CN105750156A - Precise and automated adhesive dispensing device and method - Google Patents
Precise and automated adhesive dispensing device and method Download PDFInfo
- Publication number
- CN105750156A CN105750156A CN201610256606.0A CN201610256606A CN105750156A CN 105750156 A CN105750156 A CN 105750156A CN 201610256606 A CN201610256606 A CN 201610256606A CN 105750156 A CN105750156 A CN 105750156A
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- glue
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
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Abstract
The invention provides a precise and automated adhesive dispensing device and method and belongs to the field of adhesive dispensing machines.The precise and automated adhesive dispensing device comprises a three-axis drive unit, an adhesive dispensing machine body unit, a visual positioning unit and a control unit.The three-axis drive unit provides power for the whole device, the adhesive dispensing machine body unit is used for achieving adhesive dispensing, the visual positioning unit is used for achieving precise positioning of adhesive droplets, and the control unit is used for achieving control over the precise and automated adhesive dispensing device.The precise and automated adhesive dispensing device and method have the advantages that a three-dimensional operation rod is utilized to control the three-axis drive unit, the position of the part to be subjected to adhesive dispensing is rapidly represented in the vision of a camera, and the automated degree of the adhesive dispensing device is increased; the proposed first adhesive droplet calibration method is used for compensating the mounting error brought when an adhesive dispensing spray needle is replaced for the precise and automated adhesive dispensing device, on the basis of mounting error compensation, precise positioning and adhesive dispensing of the device are achieved through machine vision, and adhesive dispensing efficiency is improved.
Description
Technical field
The invention belongs to gluing connection technology field, relate to a kind of precise automatic point glue equipment and method.
Background technology
Gluing connection technology is guardian technique most important in Electronic Manufacturing industry, and its technical process is simple, is widely used in chip package and integrated circuit equipment.But the integrated level being as accurate device improves, and the automaticity of dispensing amount, positional precision for dispensing glue and precision adhesive dispensing device increasingly can not meet requirement.Current multiple research institution has carried out correlational study, the patent No. is a kind of point gum machine localization method disclosed in the patent of 201310186242.3, use zero-in module collocation zero-in signal that point gum machine is demarcated, this spot gluing equipment is when changing syringe needle, it is required for zero-in module again to demarcate one time, therefore inefficient.The patent No. be 201420618658.0 patent in utilize constant-temperature glue liquid container solve glue temperature change problem, utilize the concentration of concentration sensor detection glue, by Based Intelligent Control moulding pressure, it is to avoid the problem that gel quantity is too much or very few, improve a colloid amount.
Also having some manual gluing process, automaticity is relatively low, and the operation level of production efficiency and workman has very big relation, especially when gluing device is the micro devices being difficult to position, the concordance that glue amount and glue drip all it is difficult to ensure that.
Summary of the invention
The present invention proposes a kind of precise automatic point glue equipment and method.Precise automatic point glue equipment introduces Three-axis drive and Three dimensional steerable bar 17, improves the automaticity of spot gluing equipment；Point glue equipment, when changing nozzle needle 13, adopts vision localization and first glue to drip standardizition, it is possible to Fast Calibration, it is achieved precision positioning point glue.
Technical scheme:
A kind of precise automatic point glue equipment includes Three-axis drive unit, point gum machine main unit, vision localization unit and control unit.
Three-axis drive unit provides power for precise automatic point glue equipment, including mechanical arm 8 and Three dimensional steerable bar 17 on X guide rail 1, Y guide rail 2, Z guide rail 3, Z guide rail 3；Three dimensional steerable bar 17 is connected with the industrial computer 6 of control unit by serial ports, X guide rail 1, Y guide rail 2 and Z guide rail 3 are carried out speed change coordinated signals by swing and the rotation of Three dimensional steerable bar 17, Three dimensional steerable bar 17 is provided with the button 18 of control point glue owner's body unit, for starting and stopping plastic emitting, thus improving the automaticity of precise automatic point glue equipment.
