, and the middle part of four stands respectively with the tip fixed connection of tip pole, stand top and ejector pin fixed connection, the installation pole is installed in the middle of two ejector pins, three extension rods are fixed in the installation pole below.

2. A jade mattress positioning apparatus as claimed in claim 1 wherein the tray is placed on the bottom frame of the mattress positioning apparatus stand for placement of a jade mattress.

3. A jade mattress positioning apparatus as claimed in claim 1 wherein the positioning plate is fixedly mounted on the mattress positioning apparatus frame for determining the position of the tray relative to the mattress positioning apparatus frame.

4. The jade mattress positioning device of claim 1, wherein the clamping device is mounted on the tray, and the clamping device is specifically a vertical clamp or other clamp applicable to the present solution, and is configured to clamp the mattress after the position of the jade mattress is adjusted, so as to ensure that the position of the mattress is unchanged relative to the tray.

5. The jade mattress positioning device of claim 1, wherein three positioning cameras are mounted at the lower part of the extension rod and used for shooting the jade mattress on the tray, and the three positioning cameras are a positioning camera A, a positioning camera B and a positioning camera C respectively.

6. The jade mattress positioning apparatus of claim 1, wherein the display is mounted on the mattress positioning equipment stand for displaying the reference position and the actual position of the jade mattress as captured by the positioning camera.

7. The jade mattress positioning apparatus of claim 1, wherein the table positioning system comprises a robotic table, a side positioning device; the robot workbench is used for placing a tray with a jade mattress, wherein the position of the jade mattress is well adjusted, and the jade mattress is clamped by the clamping device; the side positioning device is used for determining the positions of the tray in two directions in the horizontal plane relative to the robot workbench, and can be a positioning block fixed on the robot workbench or any conventional positioning device; the robot positioning system comprises a robot and a robot control system, the robot is used for grabbing jade, coating jade and pasting jade, and the robot control system carries out trajectory planning and motion control on the robot.

8. The visual positioning method for the jade mattress is characterized by comprising four stages of positioning preparation, positioning of a tray relative to a mattress positioning equipment frame, positioning of the jade mattress, and positioning of the tray relative to a robot workbench:

s1, a positioning preparation stage, comprising the following steps:

s1.1, placing a tray template marked with a standard jade position on a mattress positioning equipment frame;

s1.2, adjusting the position of a positioning camera A to enable the positioning camera A to be aligned to a standard jade circle at a coordinate origin on a tray template;

s1.3, adjusting the position of a positioning camera B to enable the positioning camera B to be aligned to a standard jade circle on an x axis on a tray template;

s1.4, adjusting the position of a positioning camera C to enable the positioning camera C to be aligned to a standard jade circle on a y axis on the tray template;

s1.5, displaying theoretical positions and actual positions of the three positioning cameras by a display;

s2, in the stage of positioning the tray relative to the mattress positioning equipment frame, the tray is placed on the bottom frame of the mattress positioning equipment frame, and two side surfaces in the horizontal plane are respectively close to the positioning plates on the mattress positioning equipment frame;

s3, positioning the jade mattress, comprising the following steps:

s3.1, placing a jade mattress on a tray;

s3.2, adjusting the position of the jade mattress on the tray, observing the position of a circle on the jade mattress, shot by a positioning camera A on a display, until the position coincides with a theoretical circle, and finishing the positioning of the origin of coordinates;

s3.3, under the condition that the position of the origin of coordinates on the mattress is not changed, adjusting the position of the jade mattress on the tray, observing the position of a circle on the jade mattress shot by a positioning camera B on the display, enabling the circle center of the circle to be on the theoretical x axis, manually pulling the mattress to enable the circle to be superposed with the theoretical circle, and completing x-axis positioning;

s3.4, observing the position of a circle on the jade mattress shot by a positioning camera C on the display under the condition of ensuring that the position of the origin of coordinates on the mattress and the x axis are not changed, and manually pulling the mattress to enable the circle to be superposed with the theoretical circle to finish y-axis positioning;

s3.5, clamping the jade mattress by the clamping device to keep the jade mattress at the correct position on the tray;

and S4, in the stage of positioning the tray relative to the robot workbench, the tray is moved to the robot workbench from the mattress positioning equipment frame, so that the two adjacent sides of the tray are close to the side positioning device of the workbench positioning system.

