CN110737253B - Film preparation device with automatic adaptation function, automatic adaptation system and method - Google Patents
Film preparation device with automatic adaptation function, automatic adaptation system and method Download PDFInfo
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- 230000009286 beneficial effect Effects 0.000 description 1
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- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention provides a film preparation device with an automatic adaptation function, an automatic adaptation system and a method, which comprise a control module, a pickup module, a driving module and a position calibration module, wherein the position calibration module comprises a position information acquisition module, an image information processing module and a position information judgment module; the control module controls the driving module to drive the pickup module to move, and synchronously acquires the current position information of the pickup module in the moving process through the position information acquisition module and acquires the current image information through the image information processing module; comparing the acquired current image information with built-in standard image information and outputting a comparison value, and when the comparison value falls within a preset threshold range, controlling a position information judgment module by a control module to calibrate the current position information of the picking module to be the target position of the picking module; otherwise, controlling the picking module to continue moving until the comparison value falls into a preset threshold range, and calibrating the current position information of the picking module as the target position of the picking module.
Description
Technical Field
The invention belongs to the technical field of tooth correction, and particularly relates to a shell-shaped tooth corrector manufacturing technology, in particular to a membrane preparation device with an automatic adaptation function, an automatic adaptation system of the membrane preparation device and an automatic adaptation method of the membrane preparation device.
Background
The method comprises the following steps of (1) generally carrying out automatic production procedures of a film preparation procedure, a film pressing procedure, a marking procedure, a cutting procedure, a sorting procedure, a cleaning procedure and a packaging procedure on an automatic production line for preparing the shell-shaped tooth appliance (tooth socket); the diaphragm is an important raw material in the preparation of the shell-shaped tooth appliance, and in order to meet the requirement of long-time uninterrupted production of the tooth socket, enough diaphragm is required to be supplied through the diaphragm preparation equipment uninterruptedly.
When being separated from production line maintenance and needing to adapt to a new production line of film equipment, film equipment is required to be arranged, and the film equipment is arranged in the installation process, the film equipment and the set position on the production line are required to be accurate, and the installation position is manually calibrated. Therefore, it is urgently needed to provide a film preparing device which can automatically and quickly adapt to the installation of a production line.
Disclosure of Invention
The invention mainly aims to overcome the technical defects in the prior art, provides a film preparation device with an automatic adaptation function, an automatic adaptation system of the film preparation device and an automatic adaptation method, solves the problem that the film preparation device is manually installed on a production line, and realizes the quick adaptation of the film preparation device on the production line.
The technical scheme provided by the invention is as follows:
a film preparation device with an automatic adaptation function is used for automatically adapting the film preparation device to an automatic production line of a shell-shaped tooth appliance and comprises a control module, a pickup module, a driving module and a position calibration module, wherein the control module is respectively in communication connection with the pickup module, the driving module and the position calibration module;
the position calibration module comprises a position information acquisition module, an image information processing module and a position information judgment module;
the control module controls the driving module to drive the picking module to move, and synchronously acquires the current position information of the picking module in the moving process through the position information acquisition module and acquires the current image information through the image information processing module;
the image information processing module compares the acquired current image information with built-in standard image information thereof and outputs a comparison value, and when the comparison value falls within a preset threshold range, the control device controls the position information judging module to calibrate the current position information of the picking module as a target position of the picking module;
when the comparison value does not fall into the preset threshold range, the control device controls the driving module to drive the picking module to continue to move until the comparison value falls into the preset threshold range, and the current position information of the picking module is located at the target position of the picking module.
Further preferably, the film preparation device further comprises a film preparation positioning table, wherein the film preparation positioning table is arranged on the production line, and identification information is arranged on the film preparation positioning table; the image processing module is arranged on the picking module, and the control module controls the image processing module to acquire the current image information of the identification information.
Further preferably, the control module controls the driving module to drive the picking module to move along a set range of a production line, and acquires the current image information within the set range.
