1. An equipment positioning method based on an injection molding machine tool is characterized by comprising the following steps:

collecting an appearance image of a rear barrel insert of the laundry equipment and an image of a positioning hole point corresponding to the rear barrel insert;

analyzing a positioning position and an angle deviation parameter of the rear barrel insert based on the appearance image and the image of the positioning hole point, wherein the angle deviation parameter is used for representing a deviation angle between the positioning position and a preset position of the rear barrel insert;

controlling a preset robot to move the rear barrel insert to a target device point based on the positioning position and the angle deviation parameter;

and after the servo driver is detected to meet the stop condition, controlling the preset robot to load the rear barrel insert into a preset injection molding machine on an injection molding machine tool so as to obtain the molded rear barrel of the laundry equipment.

2. The apparatus positioning method according to claim 1, wherein the step of collecting an image of an appearance of a rear barrel insert of a laundry apparatus and an image of a positioning hole point corresponding to the rear barrel insert comprises:

detecting whether an equipment installation instruction is received, wherein the equipment installation instruction is used for performing injection molding on the rear barrel insert and installing the molded rear barrel of the laundry equipment to the laundry equipment;

after receiving an equipment installation instruction, detecting the conveying position of a rear barrel insert of the laundry equipment on a machine tool production line;

judging whether the rear barrel insert of the laundry equipment is conveyed to a preset position of the injection molding machine tool or not;

if the rear barrel insert of the washing equipment is conveyed to the preset position of the injection molding machine tool, controlling first vision equipment to shoot an image of the rear barrel insert to obtain the appearance image;

and controlling second vision equipment to shoot an image of the positioning hole point corresponding to the rear barrel insert.

3. The apparatus positioning method according to claim 1, wherein the step of analyzing the positioning position and angle deviation parameters of the back barrel insert based on the appearance image and the image of the positioning hole point comprises:

analyzing the appearance image to obtain the appearance form and the positioning position of the rear barrel insert, wherein the appearance form is used for analyzing whether the quality of the rear barrel insert meets the preset quality requirement;

analyzing the image of the positioning hole point to obtain the direction and the position of the positioning hole point;

and determining the angle deviation parameter based on the direction and the position of the positioning hole point.

4. The apparatus positioning method according to claim 3, wherein the step of controlling a preset robot to move the back barrel insert to a target device point based on the positioning position and the angular deviation parameter comprises:

if the quality of the rear barrel insert meets the preset quality requirement, the positioning position and the angle deviation parameter of the rear barrel insert are sent to the preset robot;

controlling the preset robot to adjust a grabbing attitude and a grabbing position point based on the positioning position and the angle deviation parameter;

and controlling the preset robot to grab the rear barrel insert and move the rear barrel insert to the target device point.

5. The apparatus positioning method according to claim 1, wherein after controlling a preset robot to move the back barrel insert to a target device point, the apparatus positioning method further comprises:

controlling the servo driver to start;

after the servo driver is started, controlling a laser sensor to acquire a first product characteristic of the rear barrel insert;

controlling a positioning pin sensor to acquire a second product characteristic of the rear barrel insert;

and if the first product characteristic and the second product characteristic both meet the preset characteristic requirement, determining that the servo driver meets the stop condition.

6. The apparatus positioning method of claim 5, wherein after controlling a locating pin sensor to acquire a second product feature of the back barrel insert, the apparatus positioning method further comprises:

if the first product characteristic and/or the second product characteristic do not meet the preset characteristic requirement, controlling a preset robot to wait above the target device point;

and taking back the rear barrel insert, and starting to perform visual detection on the rear barrel insert again so as to analyze the product characteristics of the rear barrel insert.

7. The apparatus positioning method according to claim 5, wherein the preset robot and the robot jig are mounted on the injection molding machine tool, and the injection molding machine tool is built with a product conveying line, a vision apparatus, a laser sensor, and a positioning pin sensor.

8. The apparatus positioning method according to claim 7, wherein the injection molding machine is of the type of a hydraulic injection molding machine.