Point gum machine main unit is made up of point gum machine 5, storage vat 11, nozzle needle 13 and air compressor 4；Point gum machine 5 is entered, through point gum machine 5 to storage vat 11, it is achieved the ejection that glue drips from air compressor 4 air pressure out；Storage vat 11 is fixed on the mechanical arm of Z guide rail 38 by storage vat installing plate 12, and storage vat 11 coordinates the storage and plastic emitting that realize glue with nozzle needle 13；Wherein point gum machine 5 is connected with the industrial computer 6 of control unit by I/O interface.
Vision localization unit, for realizing the precision positioning that glue drips, is made up of light source controller, camera 10 and distance measuring sensor 9；Light source controller is connected with the industrial computer 6 of control unit by serial ports, is used for controlling intensity of illumination；Camera 10 is fixed on the mechanical arm 8 of Z guide rail 3, the movement of camera 10 is realized by Three-axis drive unit, for utilizing first glue to drip this home position for dispensing glue precision of demarcation, nozzle needle 13 real-time tracking point glue position, distance measuring sensor 9 is fixed on the mechanical arm of Z guide rail 38, for measuring the distance of nozzle needle 13 vertical direction.
Precise automatic point glue equipment is realized controlling by control unit, is made up of industrial computer 6 and interpersonal interactive interface 7.
This precise automatic point glue equipment adopts first glue to drip standardizition and compensates the alignment error brought when changing nozzle needle, utilize realizing of Robot Vision precise glue dispensing simultaneously, it is to avoid use frame for movement to carry out the complicated processes of fixed point glue position, improves a glue efficiency.
Accompanying drawing explanation
Fig. 1 is the precise automatic point glue equipment structural representation of the present invention.
In figure: 1X guide rail；2Y guide rail；3Z guide rail；4 air compressors；5 point gum machines；6 industrial computers；7 human-computer interaction interfaces；8 mechanical arms；9 distance measuring sensors；10 cameras；11 storage vats；12 storage vat installing plates；13 nozzle needles；14 parts；15 substrates；16 gauge blocks；17 Three dimensional steerable bars；18 buttons.
Detailed description of the invention
Below in conjunction with accompanying drawing and technical scheme, further illustrate the specific embodiment of the present invention.
For precise automatic point glue equipment, below in conjunction with technical scheme and accompanying drawing narration specific embodiment of the invention step:
The first step: fixing substrate 15 is in the visual field of camera, and gauge block 16 is located thereon；Mobile Z guide rail to nozzle needle 13 touches the upper surface of gauge block 16 on substrate, and records the distance measuring sensor 9 distance H to gauge block 161, and the distance H of now distance measuring sensor 9 and substrate 15 is measured with distance measuring sensor 92。
Second step: alignment error is compensated when changing nozzle needle 13, drips standardizition by first glue and precise automatic point glue equipment is demarcated, and idiographic flow is:
1) control Z guide rail 3 to move upward a segment distance H3；
2) X guide rail 1 move distance D is controlledX, Y guide rail 2 componental movement distance DY, nozzle needle 13 is moved to X guide rail 1, Y guide rail 2 moves the top of substrate 15 location point corresponding to front camera 10 image center；
3) control Z guide rail 3 and move downward distance H3+H2-H1+ 100 μm, 100 μm of nozzles 13 when being glue and substrate 15 spacing, press the button 18 on Three dimensional steerable bar 17, point out a glue and drip；
4) control Z axis 3 to move upward certain distance, control X guide rail 1, Y guide rail 2 move distance-D respectivelyX,-DY, gather glue by camera 10 and drip image；
5) processing the glue that collects and drip image, (x, y), if the coordinate that the glue that camera 10 gathers drips image center is (x to obtain the center point coordinate that glue drips0, y0), then x-x0, y-y0Changing alignment error offset on X, Y-direction during nozzle needle 13 respectively, now the some glue location position of precise automatic point glue equipment completes.
3rd step: will treat that the gluing part 14 connect is put on substrate 15, and move in camera 10 visual field, regulates Z guide rail 3 and moves, the image of 14 glue positions of part can be clearly indicated on human-computer interaction interface 7.