The invention also provides an automatic adapting system of the film preparation device, which is used for automatically adapting the film preparation device to an automatic production line of the shell-shaped tooth appliance and comprises a film preparation positioning table, a control module, a picking module, a driving module and a position calibration module, wherein the control module is respectively in communication connection with the picking module, the driving module and the position calibration module; the film preparation positioning table is arranged on a production line, and identification information is arranged on the film preparation positioning table;
the position calibration module comprises a position information acquisition module, an image information processing module and a position information judgment module;
the control module controls the driving module to drive the pickup module to move, current position information of the pickup module in the moving process is synchronously acquired through the position information acquisition module, current image information corresponding to the identification information on the film preparation positioning table is acquired through the image information processing module, the image information processing module compares the acquired current image information with built-in standard image information thereof and outputs a comparison value, and when the comparison value falls within a preset threshold range, the control device controls the position information judgment module to calibrate the current position information of the pickup module to be the target position of the pickup module;
when the comparison value does not fall into the preset threshold range, the control device controls the driving module to drive the picking module to continue to move until the comparison value falls into the preset threshold range, and the current position information of the picking module is located at the target position of the picking module.
Further preferably, the control module controls the driving module to drive the picking module to move along a set range of a production line, and acquires the current image information within the set range.
Further preferably, the method further comprises the following steps: the area acquisition module is in communication connection with the control module and is used for acquiring a pre-installation area of the film preparation device; the control device drives the film preparation device to move to the preset installation area.
Further preferably, the system also comprises a response transceiver module which is in communication connection with the control module, the response transceiver module is arranged in a prefabricated area of the production line,
the control module sends an adaptation signal to the response transceiving module and receives adaptation response information fed back by the response transceiving module; and the control module controls the area acquisition module to acquire the pre-installation area according to the adaptation response information.
Further preferably, the image information processing module includes a camera compatible with the information processing function.
The invention also provides an automatic adaptation method of the film preparation device, which is applied to the automatic adaptation system of the film preparation device and comprises the following steps: acquiring current position information of a pickup module in a motion process and current image information corresponding to the current position information; comparing the obtained current image information with built-in standard image information and outputting a comparison value; when the comparison value falls into a preset threshold value range, calibrating the current position information of the picking module as a target position of the picking module; and when the comparison value does not fall into the preset threshold range, the control device controls the driving module to drive the picking module to continue to move until the comparison value falls into the preset threshold range, and the current position information of the picking module is positioned at the target position of the picking module.
Further preferably, the current image information includes image information corresponding to identification information obtained from the film preparation positioning table during movement of the pickup module along the set range of the production line.
The film preparation device with the automatic adaptation function, the automatic adaptation system of the film preparation device and the automatic adaptation method of the film preparation device provided by the invention can bring at least one of the following beneficial effects:
1. the film preparation device provided by the invention can automatically adapt to the target position of the pickup module through the position calibration module without manual calibration, and provides a foundation for the automatic adaptation production line of the film preparation device.
2. The film preparation device provided by the invention has the functions of automatic identification and calibration, can be automatically adapted to the target position of the pickup module, improves the production benefit, avoids errors caused by manual operation, and solves the problem of inaccurate positioning of the subsequent automatic process.
3. The automatic adaptation system provided by the invention comprises a film preparation positioning table, wherein the film preparation positioning table is arranged on a production line, and identification information is arranged on the film preparation positioning table, so that a film preparation device finishes the self-adaptation calibration of a pickup module on a target position on the production line based on the image information corresponding to the identification information.
4. The automatic adapting system provided by the invention also obtains the pre-installation area of the film preparing device in the production line through the area obtaining module, and before the target position of the picking module is calibrated in a self-adapting way, the film preparing device can be controlled to move to the pre-installation area in a self-adapting way, so that the film preparing device can be automatically and quickly adapted to the production line.
Drawings
The foregoing features, technical features, advantages and embodiments are further described in the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings.
FIG. 1 is a schematic diagram of a film preparing apparatus with an automatic adapting function according to the present invention;
FIG. 2 is a schematic diagram of an automatic adaptation system provided by the present invention;
FIG. 3 is a flow chart of the method for automatically adapting the film preparation device according to the present invention.
FIG. 4 is a schematic view of a carrier structure;
FIG. 5 is a schematic view of an identification process;
FIG. 6 is a diagram illustrating the result of identifying alignment values.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
Shell-shaped dental appliances are produced by attaching a thin layer of elastic material to the desired dental model and hot-pressing to form a shell. The shell of the desired tooth arrangement generally conforms to the patient's teeth but differs slightly from the original tooth morphology. By wearing shell-shaped dental appliances over teeth, controlled forces can be applied at specific locations to gradually move the teeth to a desired configuration. This process is repeated using subsequent shell appliances having a new configuration, eventually moving the teeth through a series of intermediate configurations to a final desired configuration. The generation process of the shell-shaped tooth appliance generally comprises a film preparation process, a film pressing process, a marking process, a cutting process, a sorting process, a cleaning process and a packaging process.