9. An injection molding machine based equipment positioning system, comprising:

the injection molding machine comprises an injection molding machine tool and a preset robot, wherein the preset robot is arranged at the upper end of the machine tool;

the vision device is associated with the clamp of the preset robot and is used for acquiring an appearance image of a rear barrel insert of the washing equipment and an image of a positioning hole point corresponding to the rear barrel insert;

a positioning controller configured to perform the injection molding machine based device positioning method of any one of claims 1 to 8 via execution of executable instructions.

10. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method for positioning an injection molding machine-based apparatus according to any one of claims 1 to 8.

Background

In the related technology, in the process of production and application of an injection molding machine tool in the traditional production technology, the injection molding machine tool is in a semi-automatic production operation mode by matching with manpower, the mode is relatively simple, precision installation parts are processed by manual operation, along with gradual arrival of an automation technology, automatic operation or higher-level intelligent automation is used for production of products in multiple industries, injection molding is carried out on a rear barrel of a washing machine by installing a rear barrel insert into an injection molding machine, and the rear barrel of the washing machine is taken out after molding.

In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

The embodiment of the invention provides an equipment positioning method and an equipment positioning system based on an injection molding machine tool, which at least solve the technical problem of high difficulty in accurately positioning and mounting parts in the application of the injection molding machine tool in the related technology.

According to an aspect of the embodiments of the present invention, there is provided an injection molding machine tool-based device positioning method, including: collecting an appearance image of a rear barrel insert of the laundry equipment and an image of a positioning hole point corresponding to the rear barrel insert; analyzing a positioning position and an angle deviation parameter of the rear barrel insert based on the appearance image and the image of the positioning hole point, wherein the angle deviation parameter is used for representing a deviation angle between the positioning position and a preset position of the rear barrel insert; controlling a preset robot to move the rear barrel insert to a target device point based on the positioning position and the angle deviation parameter; and after the servo driver is detected to meet the stop condition, controlling the preset robot to load the rear barrel insert into a preset injection molding machine on an injection molding machine tool so as to obtain the molded rear barrel of the laundry equipment.

Optionally, the step of acquiring an appearance image of a rear barrel insert of the laundry device and an image of a positioning hole point corresponding to the rear barrel insert includes: detecting whether an equipment installation instruction is received, wherein the equipment installation instruction is used for performing injection molding on the rear barrel insert and installing the molded rear barrel of the laundry equipment to the laundry equipment; after receiving an equipment installation instruction, detecting the conveying position of a rear barrel insert of the laundry equipment on a machine tool production line; judging whether the rear barrel insert of the laundry equipment is conveyed to a preset position of the injection molding machine tool or not; if the rear barrel insert of the washing equipment is conveyed to the preset position of the injection molding machine tool, controlling first vision equipment to shoot an image of the rear barrel insert to obtain the appearance image; and controlling second vision equipment to shoot an image of the positioning hole point corresponding to the rear barrel insert.

Optionally, the step of analyzing the positioning position and the angle deviation parameter of the back barrel insert based on the appearance image and the image of the positioning hole point includes: analyzing the appearance image to obtain the appearance form and the positioning position of the rear barrel insert, wherein the appearance form is used for analyzing whether the quality of the rear barrel insert meets the preset quality requirement; analyzing the image of the positioning hole point to obtain the direction and the position of the positioning hole point; and determining the angle deviation parameter based on the direction and the position of the positioning hole point.

Optionally, the step of controlling a preset robot to move the back barrel insert to a target device point based on the positioning position and the angle deviation parameter includes: if the quality of the rear barrel insert meets the preset quality requirement, the positioning position and the angle deviation parameter of the rear barrel insert are sent to the preset robot; controlling the preset robot to adjust a grabbing attitude and a grabbing position point based on the positioning position and the angle deviation parameter; and controlling the preset robot to grab the rear barrel insert and move the rear barrel insert to the target device point.

Optionally, after controlling a preset robot to move the back barrel insert to a target device point, the apparatus positioning method further includes: controlling the servo driver to start; after the servo driver is started, controlling a laser sensor to acquire a first product characteristic of the rear barrel insert; controlling a positioning pin sensor to acquire a second product characteristic of the rear barrel insert; and if the first product characteristic and the second product characteristic both meet the preset characteristic requirement, determining that the servo driver meets the stop condition.