Technical Field

The invention relates to the technical field of automation, in particular to a jade mattress positioning device and a visual positioning method.

Background

The automatic technology can not only liberate people from heavy physical labor, partial mental labor and severe and dangerous working environments, but also expand the functions of human organs, greatly improve the labor productivity and enhance the ability of human to know the world and transform the world. Therefore, automation is an important condition and a significant sign for the modernization of industry, agriculture, national defense and scientific technology.

When producing a mattress that has the jade piece inside, need bond on the mattress with a piece of jade piece, generally pick up and the bonding technology is handled through artifical jade piece among the prior art, not only expend time, work efficiency is lower, and the cost of labor is higher moreover.

The jade piece is picked up and stuck by the manipulator in the production process of the process treatment of the picking up and sticking, so that the jade piece can be picked up and stuck instead of manual operation. Before operation, the mattress needs to be quickly and accurately positioned to ensure that the manipulator has a correct relative position relation to the mattress, but because the mattress leather is soft and is not easy to position, and the manipulator is installed with position and angle deviation, the positioning and adjusting time of the mattress is long, the error is large, and the realization is difficult.

Disclosure of Invention

The invention aims to provide a jade mattress positioning device and a visual positioning method, which aim to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

a jade mattress positioning device comprises a mattress positioning system, a workbench positioning system and a manipulator; the workbench positioning system is positioned below the manipulator, and the mattress positioning system is positioned on the side surface of the workbench positioning system;

the mattress positioning system comprises a mattress positioning equipment frame, a positioning camera, a tray, a positioning plate, a clamping device, an industrial personal computer and a display;

the mattress positioning equipment frame comprises a bottom frame, upright posts, ejector rods, mounting rods and extension rods;

the bottom frame is arranged in the space surrounded by the upright posts and comprises two cross rods, three connecting rods and two end rods, the three connecting rods are positioned between the two cross rods, two ends of each connecting rod are fixedly connected with the cross rods respectively, and two ends of each cross rod are fixedly connected with the end rods respectively; the four upright posts are arranged, the middle parts of the four upright posts are fixedly connected with the end parts of the end part rods respectively, the top parts of the upright posts are fixedly connected with the ejector rods, the mounting rod is arranged between the two ejector rods, and the three extension rods are fixed below the mounting rod;

the tray is placed on the bottom frame of the mattress positioning equipment frame and used for placing a jade mattress;

the positioning plate is fixedly arranged on the mattress positioning equipment frame and used for determining the position of the tray relative to the mattress positioning equipment frame;

the clamping device is arranged on the tray, can be a vertical clamp or other clamps applicable to the scheme, and is used for clamping the mattress after the position of the jade mattress is adjusted, so that the position of the mattress relative to the tray is ensured to be unchanged;

the three positioning cameras are arranged at the lower part of the extension rod and used for shooting a jade mattress on the tray, and the three positioning cameras are respectively positioning cameras A, B, C;

the display is arranged on the mattress positioning equipment frame and used for displaying the reference position and the actual position of the jade mattress shot by the positioning camera;

the workbench positioning system comprises a robot workbench and a side positioning device; the robot workbench is used for placing a tray with a jade mattress, wherein the position of the jade mattress is well adjusted, and the jade mattress is clamped by the clamping device; the side positioning device is used for determining the positions of the tray in two directions in the horizontal plane relative to the robot workbench, and can be a positioning block fixed on the robot workbench or any conventional positioning device; the robot positioning system comprises a robot and a control system thereof, wherein the robot is used for grabbing jade, coating jade and pasting jade, and the robot control system carries out trajectory planning and motion control on the robot; the robot can be a parallel robot or any existing robot suitable for the scheme;

a visual positioning method for a jade mattress specifically comprises four stages of positioning preparation, positioning of a tray relative to a mattress positioning equipment frame, positioning of the jade mattress and positioning of the tray relative to a robot workbench:

s1, a positioning preparation stage, comprising the following steps:

s1.1, placing a tray template marked with a standard jade position on a mattress positioning equipment frame;

s1.2, adjusting the position of a positioning camera A to enable the positioning camera A to be aligned to a standard jade circle at a coordinate origin on a tray template;

s1.3, adjusting the position of a positioning camera B to enable the positioning camera B to be aligned to a standard jade circle on an x axis on a tray template;