The membrane preparing process mainly refers to picking up the membrane with the parameter consistent with that of the membrane to be picked up in the membrane preparing device according to the membrane preparing technological parameter of the shell-shaped tooth appliance. The application is directed at the in-process that the ware was rescued to the automated generation shell form tooth, need have the membrane device of being equipped with of automatic adaptation function on the production line, just so can realize that the membrane device can automatic, adapt to the production line installation fast, solved on the production line and equipped the membrane device through artifical ann.
The first embodiment is as follows:
the embodiment provides a membrane preparation device with an automatic adaptation function, a schematic diagram of which is shown in the figure, and the membrane preparation device comprises: a control module 100, a pick-up module 101, a drive module 102 and a position calibration module 103.
The control module 100 is a core controller of the membrane preparation apparatus, for example, the control module 100 may be a PLC controller, the control module 100 has functions of receiving information, processing information, issuing control commands, and the like, and the control module 100 is in communication connection with the pickup module 100, the driving module 102, and the position calibration module 103, for example, the communication connection may be a wireless communication connection or a wired communication connection.
The film preparing device further comprises a film supplying cylinder, the picking module 101 is used for picking up the film in the film supplying cylinder and placing the picked film on the placing position of the film, and specifically, the control module 100 controls the driving module 102 to drive the picking module 101 and place the film taken out from the film picking position in the film supplying cylinder on the carrier. The carrier is used for bearing the diaphragm and/or the dentognathic model and is placed on a shell-shaped dental appliance production line.
The driving module 102 may include a servo motor. The control module 100 further includes a servo motor in communication with the servo motor for controlling the servo motor to drive the pick-up module 101 to move to the pick-up position and pick up the film. The pick-up module 101 may include a vacuum generator and a solenoid valve, and a suction nozzle is provided to suck the diaphragm through the vacuum generator. Servo motor and pick up the module 101 and be connected, servo motor is under the control of control module 100, control and pick up module 101 and translate to the position that corresponds and supply the membrane section of thick bamboo along picking up the locating rail, can also pick up module 101 longitudinal movement to picking up the position under the command control of control module 100 for the diaphragm on the vacuum generator adsorbable regulation position, should pick up the subassembly and remove in this preset position according to the position of predetermineeing, pick up the diaphragm and place the diaphragm after picking up on the carrier of production line, wait that next process carries out the operation.
The position calibration module 103 includes a position information obtaining module 1031, an image information processing module 1032, and a position information determining module 1033.
The position information obtaining module 1031 may be a position sensor, is installed on the picking module 101, and is used to obtain the current position information of the picking module 101 during the moving process, and may also include a relative positioning for controlling the device to perform the moving position in the servo motor.
The image information processing module 1032 may be a camera compatible with the recognition function, and is installed in the pick-up module 101 for acquiring and recognizing the current image information during the motion of the pick-up module.
The position information determining module 1033 has a recording and calibrating function, and is used for recording and calibrating a target position of the picking module, wherein the target position is a position to be placed on the membrane, such as the position of the carrier on which the membrane is placed, or a set position capable of being recognized by the picking module, and the recognition is not image recognition, and can be induction recognition or the like.
The position information acquisition module 1031, the image information processing module 1032 and the position information determination module 1033 are communicatively connected to the control module 100, respectively.
Specifically, the control module 100 controls the driving module 102 to drive the pickup module 101 to move, and synchronously obtains the current position information of the pickup module 101 in the moving process through the position information obtaining module 1031, and the image information processing module 1032 obtains the current image information; the image information processing module 1032 compares the acquired current image information with the built-in standard image information thereof and outputs a comparison value, and when the comparison value falls within a predetermined threshold range, the control module 100 controls the position information determination module 1033 to calibrate the current position information of the pickup module 101 to be a target position of the pickup module; when the comparison value does not fall within the predetermined threshold range, the control module 100 controls the driving module 102 to drive the picking module 101 to continue moving until the comparison value falls within the predetermined threshold range, and marks the current position information of the picking module 101 as the target position of the picking module 101.