Optionally, after controlling the locating pin sensor to acquire the second product characteristic of the back barrel insert, the apparatus locating method further comprises: if the first product characteristic and/or the second product characteristic do not meet the preset characteristic requirement, controlling a preset robot to wait above the target device point; and taking back the rear barrel insert, and starting to perform visual detection on the rear barrel insert again so as to analyze the product characteristics of the rear barrel insert.

Optionally, the preset robot and the robot clamp are placed on the injection molding machine tool, and the injection molding machine tool is built with a product conveying line, a vision device, a laser sensor and a positioning pin sensor.

Optionally, the injection molding machine is of the type that is a hydraulic injection molding machine.

According to another aspect of the embodiments of the present invention, there is also provided an injection molding machine tool-based device positioning system, including: the injection molding machine comprises an injection molding machine tool and a preset robot, wherein the preset robot is arranged at the upper end of the machine tool; the vision device is associated with the clamp of the preset robot and is used for acquiring an appearance image of a rear barrel insert of the washing equipment and an image of a positioning hole point corresponding to the rear barrel insert; a positioning controller configured to perform any of the injection molding machine based device positioning methods described above via execution of executable instructions.

According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, the computer-readable storage medium is controlled to execute the method for positioning the injection molding machine-based device according to any one of the above items.

In the embodiment of the invention, an appearance image of a rear barrel insert of the laundry equipment and an image of a positioning hole point corresponding to the rear barrel insert are collected, a positioning position and an angle deviation parameter of the rear barrel insert are analyzed based on the appearance image and the image of the positioning hole point, wherein the angle deviation parameter is used for representing a deviation angle between the positioning position and a preset position of the rear barrel insert, a preset robot is controlled to move the rear barrel insert to a target device point based on the positioning position and the angle deviation parameter, and the preset robot is controlled to load the rear barrel insert into a preset injection molding machine on an injection molding machine tool after a servo driver is detected to meet a stop condition, so that a molded rear barrel of the laundry equipment is obtained. In the embodiment, the robot is matched with a vision system, a detection sensor and the like, the preset robot is controlled to move the rear barrel insert to a target device point based on the positioning position and the angle deviation parameter of the rear barrel insert for grabbing the rear barrel insert in operation, the purpose of accurately installing and implementing rear barrel insert assembling and pre-positioning of the robot is achieved, the defect that the precision positioning and installing part in the application of the automatic equipment injection molding machine tool is difficult is overcome, and the technical problem that the precision positioning and installing part in the application of the injection molding machine tool in the related technology is difficult is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a flow chart of an alternative injection molding machine based device positioning method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an alternative positioning control system according to the present embodiment;

FIG. 3 is a flow chart of another alternative injection molding machine based device positioning method according to an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

In accordance with an embodiment of the present invention, there is provided an injection molding machine based apparatus positioning method embodiment, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.

Optionally, a preset robot and a robot clamp can be placed on the injection molding machine tool related to the embodiment of the invention, and a product conveying line, a vision device, a laser sensor and a positioning pin sensor are built on the injection molding machine tool.

In this embodiment, the type of injection molding machine may be selected as a hydraulic injection molding machine.

FIG. 1 is a flow chart of an alternative injection molding machine based device positioning method according to an embodiment of the present invention, as shown in FIG. 1, comprising the steps of:

step S102, collecting an appearance image of a rear barrel insert of the washing equipment and an image of a positioning hole point corresponding to the rear barrel insert;

step S104, analyzing a positioning position and an angle deviation parameter of the rear barrel insert based on the appearance image and the image of the positioning hole point, wherein the angle deviation parameter is used for representing a deviation angle between the positioning position and a preset position of the rear barrel insert;

step S106, controlling a preset robot to move the rear barrel insert to a target device point based on the positioning position and the angle deviation parameter;

and S108, after the servo driver is detected to meet the stop condition, controlling a preset robot to load the rear barrel insert into a preset injection molding machine on an injection molding machine tool so as to obtain the molded rear barrel of the laundry equipment.