4th step: determined by the part image in the image display box on human-computer interaction interface 7 and want part position for dispensing glue, now X guide rail 1, Y guide rail 2 motion respective distance, form a some glue path, drive nozzle needle 13 to move to part 14 and to put the top of glue position；
5th step: utilize distance measuring sensor 9 to control Z guide rail 3 and move, the distance making nozzle needle 13 and part 14 is 100 μm, presses the button 18 on Three dimensional steerable bar 17, it is achieved the precise automatic point gum machine 5 precise glue dispensing on part 14；
6th step: utilize Three dimensional steerable bar 17 to control Z guide rail 3 and move upward, takes off the part 14 after a glue, and makes device return to original state.Prepare some glue work next time.
Claims (2)
1. a precise automatic point glue equipment, it is characterised in that this precise automatic point glue equipment includes Three-axis drive unit, point gum machine main unit, vision localization unit and control unit；
Three-axis drive unit provides power for precise automatic point glue equipment, including mechanical arm and Three dimensional steerable bar on X guide rail, Y guide rail, Z guide rail, Z guide rail；Three dimensional steerable bar is connected with the industrial computer of control unit by serial ports, Three dimensional steerable bar swings and rotates and X guide rail, Y guide rail and Z guide rail are carried out speed change coordinated signals, Three dimensional steerable bar is provided with the button of control point glue owner's body unit, for starting and stopping plastic emitting, thus improving the automaticity of precise automatic point glue equipment；
Point gum machine main unit is made up of point gum machine, storage vat, nozzle needle and air pressure pump；Point gum machine is entered, through point gum machine to storage vat, it is achieved the ejection that glue drips from air pressure pump air pressure out；Storage vat is fixed on the mechanical arm of Z guide rail by storage vat installing plate, and storage vat coordinates the storage realizing glue and plastic emitting with nozzle needle；Wherein point gum machine is connected with the industrial computer of control unit by I/O interface；
Vision localization unit, for realizing the precision positioning that glue drips, is made up of light source controller, camera and distance measuring sensor；Light source controller is connected with the industrial computer of control unit by serial ports, is used for controlling intensity of illumination；Camera is fixed on the mechanical arm of Z guide rail, the movement of camera is realized by Three-axis drive unit, is used for utilizing first glue to drip this home position for dispensing glue precision of demarcation, nozzle needle real-time tracking point glue position, distance measuring sensor is fixed on the mechanical arm of Z guide rail, for measuring the distance of nozzle needle vertical direction；
Precise automatic point glue equipment is realized controlling by control unit, is made up of industrial computer and interpersonal interactive interface.
2. one kind realizes method for dispensing glue with precise automatic point glue equipment, it is characterised in that step is as follows:
The first step: fixing substrate is in the visual field of camera, and gauge block is located thereon；Mobile Z guide rail to nozzle needle touches the upper surface of gauge block on substrate, and records the distance measuring sensor distance H to gauge block1, and the distance H of now distance measuring sensor and substrate is measured with distance measuring sensor2；
Second step: alignment error is compensated when changing nozzle needle, drips standardizition by first glue and precise automatic point glue equipment is demarcated, and idiographic flow is:
1) control Z guide rail to move upward a segment distance H3；
2) X guide rail movement distance D is controlledX, Y guide rail componental movement distance DY, nozzle needle is moved to the top of substrate position point corresponding to camera image central point before X guide rail, Y guide rail motion；