The film preparation apparatus provided by the embodiment identifies the current image information during the movement of the pick-up module 101 through the image information processing module 1032, and if the identification is successful, acquires the current position information during the movement of the pick-up module 101 according to the position information acquiring module 1031, and marks the current position information as the target position of the pick-up module 101 through the position information determining module 1033. The spare film device that this embodiment provided has the function that the position was placed to the automatic adaptation diaphragm, and the diaphragm that picks up module 101 with manual calibration places the position and compares, and the error that manual operation brought can directly be avoided in the self-adaptation of the spare film device that this embodiment provided, improves positioning accuracy, has solved the inaccurate difficult problem in location of follow-up automatic flow.
In an embodiment, in order to enable the film preparation device to be automatically adapted to the installation of the production line, the embodiment further includes a film preparation positioning table 104, the film preparation positioning table 104 is disposed on the production line, and the control module 100 controls the driving module 102 to drive the picking module 101 to move along a set range of the production line, and obtains current image information within the set range, identifies the film preparation positioning table 104, and calibrates current position information in an identified state as a target position of the picking module 101. The setting range refers to a range between an upper limit of movement and a lower limit of movement of the driving module 102.
Several ways in which the image information processing module 1032 can identify the film preparing positioning stage 104 are provided below.
One way is that: the film preparation positioning table 104 is provided with identification information, and the identification information on the film preparation positioning table 104 has identifiability.
The standard image information built in the image information processing module 1032 is an image of the identification information on the film preparation positioning table 104, and the control module 100 controls the image information processing module 1032 to acquire the current image information of the identification information. Specifically, the image information processing module 1032 collects current image information during the movement of the pickup module 101, compares the current image information with an image of the identification information on the preset film preparation positioning table 104, and sends a comparison value to the control module 100, the control module 100 compares the comparison value with a predetermined threshold range, determines whether the comparison value falls within the predetermined threshold range, and if it is determined that the comparison value falls within the predetermined threshold range, the control module 100 controls the position information determination module 1033 to calibrate the current position information of the pickup module 101 as the target position of the pickup module 101. Referring to fig. 6, the shadow portion is an identified comparison value, the comparison value is a similarity value of the two images, the predetermined threshold range may be a similarity value, the predetermined threshold range is 90% to 100%, for example, if the comparison value is 90%, the collected current image is considered to be matched with the preset image, the current position is calibrated as the target position of the pickup module 101, and if the comparison value is 85%, the collected current image is considered not to be matched with the preset image, and the pickup module 101 continues to be controlled to move.
The other mode is as follows: the standard image information built in the image information processing module 1032 may also be an image of a carrier on the film preparation positioning table 104, where the carrier is used for carrying a film, so that the image information processing module 1032 identifies and compares the currently acquired image information with a preset image corresponding to the carrier, and records and marks the current position information of the matching state pickup module 101 if the comparison value falls within a predetermined threshold range.
In the above two modes, the image recognition and processing processes are all completed in the image information processing module 1032, on this basis, a person skilled in the art can also execute the image recognition and processing processes by the control module 100, the image information processing module 1032 is only used for acquiring image information, and further, the control module 100 includes an instruction sending module 1001, an information processing module 1002 and an information executing module 1003;
wherein,
the information execution module 1003 sends a control instruction to the image information processing module 1032 through the instruction sending module 1001, the image information processing module 1032 is controlled to acquire the association information between the film preparation positioning table 104 and the film preparation device body and send the association information to the information processing module 1002, and the information processing module 1002 determines the relative position relationship between the positioning table 104 and the film preparation device body according to the received association information and sends the relative position relationship to the position information judgment module 1033; the position information determining module 1033 calibrates the relative target position where the film is placed by the pick-up module 101 according to the relative position relationship.
If the information processing module 1002 receives the detection image information of which the associated information is the image information processing module 1032, and compares the detection image information with the preset image information; when the comparison result is consistent, an image feature positioning point is calibrated on the film preparation positioning table 104, and a relative placement position where the picking module 101 places the film is determined according to the image feature positioning point.
In addition to the above two ways, the skilled person can obtain the target position of the picking module 101 by the following ways:
in one mode, a distance sensor is arranged on the picking module 101, and the detection distance between the picking module 101 and the identification information on the film preparation positioning table 104 is acquired within a set range through the distance sensor; and acquiring a position corresponding to the preset distance from the detection result, and determining a target position for placing the membrane by the picking module 101 according to the position corresponding to the preset distance.