s1.4, adjusting the position of a positioning camera C to enable the positioning camera C to be aligned to a standard jade circle on a y axis on the tray template;

s1.5, displaying theoretical positions and actual positions of the three positioning cameras by a display;

s2, in the stage of positioning the tray relative to the mattress positioning equipment frame, the tray is placed on the bottom frame of the mattress positioning equipment frame, and two side surfaces in the horizontal plane are respectively close to the positioning plates on the mattress positioning equipment frame;

s3, positioning the jade mattress, comprising the following steps:

s3.1, placing a jade mattress on a tray;

s3.2, adjusting the position of the jade mattress on the tray, observing the position of a circle on the jade mattress, shot by a positioning camera A on a display, until the position coincides with a theoretical circle, and finishing the positioning of the origin of coordinates;

s3.3, under the condition that the position of the origin of coordinates on the mattress is not changed, adjusting the position of the jade mattress on the tray, observing the position of a circle on the jade mattress shot by a positioning camera B on the display, enabling the circle center of the circle to be on the theoretical x axis, manually pulling the mattress to enable the circle to be superposed with the theoretical circle, and completing x-axis positioning;

s3.4, observing the position of a circle on the jade mattress shot by a positioning camera C on the display under the condition of ensuring that the position of the origin of coordinates on the mattress and the x axis are not changed, and manually pulling the mattress to enable the circle to be superposed with the theoretical circle to finish y-axis positioning;

s3.5, clamping the jade mattress by the clamping device to keep the jade mattress at the correct position on the tray;

and S4, in the stage of positioning the tray relative to the robot workbench, the tray is moved to the robot workbench from the mattress positioning equipment frame, so that the two adjacent sides of the tray are close to the side positioning device of the workbench positioning system.

Compared with the prior art, the invention has the beneficial effects that:

the automatic technology can not only release workers from heavy physical labor, but also expand the functions of human organs, thereby greatly improving the labor productivity; meanwhile, compared with positioning operation of workers, the method is more efficient.

Drawings

Fig. 1 is a front view of a visual positioning device for a jade mattress.

Fig. 2 is a schematic structural diagram of a mattress positioning equipment frame in a jade mattress visual positioning device.

Fig. 3 is a schematic structural diagram of a positioning camera in a visual positioning device for a jade mattress.

Fig. 4 is a top view of a tray in a visual positioning apparatus for a jade mattress.

Fig. 5 is a schematic structural diagram of a tray in a visual positioning device for a jade mattress.

Fig. 6 is a top view of the robot table.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Referring to fig. 1-6, a visual positioning device for a jade mattress, a positioning device for a jade mattress, comprises a mattress positioning system, a workbench positioning system and a manipulator;

the workbench positioning system is positioned below the mechanical arm, and the mattress positioning system is positioned on the side surface of the workbench positioning system.

The mattress positioning system comprises a mattress positioning equipment frame 100, a positioning camera 200, a tray 300, a positioning plate 150, a clamping device 310, an industrial personal computer and a display;

the mattress positioning equipment frame 100 comprises a bottom frame 110, a vertical column 120, a top bar 130, a mounting bar 140 and an extension bar 141;

the bottom frame 110 is installed in a space surrounded by the upright posts 120, the bottom frame 110 comprises two cross bars 111, three connecting rods 112 and two end rods 113, the three connecting rods 112 are positioned between the two cross bars 111, two ends of the connecting rods 112 are respectively and fixedly connected with the cross bars 111, and two ends of the cross bars 111 are respectively and fixedly connected with the end rods 113; the four upright posts 120 are arranged, the middle parts of the four upright posts 120 are respectively fixedly connected with the end parts of the end part rods 113, the top parts of the upright posts 120 are fixedly connected with the ejector rods 130, the mounting rods 140 are mounted between the two ejector rods 130, and the three extension rods 141 are fixed below the mounting rods 140;

the tray 300 is placed on the bottom frame 110 of the mattress positioning apparatus frame 100 for placing a jade mattress;

the positioning plate 150 is fixedly mounted on the mattress positioning equipment stand 100 for determining the position of the tray 300 relative to the mattress positioning equipment stand 100;