3) control Z guide rail and move downward distance H3+H2-H1+ 100 μm, 100 μm of nozzles when being glue and substrate pitch, press the button on Three dimensional steerable bar, point out a glue and drip；
4) control Z axis to move upward certain distance, control X guide rail, Y guide rail move distance-D respectivelyX,-DY, drip image by collected by camera glue；
5) processing the glue that collects and drip image, (x, y), if it is (x that the glue of collected by camera drips the coordinate of image center to obtain the center point coordinate that glue drips0, y0), then x-x0, y-y0Changing alignment error offset on X, Y-direction during nozzle needle respectively, now the some glue location position of precise automatic point glue equipment completes；
3rd step: will treat that the gluing part connect is placed on substrate, and move in camera fields of view, regulates Z guide rail movement, allows the image of part point glue position clearly indicate on human-computer interaction interface；
4th step: determined by the part image in the image display box on human-computer interaction interface and want part position for dispensing glue, now X guide rail, Y guide rail motion respective distance, form a some glue path, drive nozzle needle to move to part and to put the top of glue position；
5th step: utilizing distance measuring sensor to control Z guide rail movement, the distance making nozzle needle and part is 100 μm, presses the button on Three dimensional steerable bar, it is achieved precise automatic point gum machine precise glue dispensing on part；
6th step: utilize Three dimensional steerable bar to control Z guide rail and move upward, take off the part after a glue, and make device return to original state；Prepare some glue work next time.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256606.0A CN105750156B (en) | 2016-04-22 | 2016-04-22 | A kind of precise automatic point glue equipment and method |
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| CN201610256606.0A CN105750156B (en) | 2016-04-22 | 2016-04-22 | A kind of precise automatic point glue equipment and method |
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| CN105750156A true CN105750156A (en) | 2016-07-13 |
| CN105750156B CN105750156B (en) | 2019-02-01 |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106541574A (en) * | 2016-11-23 | 2017-03-29 | 哈尔滨工业大学 | It is a kind of to be based on robotization point gum machine printing equipment and Method of printing |
| CN106733390A (en) * | 2016-12-14 | 2017-05-31 | 黄采笋 | A kind of stick box adhesive supplier |
| CN106799339A (en) * | 2017-03-15 | 2017-06-06 | 镇江力点锚固有限公司 | A kind of AB glue points adhesive dispenser |
| CN106950917A (en) * | 2017-01-23 | 2017-07-14 | 深圳市卓翼科技股份有限公司 | Camera calibrated method and device |
| CN108097536A (en) * | 2018-01-24 | 2018-06-01 | 东莞杰仕德智能科技有限公司 | Display box coating technique and equipment |
| CN108355913A (en) * | 2018-03-02 | 2018-08-03 | 深圳市圭华自动化设备有限公司 | A kind of three-in-one dispenser |
| CN108453009A (en) * | 2018-03-26 | 2018-08-28 | 东莞高伟光学电子有限公司 | A kind of method and system of dynamic control HTCC backboards portion epoxy resin glue amount |
| CN108876859A (en) * | 2018-04-28 | 2018-11-23 | 苏州赛腾精密电子股份有限公司 | A kind of scaling method of dispenser, device, equipment and medium |
| CN109513574A (en) * | 2018-12-20 | 2019-03-26 | 苏州席正通信科技有限公司 | A kind of dispensing method of dispenser |
| CN109590144A (en) * | 2018-11-20 | 2019-04-09 | 苏州席正通信科技有限公司 | A kind of clean method of dispensing needle head |
| CN110538778A (en) * | 2018-05-28 | 2019-12-06 | 江西省晶能半导体有限公司 | fluorescent powder coating system and method |
| CN110575942A (en) * | 2019-08-27 | 2019-12-17 | 中国联合网络通信集团有限公司 | internet-based dispensing device and method |
| CN111054587A (en) * | 2019-12-26 | 2020-04-24 | 北京航天控制仪器研究所 | Cambered surface glue dispensing device and method |
| CN111804520A (en) * | 2020-09-08 | 2020-10-23 | 歌尔光学科技有限公司 | Gluing system and gluing method thereof |