That is, the information processing module 1002 receives the correlation information as detection distance information, proposes a position point meeting a preset distance in the detection information, calibrates a position point corresponding to the preset distance on the film positioning table, and determines a relative placement position where the pickup module 101 places the film according to the calibrated position point.
In another mode, a signal detector is arranged on the pickup module 101, and a sensing signal on the film preparation positioning table 104 is acquired through the signal detector; the corresponding position of the preset signal intensity is obtained in the detection result, the relative placement position of the picking module 101 for placing the diaphragm is determined according to the corresponding position of the preset signal intensity, and the signal detector can enable the magnetic induction sensor to detect the magnetic field intensity.
That is, the information processing module 1002 receives the correlation information as an induction signal, extracts a signal satisfying a preset induction signal from the induction signal, calibrates a position point corresponding to the preset induction signal on the standby film positioning table, and determines a relative placement position where the pickup module 101 places the film according to the calibrated position point; for example, the point of maximum induced signal strength is calibrated.
On the basis of the manner of obtaining the target position recited in this embodiment, on the other way, a person skilled in the art can also obtain the target position of the pick-up module 101, so as to achieve the purpose that the film preparing apparatus automatically adapts to the target position, and all of them are within the protection scope of the present invention.
Example two:
based on the first embodiment, the present embodiment provides an automatic adapting system of a film preparation device, which is used for automatically adapting the film preparation device to an automatic production line of a shell-shaped dental appliance, and a schematic diagram of the automatic adapting system is shown in fig. 2, and includes: the device comprises a control module 200, a pickup module 201, a driving module 202, a position calibration module 203 and a film preparation positioning table 204.
The control module 200 is respectively connected with the picking module 201, the driving module 202 and the position calibration module 203 in a communication way; the film preparation positioning table 204 is arranged on the production line, and identification information is arranged on the film preparation positioning table 204;
the position calibration module 203 includes a position information obtaining module 2031, an image information processing module 2032, and a position information determining module 2033;
the control module 200 controls the driving module 202 to drive the pickup module 201 to move, and synchronously obtains current position information of the pickup module 201 in the moving process through the position information obtaining module 2031 and the image information processing module 2032 to obtain current image information corresponding to the identification information on the film preparation positioning table 204, the image information processing module 2032 compares the obtained current image information with the built-in standard image information thereof and outputs a comparison value, and when the comparison value falls within a predetermined threshold range, the control module 200 controls the position information judging module 2033 to calibrate the current position information of the pickup module 201 as a target position of the pickup module 201;
when the comparison value does not fall within the predetermined threshold range, the control module 200 controls the driving module 202 to drive the picking module 201 to continue moving until the comparison value falls within the predetermined threshold range, and calibrates the current position information of the picking module 201 to be the target position of the picking module 201.
It should be noted that, for the detailed description of the control module 200 in the present embodiment, reference is made to the detailed description of the control module 100 in the first embodiment, for the detailed description of the pickup module 201 in the present embodiment, reference is made to the detailed description of the pickup module 101 in the first embodiment, for the detailed description of the driving module 202 in the present embodiment, reference is made to the detailed description of the position calibration module 203 in the present embodiment, reference is made to the detailed description of the position calibration module 103 in the first embodiment, for the detailed description of the auxiliary membrane positioning table 204 in the present embodiment, reference is made to the detailed description of the auxiliary membrane positioning table 104 in the first embodiment, and similarly, for the detailed description of the position information acquiring module 2031, the image information processing module 2032, and the position information determining module 2033 in the present embodiment, reference is made to the descriptions of the position information acquiring module 1031, the image information processing module 1032, and the position information determining module 1033 in the first embodiment, the present embodiment will not be described in detail with respect to these modules and modules.
The position calibration module 203 can enable the pick-up module 201 to automatically adapt to a target position, before that, the film preparation device is required to be moved to a pre-installation area of a production line, the pre-installation area is an area determined by taking the positioning table as a reference position, and further, the control module 200 controls the film preparation device to move to the range of the pre-installation area.
In this embodiment, the control module 200 determines whether the film preparation positioning stage 204 is located in a range (range of the preset installation area) where the picking module 201 moves along the production line through the related information, so as to control the film preparation device to move to the preset installation area.
The embodiment further includes an area obtaining module 205, where the area obtaining module 205 is in communication connection with the control module 200, and is configured to obtain a pre-installation area of the film preparation device, and the control module 200 drives the film preparation device to move to the pre-installation area.