Through the steps, an appearance image of a rear barrel insert of the laundry equipment and an image of a positioning hole point corresponding to the rear barrel insert can be collected, a positioning position and an angle deviation parameter of the rear barrel insert are analyzed based on the appearance image and the image of the positioning hole point, wherein the angle deviation parameter is used for representing a deviation angle between the positioning position and a preset position of the rear barrel insert, a preset robot is controlled to move the rear barrel insert to a target device point based on the positioning position and the angle deviation parameter, and the preset robot is controlled to load the rear barrel insert into a preset injection molding machine on an injection molding machine tool after a servo driver is detected to meet a stop condition, so that a formed rear barrel of the laundry equipment is obtained. In the embodiment, the robot is matched with a vision system, a detection sensor and the like, the preset robot is controlled to move the rear barrel insert to a target device point based on the positioning position and the angle deviation parameter of the rear barrel insert for grabbing the rear barrel insert in operation, the purpose of accurately installing and implementing rear barrel insert assembling and pre-positioning of the robot is achieved, the defect that the precision positioning and installing part in the application of the automatic equipment injection molding machine tool is difficult is overcome, and the technical problem that the precision positioning and installing part in the application of the injection molding machine tool in the related technology is difficult is solved.

The embodiment can be applied to the production environment of the injection molding machine tool, and the production equipment comprises but is not limited to: laundry appliances, for example, washing machines. The embodiment is schematically illustrated by producing a washing machine, and mainly improves the automatic production of the injection molding of the back barrel of the washing machine, compared with the prior art that the back barrel insert needs to be installed in an injection molding machine manually, the difficulty is high, the embodiment can control the automation to move the back barrel insert to a target device point, control a preset robot to install the back barrel insert into the preset injection molding machine on an injection molding machine tool (the back barrel insert is in butt joint with a back barrel initial model), obtain a molded back barrel of the washing machine, and take out the back barrel of the washing machine after molding.

Optionally, fig. 2 is a schematic diagram of an alternative positioning control system according to the present embodiment, and as shown in fig. 2, the positioning control system includes: an injection machine tool 21, a robot 22, a robot jig, and a vision device 23 and a prepositioning device 24 mounted thereon. The injection molding machine in fig. 2 may be a hydraulic injection molding machine, the robot 22 may be a six-axis industrial robot, and the pre-positioning device 24 may be connected to a rear conveyor line.

The injection molding machine tool in the figure 2 carries a robot, a clamp and a vision device, can also carry a laser detection sensor, a switch detection sensor, a servo driver and a motor to form a pre-positioning device, and realizes data interconnection through Ethernet communication, thereby realizing a circular production system of the novel robot washing machine rear barrel injection molding module unit. In order to ensure that the rear barrel insert is accurately installed, whether the internal and external appearance quality, the positioning hole point quality and the positioning hole point direction of the grabbed rear barrel insert meet the requirement of pre-positioning placement needs to be detected and identified through a vision device, product characteristic identification of the rear barrel insert needs to be carried out through a laser detection sensor, and synchronous detection identification is realized through a positioning pin column detection sensor.

The present embodiment will be described in detail below with reference to fig. 2 and the above-described respective implementation steps.

And S102, collecting an appearance image of a rear barrel insert of the washing equipment and an image of a positioning hole point corresponding to the rear barrel insert.

Optionally, the step of gathering the outward appearance image of the back bucket mold insert of laundry equipment and the image of the locating hole point that corresponds with the back bucket mold insert includes: detecting whether an equipment installation instruction is received, wherein the equipment installation instruction is used for performing injection molding on the rear barrel insert and installing the molded rear barrel of the laundry equipment to the laundry equipment; after receiving an equipment installation instruction, detecting the conveying position of a rear barrel insert of the laundry equipment on a machine tool production line; judging whether the rear barrel insert of the laundry equipment is conveyed to a preset position of an injection molding machine tool or not; if the rear barrel insert of the washing equipment is conveyed to a preset position of the injection molding machine tool, controlling the first vision equipment to shoot an image of the rear barrel insert to obtain an appearance image; and controlling the second vision equipment to shoot an image of the positioning hole point corresponding to the rear barrel insert.