| CN113900465A (en) * | 2021-12-07 | 2022-01-07 | 深圳市领志光机电自动化系统有限公司 | Function positioning vision dispensing system for precise products |
| CN114653534A (en) * | 2022-02-28 | 2022-06-24 | 安徽华远装备科技有限责任公司 | Rubber coating head adjustment mechanism |
| CN114700225A (en) * | 2022-04-14 | 2022-07-05 | 广州得尔塔影像技术有限公司 | Glue dispensing device |
| CN114798316A (en) * | 2022-06-27 | 2022-07-29 | 常州铭赛机器人科技股份有限公司 | Control method for keeping constant temperature of glue solution |
| CN114923408A (en) * | 2022-04-29 | 2022-08-19 | 沈阳工业大学 | Machine vision-based ultramicro glue drop shape parameter detection device and method |
| CN115283206A (en) * | 2022-08-24 | 2022-11-04 | 陇芯微(西安)电子科技有限公司 | Glue amount detection device of glue dispenser |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106541574A (en) * | 2016-11-23 | 2017-03-29 | 哈尔滨工业大学 | It is a kind of to be based on robotization point gum machine printing equipment and Method of printing |
| CN106733390A (en) * | 2016-12-14 | 2017-05-31 | 黄采笋 | A kind of stick box adhesive supplier |
| CN106950917B (en) * | 2017-01-23 | 2019-10-22 | 深圳市卓翼科技股份有限公司 | Camera calibrated method and device |
| CN106950917A (en) * | 2017-01-23 | 2017-07-14 | 深圳市卓翼科技股份有限公司 | Camera calibrated method and device |
| CN106799339A (en) * | 2017-03-15 | 2017-06-06 | 镇江力点锚固有限公司 | A kind of AB glue points adhesive dispenser |
| CN108097536A (en) * | 2018-01-24 | 2018-06-01 | 东莞杰仕德智能科技有限公司 | Display box coating technique and equipment |
| CN108355913A (en) * | 2018-03-02 | 2018-08-03 | 深圳市圭华自动化设备有限公司 | A kind of three-in-one dispenser |
| CN108453009A (en) * | 2018-03-26 | 2018-08-28 | 东莞高伟光学电子有限公司 | A kind of method and system of dynamic control HTCC backboards portion epoxy resin glue amount |
| CN108876859B (en) * | 2018-04-28 | 2022-06-07 | 苏州赛腾精密电子股份有限公司 | Calibration method, device, equipment and medium of dispenser |
| CN108876859A (en) * | 2018-04-28 | 2018-11-23 | 苏州赛腾精密电子股份有限公司 | A kind of scaling method of dispenser, device, equipment and medium |
| CN110538778A (en) * | 2018-05-28 | 2019-12-06 | 江西省晶能半导体有限公司 | fluorescent powder coating system and method |
| CN109590144A (en) * | 2018-11-20 | 2019-04-09 | 苏州席正通信科技有限公司 | A kind of clean method of dispensing needle head |
| CN109513574A (en) * | 2018-12-20 | 2019-03-26 | 苏州席正通信科技有限公司 | A kind of dispensing method of dispenser |
| CN110575942A (en) * | 2019-08-27 | 2019-12-17 | 中国联合网络通信集团有限公司 | internet-based dispensing device and method |
| CN110575942B (en) * | 2019-08-27 | 2021-06-04 | 中国联合网络通信集团有限公司 | Internet-based dispensing device and method |
| CN111054587A (en) * | 2019-12-26 | 2020-04-24 | 北京航天控制仪器研究所 | Cambered surface glue dispensing device and method |
| CN111804520A (en) * | 2020-09-08 | 2020-10-23 | 歌尔光学科技有限公司 | Gluing system and gluing method thereof |
| CN113900465B (en) * | 2021-12-07 | 2022-02-22 | 深圳市领志光机电自动化系统有限公司 | Intelligent positioning visual dispensing system for precise products |
| CN113900465A (en) * | 2021-12-07 | 2022-01-07 | 深圳市领志光机电自动化系统有限公司 | Function positioning vision dispensing system for precise products |
| CN114653534A (en) * | 2022-02-28 | 2022-06-24 | 安徽华远装备科技有限责任公司 | Rubber coating head adjustment mechanism |
| CN114700225A (en) * | 2022-04-14 | 2022-07-05 | 广州得尔塔影像技术有限公司 | Glue dispensing device |
| CN114700225B (en) * | 2022-04-14 | 2023-11-17 | 广州得尔塔影像技术有限公司 | Adhesive dispensing device |
| CN114923408A (en) * | 2022-04-29 | 2022-08-19 | 沈阳工业大学 | Machine vision-based ultramicro glue drop shape parameter detection device and method |
| CN114923408B (en) * | 2022-04-29 | 2024-01-30 | 沈阳工业大学 | Ultra-micro adhesive drop shape parameter detection device and method based on machine vision |
| CN114798316A (en) * | 2022-06-27 | 2022-07-29 | 常州铭赛机器人科技股份有限公司 | Control method for keeping constant temperature of glue solution |
| CN114798316B (en) * | 2022-06-27 | 2022-09-13 | 常州铭赛机器人科技股份有限公司 | Control method for keeping constant temperature of glue solution |
| CN115283206A (en) * | 2022-08-24 | 2022-11-04 | 陇芯微(西安)电子科技有限公司 | Glue amount detection device of glue dispenser |
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