The pre-installation area is acquired in the following mode: the area acquisition module 205 is a signal transceiver module; the signal transceiver module receives the area positioning instruction sent by the control module 200 and sends a response signal to the control module 200 according to the area positioning instruction; the control module 200 determines the pre-installation area range of the film preparing device according to the response information.
Correspondingly, the system further comprises a response transceiving module 206 adapted to the signal transceiving module, the response transceiving module is arranged in a pre-installation area of the production line, and the control module 200 controls the signal transceiving module to send an adaptation signal to the response transceiving module 206 and receives adaptation response information fed back by the response transceiving module 206; the control module 200 acquires the pre-installation region according to the adaptation response information.
The response transceiving modules 206 can be arranged on the film preparing positioning table 204, the number of the response transceiving modules 206 can be multiple, the multiple response transceiving modules 206 surround the preset installation area, and the control module 200 determines the corresponding preset installation area based on the response signals of different positions. The response transceiving module 206 may be a signal transceiver that receives and transmits signals, such as an infrared receiver.
The automatic adaptation system that this embodiment provided can be automatic, will be equipped with membrane device adaptation on the production line fast, avoids the error that manual operation brought, has improved the efficiency and the installation accuracy of being equipped with membrane device adaptation production line.
Example three:
based on the first embodiment and the second embodiment, the present embodiment provides an automatic adapting method of a film preparing apparatus, and a flowchart thereof is shown in fig. 3, which specifically includes the following steps.
S300: and acquiring current position information of the picking module in the motion process and current image information corresponding to the current position information.
The current position information is obtained by the position information obtaining module, the current image information is obtained by the image information processing module, and reference is made to embodiment one for the description of the position information obtaining module and the image information processing module.
The current image information includes image information corresponding to the identification information on the film preparation positioning table obtained during the movement of the pickup module along the set range of the production line, and for the description of the identification information on the film preparation positioning table, reference is made to embodiment one, which is not repeated in this example.
S310: and comparing the acquired current image information with the built-in standard image information and outputting a comparison value.
The comparison value may be a similarity value between the current image information and the built-in standard image information, and the method for calculating the similarity between the two images is a conventional technique in the field of image processing, and is well known by those skilled in the art, and the description of this example is omitted.
S320: and when the comparison value falls into a preset threshold range, calibrating the current position information of the picking module as the target position of the picking module.
As described above, when the comparison value is the similarity value, a predetermined threshold range may be set according to the actual situation, as shown in fig. 6, in the identification process of a-C, the predetermined threshold range is 90% to 100%, and if the comparison value is 90%, the comparison value falls within the predetermined threshold range.
S330: and when the comparison value does not fall into the preset threshold range, the control device controls the driving module to drive the picking module to continue to move until the comparison value falls into the preset threshold range, and the current position information of the picking module is calibrated as the target position of the picking module.
In addition to obtaining the target position of the picking module by using the above comparison value judgment, the present embodiment provides the following several ways to obtain the target position of the picking module:
one way is that:
acquiring a mark image on a film preparation positioning table;
comparing the identification image with preset image information;
and if the compared image information is consistent, acquiring a detection position point consistent with the preset image information, and determining the target position of the picking module for placing the membrane according to the detection position point.
The other mode is as follows:
acquiring an image of a carrier on a film preparation positioning table;
and identifying and comparing the image of the carrier with a preset image corresponding to the carrier, and recording and marking the relative position relation between the picking module and the carrier in a matching state if the image of the carrier is consistent with the preset image corresponding to the carrier.
The other mode is as follows:
acquiring the detection distance between the picking module and the identification component on the film preparation positioning table within a set range;
and acquiring a position corresponding to the preset distance from the detection result, and determining a placing position for placing the membrane on the picking module according to the position corresponding to the preset distance.
The other mode is as follows:
acquiring an induction signal on a prepared membrane positioning table;
and acquiring a preset signal intensity corresponding position in the detection result, and determining a relative placing position of the picking module for placing the diaphragm according to the preset signal intensity corresponding position.
Step S300-step S300 are to control the placing position of the membrane on the automatic adaptation production line of the picking module of the membrane preparation device, and on this basis, the membrane preparation device needs to be installed in the pre-installation area on the production line first, so this example further includes the step of controlling the automatic adaptation production line of the membrane preparation device in the pre-installation area:
step 1) obtaining the pre-installation area range of the film preparation device on the production line.