The step of carrying out injection molding on the rear barrel insert refers to the step of finishing butt joint of the rear barrel insert and a rear barrel initial model, the rear barrel initial model is a simple barrel-shaped model, the rear barrel insert can comprise positioning hole points, the rear barrel insert and the rear barrel initial model are controlled to be in butt joint after the quality and the direction of the positioning hole points of the grabbed rear barrel insert are identified, and the material sensor can sense incoming material information.

In this embodiment, the whole image of the insert of the rear barrel and the whole image of each positioning hole point are photographed by the first vision device and the second vision device, respectively.

The first visual equipment and the second visual equipment can be cameras or video cameras, the visual equipment can be associated with a clamp at the tail end of a mechanical arm of a robot, the rear barrel insert is convenient to be butted with a rear barrel initial model in an injection molding machine, and the positioning pins of the rear barrel insert are mainly ensured to be butted to corresponding positions. In the application of the loading and unloading project series of the robot of the injection molding machine tool, in a prepositioning control link, whether the internal and external appearance quality, the positioning hole point quality and the positioning hole point direction of a grabbed rear barrel insert meet the requirements of prepositioning placement or not is detected and identified through visual equipment or a visual device, if the internal and external appearance quality, the positioning hole point quality and the positioning hole point direction do not meet the requirements, the robot needs to enter a stage of NG offline re-grabbing, after the quality meets the requirements, the robot receives the positioning position (mainly comprising a space coordinate X, Y, Z) and an angle deviation transmitted by the visual equipment, performs posture adjustment and position adjustment, performs prepositioning operation, and puts a target device point.

In this embodiment, the robot and the vision device may be controlled to perform network data communication, the vision device calculates XYZ values and angular deviations, and then interacts with the robot system through the network data communication to drive the robot to run a program running track, and the robot performs posture adjustment and position adjustment to perform pre-positioning operation and place the pre-positioning operation in a target device point.

And step S104, analyzing the positioning position and the angle deviation parameter of the rear barrel insert based on the appearance image and the image of the positioning hole point, wherein the angle deviation parameter is used for representing the deviation angle between the positioning position and the preset position of the rear barrel insert.

As an optional implementation manner of this embodiment, the step of analyzing the positioning position and the angle deviation parameter of the insert of the back barrel based on the appearance image and the image of the positioning hole point includes: analyzing the appearance image to obtain the appearance form and the positioning position of the insert of the rear barrel, wherein the appearance form is used for analyzing whether the quality of the insert of the rear barrel meets the preset quality requirement; analyzing the image of the positioning hole point to obtain the direction and the position of the positioning hole point; based on the direction and position of the location hole points, an angular deviation parameter is determined.

And when the preset positioning device point is placed, the parameter values of the teaching points of the robot are set, the vision camera system is interactively matched with the robot system through network data communication to set the parameter values of the teaching points of the robot, and the vision system calculates the XYZ values and the angle deviation parameters of the rear barrel insert of the current vision detection and feeds the XYZ values and the angle deviation parameters back to the robot.

And S106, controlling a preset robot to move the rear barrel insert to a target device point based on the positioning position and the angle deviation parameter.

Optionally, based on the positioning position and the angular deviation parameter, the step of controlling the preset robot to move the back barrel insert to the target device point comprises: if the quality of the rear barrel insert meets the preset quality requirement, the positioning position and the angle deviation parameter of the rear barrel insert are sent to a preset robot; controlling a preset robot to adjust a grabbing attitude and a grabbing position point based on the positioning position and the angle deviation parameter; and controlling the preset robot to grab the rear barrel insert and move the rear barrel insert to a target device point.

Alternatively, after controlling the preset robot to move the back barrel insert to the target device point, the apparatus positioning method further includes: controlling the servo driver to start; after the servo driver is started, controlling a laser sensor to acquire a first product characteristic of the rear barrel insert; controlling a positioning pin sensor to acquire second product characteristics of the rear barrel insert; and if the first product characteristic and the second product characteristic both meet the preset characteristic requirement, determining that the servo driver meets the stop condition.