the clamping device 310 is installed on the tray 300, and the clamping device 310 can be a vertical clamp or other clamps applicable to the scheme, and is used for clamping the mattress after the position of the jade mattress is adjusted, so that the position of the mattress is ensured to be unchanged relative to the tray 300;

the three positioning cameras 200 are arranged at the lower part of the extension rod 141 and used for shooting the jade mattress on the tray 300, the three positioning cameras 200 are positioning cameras A, B, C respectively, the positioning cameras are divided into positioning cameras A, B, C only for conveniently explaining the working process of the positioning cameras 200 in the visual positioning method of the jade mattress, the positioning cameras A, B, C are not different, and only the three positioning cameras are numbered differently to conveniently understand the visual positioning method of the jade mattress;

the display (not shown in the figure) is installed on the mattress positioning equipment stand 100 (not shown in the figure) and is used for displaying the reference position and the actual position of the jade mattress shot by the positioning camera 200;

the workbench positioning system comprises a robot workbench 400 and a side positioning device; the robot table is used for placing the tray 300 with the jade mattress, wherein the position of the jade mattress is adjusted, and the clamping device 310 clamps the jade mattress; the side positioning device is used for determining the positions of the tray 300 relative to two directions in the horizontal plane of the robot workbench, and the side positioning device can be a positioning block fixed on the robot workbench 400 or any existing positioning device; the robot positioning system comprises a robot and a control system thereof, wherein the robot is used for grabbing jade, coating jade and pasting jade, and the robot control system carries out trajectory planning and motion control on the robot; the robot can be a parallel robot or any existing robot suitable for the scheme;

a visual positioning method for a jade mattress specifically comprises four stages of positioning preparation, positioning of a tray relative to a mattress positioning equipment frame, positioning of the jade mattress and positioning of the tray relative to a robot workbench:

s1, a positioning preparation stage, comprising the following steps:

s1.1, placing a tray 300 template marked with a standard jade position on a mattress positioning equipment frame 100;

s1.2, adjusting the position of a positioning camera A to enable the positioning camera A to be aligned to a standard jade circle at a coordinate origin on a template of the tray 300;

s1.3, adjusting the position of a positioning camera B to enable the positioning camera B to be aligned to a standard jade circle on an x axis on a template of the tray 300;

s1.4, adjusting the position of a positioning camera C to enable the positioning camera C to be aligned to a standard jade circle on a y axis on a template of the tray 300;

s1.5, displaying theoretical positions and actual positions of the three positioning cameras 200 by a display;

s2, in the stage of positioning the tray relative to the mattress positioning equipment frame, the tray 300 is placed on the bottom frame 110 of the mattress positioning equipment frame 100, and two side surfaces in the horizontal plane are respectively close to the positioning plates 150 on the mattress positioning equipment frame 100;

s3, positioning the jade mattress, comprising the following steps:

s3.1, placing a jade mattress on the tray 300;

s3.2, adjusting the position of the jade mattress on the tray 300, observing the position of a circle on the jade mattress, shot by a positioning camera A on a display, until the position coincides with a theoretical circle, and finishing the positioning of the origin of coordinates;

s3.3, under the condition that the position of the origin of coordinates on the mattress is not changed, adjusting the position of the jade mattress on the tray 300, observing the circle position on the jade mattress shot by the positioning camera B on the display, enabling the circle center of the circle position to be on the theoretical x axis, manually pulling the mattress to enable the circle and the theoretical circle to be superposed, and completing x axis positioning;

s3.4, observing the position of a circle on the jade mattress shot by a positioning camera C on the display under the condition of ensuring that the position of the origin of coordinates on the mattress and the x axis are not changed, and manually pulling the mattress to enable the circle to be superposed with the theoretical circle to finish y-axis positioning;

s3.5, clamping the jade mattress by the clamping device 310 to keep the jade mattress at the correct position on the tray 300;

s4, in the stage of positioning the tray relative to the robot workbench, the tray 300 is moved from the mattress positioning equipment frame 100 to the robot workbench, so that the two adjacent sides of the tray 300 are close to the side positioning device of the workbench positioning system;

it should be noted that the mattress positioning device frame of the present invention is made of aluminum alloy sections or other sections, and the fixed connection is generally made by bolt connection or by section fittings (built-in connection, bevel connection, channel bar connection, corner channel connection, etc.), but the connection by other existing fixing methods such as welding is not excluded.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.