If so, sending an area positioning instruction, and sending a response signal according to the area positioning instruction; and determining the range of the pre-installation area of the film preparing device according to the response information.
And 2) controlling the film preparation device to move to the range of the pre-installation area.
Wherein, the film preparation device can be matched and controlled to automatically address and move to the corresponding pre-installation area based on the signal between the film preparation positioning table and the film preparation device.
And 3) judging whether the film preparation equipment is in the range of the preset installation position.
Step 4), if yes, acquiring identification information of the film preparation positioning table; otherwise, the film preparing device is moved according to the position information of the film preparing positioning table and adjusted to be within the range of the preset installation position.
Fourth embodiment
As shown in FIGS. 1-4; in this embodiment, on the basis of the 3 embodiments, the automatic adaptation process of the film preparation device includes: the device comprises a positioning table arranged on a production line, wherein a signal transceiving module, a control module and film preparing equipment are arranged on the positioning table; when the film preparation equipment is automatically adapted to a production line, the control module sends an adaptation response signal to the film preparation equipment and a signal transceiver module on the production line, a visual recognition device is arranged on the film preparation equipment, the signal transceiver module on the production line can be a signal recognition lamp, the signal recognition lamp corresponds after receiving the adaptation signal, a visual recognition camera is arranged on the film preparation equipment, an adaptation installation area on the production line is determined according to the shot signal recognition lamp, or an infrared sensor is arranged on the film preparation device and the production line, after the control module sends the adaptation response signal, the infrared sensors on the film preparation device and in the installation area of the film preparation machine on the production line carry out signal feedback, on one hand, the position relation between the film preparation equipment and the production line can be determined through the control module, on the other hand, the adaptation device is arranged on the film preparation machine, and the distance positioning between the film preparation equipment and the production line is carried out, meanwhile, the adaptive device is not limited to be arranged at a set position of a production line, the distance between the adaptive device and the production line is also positioned through an infrared sensor, and a control module controls the production line film machine to search an adaptive installation area in a set range, for example, the shortest distance is the installation area; the film preparation machine in the embodiment has an automatic positioning function, for example, addressing and navigation can be performed to a target position, namely, an adaptive installation area is adapted; after the film preparation equipment reaches the installation area, the target position for placing the film by the picking module is positioned, and the positioning table is basically in a stable and unchangeable position during working on the production line, so that the film preparation equipment can be adjusted according to the requirement of the production line; in the embodiment, the positioning table is used as a reference point, the position for placing the film taking piece is determined by the picking assembly for the identification piece arranged on the positioning table, and then a control assembly or a servo controller of a servo motor arranged on the film preparation machine records a calibration point of the picking assembly in the movement process, for example, the position of a film preparation cavity in the film preparation equipment is unchanged, so that a servo control system can record the position of each film preparation cavity; in a similar way, the position information can be positioned through a position sensor, the position is sent to a control module, the relative position is recorded, the position of the corresponding film preparation cavity in each mold taking process and the moving distance in different directions are calculated, and the mold taking position is marked based on the position information; in the specific process of calibrating the marker bit, the embodiment may be implemented in any manner of embodiments 1 to 3; through an image recognition mode or a recognition mark arranged on a positioning table, fig. 4 shows a carrier on the positioning table, if the positioning is carried out through a geometric shape 400 of a picked-up membrane, the recognition process is the process from A to H in fig. 5, the picked-up comparison value is shown in fig. 6, when the shadow part is less and less, the similarity with a built-in pre-comparison image is calculated comprehensively from the shape and the size, when the picked-up component drives an image information processing module to obtain an image comparison value of 100%, one point or one area on the carrier corresponding to the image is calibrated, the mark position is the target position of the picked-up module, the accurate position where the membrane is placed is found, and therefore, the automatic adaptation process is completed.