The robot carries out posture adjustment and position adjustment, carries out pre-positioning operation, puts back bucket mold insert into pre-positioning device point, and the object sensor responds to the supplied materials, and servo drive is from starting, and laser detection sensor carries out the product characteristic identification of back bucket mold insert, and locating pin post detection sensor synchronous detection discernment, and both detect the discernment respectively and satisfy the servo drive that targets in place and stop in step, and the robot snatchs back bucket mold insert and gets into the lathe location operation. On the contrary, the single satisfaction or the two unsatisfied, the robot waits right above the prepositioning device point, receives the first signal of the two-stage NG and takes back the rear barrel insert again, starts from the visual detection stage in the normal flow, detects and identifies the operation, when exceeding receiving the third signal of the two-stage NG, the robot takes back the rear barrel insert independently to carry out the two-stage NG offline, and takes back the rear barrel insert to grab the new product again, when the two-stage NG appears the three offline, the system automatically starts to carry out manual intervention to remove the fault, and the system is reset and started.

When the back bucket mold insert is placed to the target device point, the object sensor senses the material feeding servo drive to start, the servo drive can complete the operation only when two conditions are met, firstly, the laser detection sensor senses that the first characteristic identification of the back bucket mold insert product senses that the characteristic is met and the positioning pin column detection sensor synchronously detects the second characteristic identification of the back bucket mold insert product and senses that the characteristic is met.

Optionally, after controlling the locating pin sensor to acquire the second product characteristic of the insert of the back barrel, the apparatus locating method further includes: if the first product characteristic and/or the second product characteristic do not meet the preset characteristic requirement, controlling a preset robot to wait above the target device point; the back barrel insert is withdrawn and visual inspection of the back barrel insert is restarted to analyze the product characteristics of the back barrel insert.

And S108, after the servo driver is detected to meet the stop condition, controlling a preset robot to load the rear barrel insert into a preset injection molding machine on an injection molding machine tool so as to obtain the molded rear barrel of the laundry equipment.

Through the embodiment, a vision system, a robot and control system, a laser detection sensor and switch detection sensor, a servo driver and a motor can be combined, data interconnection is realized through Ethernet communication, and therefore a cyclic production system of the robot washing machine rear barrel injection molding module unit is realized.

This embodiment is described below in conjunction with another alternative embodiment.

Fig. 3 is a flowchart of another optional method for positioning equipment based on an injection molding machine according to an embodiment of the present invention, as shown in fig. 3, after the machine is started to operate, the robot is controlled to move to a conveying line to grab a rear barrel insert, then whether the internal and external appearance quality and the direction and quality of a positioning hole point of the grabbed rear barrel insert meet the standard or not is judged, if yes, the robot is controlled to receive X, Y, Z and angle deviation transmitted by a vision system, posture and position adjustment is performed, a pre-positioning device point is put in, and if not, the robot enters a stage NG to put down a line into a recycling bin, and the robot enters a flow of grabbing the rear barrel insert again; after the pre-positioning device is placed in a point, an object sensor can be controlled to sense incoming materials, a servo driver is controlled to be started automatically, then a laser detection sensor is used for product characteristic identification of the rear barrel insert, a positioning pin column detection sensor is used for synchronous detection and identification, if the identification results meet characteristic identification regulation, a servo driving motor is controlled to stop running, and a robot is controlled to grab the rear barrel insert to enter a machine tool to finish product taking and placing operation; if the identification result is singly met or not met, judging whether the two-stage three-stage NG state input is achieved, if so, entering the two-stage NG offline and putting the two-stage NG offline into a recycling box, manually intervening, discharging faults, resetting and starting, if not, controlling the robot to wait right above a pre-positioning device point, taking back a rear barrel insert at the pre-positioning point, putting the pre-positioning device point again, and entering the object sensor again to sense incoming materials.

Through the embodiment, quality identification before and after pre-positioning can be carried out based on uncertainty of the position direction of the positioning hole of the grabbed rear barrel insert in operation, faults are automatically identified, automatic troubleshooting is carried out, and operation is automatically restarted. The problem of large danger of visual potential safety hazards of malfunction and misoperation of a mechanical circuit when a person enters an injection molding machine for installation is solved; simultaneously solves and fills the defect of high difficulty of the precision positioning and mounting part in the application of the automatic injection molding machine tool

According to another aspect of the embodiments of the present invention, there is also provided an injection molding machine tool-based device positioning system, including: the injection molding machine comprises an injection molding machine tool and a preset robot, wherein the preset robot is arranged at the upper end of the machine tool; the vision device is associated with a clamp of a preset robot and is used for acquiring an appearance image of a rear barrel insert of the laundry equipment and an image of a positioning hole point corresponding to the rear barrel insert; a positioning controller configured to perform any of the injection molding machine tool based device positioning methods described above via execution of executable instructions.

Optionally, the instruction content of the executable instruction executed by the positioning controller in this embodiment includes: collecting an appearance image of a rear barrel insert of the washing equipment and an image of a positioning hole point corresponding to the rear barrel insert; analyzing a positioning position and an angle deviation parameter of the rear barrel insert based on the appearance image and the image of the positioning hole point, wherein the angle deviation parameter is used for representing a deviation angle between the positioning position and a preset position of the rear barrel insert; controlling a preset robot to move the rear barrel insert to a target device point based on the positioning position and the angle deviation parameter; and after the servo driver is detected to meet the stop condition, controlling a preset robot to load the rear barrel insert into a preset injection molding machine on an injection molding machine tool so as to obtain the molded rear barrel of the laundry equipment.

Optionally, the instruction content of the executable instruction executed by the positioning controller in this embodiment further includes: detecting whether an equipment installation instruction is received, wherein the equipment installation instruction is used for performing injection molding on the rear barrel insert and installing the molded rear barrel of the laundry equipment to the laundry equipment; after receiving an equipment installation instruction, detecting the conveying position of a rear barrel insert of the laundry equipment on a machine tool production line; judging whether the rear barrel insert of the laundry equipment is conveyed to a preset position of an injection molding machine tool or not; if the rear barrel insert of the washing equipment is conveyed to a preset position of the injection molding machine tool, controlling the first vision equipment to shoot an image of the rear barrel insert to obtain an appearance image; and controlling the second vision equipment to shoot an image of the positioning hole point corresponding to the rear barrel insert.

Optionally, the instruction content of the executable instruction executed by the positioning controller in this embodiment further includes: analyzing the appearance image to obtain the appearance form and the positioning position of the insert of the rear barrel, wherein the appearance form is used for analyzing whether the quality of the insert of the rear barrel meets the preset quality requirement; analyzing the image of the positioning hole point to obtain the direction and the position of the positioning hole point; based on the direction and position of the location hole points, an angular deviation parameter is determined.

Optionally, the instruction content of the executable instruction executed by the positioning controller in this embodiment further includes: if the quality of the rear barrel insert meets the preset quality requirement, the positioning position and the angle deviation parameter of the rear barrel insert are sent to a preset robot; controlling a preset robot to adjust a grabbing attitude and a grabbing position point based on the positioning position and the angle deviation parameter; and controlling the preset robot to grab the rear barrel insert and move the rear barrel insert to a target device point.

Optionally, the instruction content of the executable instruction executed by the positioning controller in this embodiment further includes: after the preset robot is controlled to move the rear barrel insert to the target device point, the servo driver is controlled to start; after the servo driver is started, controlling a laser sensor to acquire a first product characteristic of the rear barrel insert; controlling a positioning pin sensor to acquire second product characteristics of the rear barrel insert; and if the first product characteristic and the second product characteristic both meet the preset characteristic requirement, determining that the servo driver meets the stop condition.

Optionally, the instruction content of the executable instruction executed by the positioning controller in this embodiment further includes: after the positioning pin sensor is controlled to acquire the second product characteristic of the rear barrel insert, if the first product characteristic and/or the second product characteristic do not meet the preset characteristic requirement, the preset robot is controlled to wait above the target device point; the back barrel insert is withdrawn and visual inspection of the back barrel insert is restarted to analyze the product characteristics of the back barrel insert.

According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, the apparatus on which the computer-readable storage medium is located is controlled to execute any one of the above-mentioned methods for positioning an injection molding machine-based apparatus.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

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.