The automatic adaptation method provided by the embodiment can automatically and quickly adapt the film preparation device to a production line, avoids errors caused by manual operation, and improves the efficiency and the installation precision of the adaptation production line of the film preparation device.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A film preparation device with an automatic adaptation function is used for automatically adapting the film preparation device to an automatic production line of a shell-shaped tooth appliance and is characterized by comprising a film supply cylinder, a film preparation positioning table, a control module, a pickup module, a driving module and a position calibration module, wherein the control module is respectively in communication connection with the pickup module, the driving module and the position calibration module;
the position calibration module comprises a position information acquisition module, an image information processing module and a position information judgment module; the position information acquisition module and the image information processing module are respectively arranged on the pickup module; the film preparation positioning table is arranged on a production line, and identification information and a carrier for bearing a film sheet are arranged on the film preparation positioning table;
the control module controls the driving module to drive the picking module to move, and synchronously acquires current position information of the picking module in the moving process through the position information acquisition module and acquires current image information corresponding to the identification information or acquires current image information corresponding to the carrier through the image information processing module;
the image information processing module compares the acquired current image information with built-in standard image information thereof and outputs a comparison value, wherein the standard image information is an image of identification information on the standby film positioning table or an image of a carrier on the standby film positioning table;
when the comparison value falls into a preset threshold range, the control module controls the position information judgment module to calibrate the current position information of the picking module to be the target position of the picking module;
when the comparison value does not fall into a preset threshold range, the control module controls the driving module to drive the picking module to continue to move until the comparison value falls into the preset threshold range, and the current position information of the picking module is calibrated to be the target position of the picking module.
2. The film preparing device with the automatic adapting function according to claim 1, wherein the control module controls the driving module to drive the pick-up module to move along a set range of a production line and to acquire the current image information within the set range.
3. An automatic adapting system of a film preparation device is used for automatically adapting the film preparation device to an automatic production line of a shell-shaped tooth appliance, and is characterized by comprising a film preparation positioning table, a region acquisition module, a film supply cylinder, a control module, a picking module, a driving module and a position calibration module, wherein the control module is respectively in communication connection with the region acquisition module, the picking module, the driving module and the position calibration module; the film preparation positioning table is arranged on a production line, and identification information and a carrier for bearing a film sheet are arranged on the film preparation positioning table;
the position calibration module comprises a position information acquisition module, an image information processing module and a position information judgment module; the position information acquisition module and the image information processing module are respectively arranged on the pickup module;
the area acquisition module is used for acquiring a pre-installation area of the film preparation device, the control module controls the driving module to drive the pickup module to move to the pre-installation area, and then synchronously acquires current position information of the pickup module in the movement process through the position information acquisition module and current image information corresponding to the identification information on the film preparation positioning table or current image information corresponding to the carrier through the image information processing module, the image information processing module compares the acquired current image information with built-in standard image information thereof and outputs a comparison value, and the standard image information is an image of the identification information on the film preparation positioning table or an image of the carrier on the film preparation positioning table;
when the comparison value falls into a preset threshold range, the control module controls the position information judgment module to calibrate the current position information of the picking module to be the target position of the picking module;
when the comparison value does not fall into a preset threshold range, the control module controls the driving module to drive the picking module to continue to move until the comparison value falls into the preset threshold range, and the current position information of the picking module is calibrated to be the target position of the picking module.
4. The automatic adapting system of the film preparing device according to claim 3, wherein the control module controls the driving module to drive the picking module to move along a set range of a production line, and obtains the current image information within the set range.
5. The automatic adapting system of a film preparing device according to claim 3, further comprising a response transceiving module, which is connected with the control module in a communication way, wherein the response transceiving module is arranged in a pre-installation area of a production line,
the control module sends an adaptation signal to the response transceiving module and receives adaptation response information fed back by the response transceiving module; and the control module controls the area acquisition module to acquire the pre-installation area according to the adaptation response information.
6. The system of claim 3, wherein the image information processing module comprises a camera compatible with information processing functions.
7. An automatic adapting method of a film preparing device, which is applied to the automatic adapting system of the film preparing device according to any one of claims 3 to 6,
acquiring current position information of a pickup module in a motion process and current image information corresponding to the current position information;
comparing the obtained current image information with built-in standard image information and outputting a comparison value;
when the comparison value falls into a preset threshold value range, calibrating the current position information of the picking module as a target position of the picking module;
and when the comparison value does not fall into the preset threshold range, the control device controls the driving module to drive the picking module to continue to move until the comparison value falls into the preset threshold range, and the current position information of the picking module is calibrated as the target position of the picking module.
8. The automatic adapting method of a film preparing device according to claim 7, wherein the current image information comprises image information corresponding to the identification information on the film preparing positioning table or image information corresponding to the tool on the film preparing positioning table obtained during the movement of the pick-up module along the set range of the production line.
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