CN108311340A - A kind of manipulator control system and its working method for dispensing coating machine - Google Patents
A kind of manipulator control system and its working method for dispensing coating machine Download PDFInfo
- Publication number
- CN108311340A CN108311340A CN201810100436.6A CN201810100436A CN108311340A CN 108311340 A CN108311340 A CN 108311340A CN 201810100436 A CN201810100436 A CN 201810100436A CN 108311340 A CN108311340 A CN 108311340A
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- China
- Prior art keywords
- dispensing
- manipulator
- coating machine
- controller
- control cabinet
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with 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
-
- 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
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
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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
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
- B05C11/1021—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target responsive to presence or shape of target
Abstract
The present invention relates to dispensing coating machine technical field more particularly to a kind of manipulator control systems and its working method for dispensing coating machine, including：Controller, control cabinet, dispensing coating machine；The control cabinet is located at the side of dispensing coating machine, and control cabinet with dispensing coating machine by being electrically connected；The controller is located at the side of control cabinet, and controller with control cabinet by being electrically connected；The CCD camera is arranged on the top of dispensing coating machine, and CCD camera is connected with dispensing coating machine by fixed form；The ccd sensor is located at the inside of CCD camera, and ccd sensor with CCD camera by being electrically connected.The present invention has operability strong by the improvement in structure, easy to operate, and degree of regulation is high, positioning datum degree is high, and error amount is smaller, high in machining efficiency, the advantages that processing quality is good, and teaching effect is good, to the problem of effective solution existing apparatus and deficiency.
Description
Technical field
The present invention relates to dispensing coating machine technical field more particularly to a kind of manipulator control systems for dispensing coating machine
System and its working method.
Background technology
The dispenser used now is also known as glue spreader, adhesive dripping machine, adhesive supplier, glue pouring machine etc., is specially to be controlled to fluid
System, and by fluid drop, the automatic machinery coated on product surface or interiors of products, it can be achieved that precisely control glue, not wire drawing, no
Leak adhesive, rubber drop-free, dispenser are mainly used for glue in Product Process, paint and other liquid Accurate Points, note, painting, drops
To each product exact position, can be used for realizing get ready, setting-out, round or camber.
But the manipulator control system of existing dispensing coating machine does not have foolproof function, operation difficulty is larger, production
It is less efficient, and positioning accuracy is poor, error amount is larger, influences whole processing quality.
Invention content
The purpose of the present invention is to provide a kind of manipulator control system and its working method for dispensing coating machine, with
The manipulator control system of existing dispensing coating machine for solving to propose in background technology does not have a foolproof function, operation difficulty compared with
Greatly, production efficiency is relatively low, and positioning accuracy is poor, and error amount is larger, the problem of influencing whole processing quality and deficiency.
The purpose of the present invention and effect are reached by technical solution in detail below：
A kind of manipulator control system for dispensing coating machine, including：Controller, control cabinet, dispensing coating machine, CCD
Camera, ccd sensor, display screen, communication cable, connection plug, manipulator, dispensing controller, Glue dripping head, workbench, sliding rail,
Rack, pedestal；The control cabinet is located at the side of dispensing coating machine, and control cabinet with dispensing coating machine by being electrically connected；
The controller is located at the side of control cabinet, and controller with control cabinet by being electrically connected；The CCD camera is arranged in point
The top of glue coating machine, and CCD camera is connected with dispensing coating machine by fixed form；The ccd sensor is located at CCD phases
The inside of machine, and ccd sensor with CCD camera by being electrically connected；The display screen is being controlled by embedded mode setting
The centre position of device；The communication cable is arranged in the bottom of controller, and one end of communication cable is connected with connection plug；
The sliding rail is located at the top of rack, and sliding rail is connected with rack by fixed form；The dispensing controller is arranged in machine
On the outer wall of frame；The manipulator is arranged at the top of sliding rail, and manipulator is connected with sliding rail by sliding type；The point
Rubber head is arranged in the bottom of manipulator；The pedestal is located at the bottom of rack, and workbench is arranged in the top of pedestal.
Preferably, the controller is Demountable, and controller is tablet computer.
Preferably, the controller is robot teaching apparatus, and controller passes through communication cable, connection plug and control
Case is connected.
Preferably, the display screen is eight cun of very coloured silk LED displays, resolution ratio 800X600, and the inside of display screen is matched
There is resistive touch screen.
Preferably, the manipulator is internally provided with two driving motors, and manipulator can be realized by driving motor
Vertically with the adjusting in horizontal direction.
The working method of the above-mentioned manipulator control system for dispensing coating machine：It is correct to carry out control cabinet installation and machinery
Hand adjustment examination after, and check confirm it is errorless after, you can booting, control cabinet powers on first, is then powered on to dispensing controller, controller
After showing access into system, starts FluidVision.exe programs on desktop and enter init state, system interface shows corresponding first
Beginningization progress msg and Aligning control prompt；When needing to carry out the operation of joint crawl, i.e., manipulator joint presses the step of setting every time
Long value moves, and manipulator is moved 10mm, then chooses crawl, and crawl step-length 10mm is arranged, corresponding arrow is then clicked and presses
Button, manipulator will move left 10mm；Ontology identifying system with foolproof function establishes visual identity control system, and will be new
The benchmark image input system of the circuit board of specification, after dispensing chip enters operating position, first scanning recognition anchor point confirms
It waits for the specification of dispensing chip, then target location is confirmed by scanning, determine practical valve head position and centre of figure point for dispensing glue
Range deviation realizes that automatic compensation correction actually horizontal position for dispensing glue, setting laser-measured height sensor coordinate CCD camera to control
The height error value of injection valve calibration processed, software then complete the height of injection valve by servo motor along the lifting of control Z axis
Compensation, injection valve may be implemented to remain setting value in the height value of glue-applying point；Coordinate software, identification by CCD camera
Object features, by reference to the image comparison of point, by the specification for waiting for circuit board for dispensing glue and this specification for pre-depositing system
The feature of the datum mark of circuit board is compared, to play foolproof function, meanwhile, it is calculated using the framing of shape search
Son, and the position for obtaining object is scanned by CCD camera, then by the practical horizontal position for dispensing glue of automatic compensation correction,
By the way that laser-measured height sensor, the practical upright position for dispensing glue of automatic compensation correction is arranged.
Due to the application of the above technical scheme, the present invention has following advantages compared with prior art：
1, controller of the present invention is Demountable, and the setting that controller is tablet computer, and the back side of controller is set
It is equipped with hanging plate, the hook for being suspended on control cabinet controls device using tablet computer, intelligence degree
Height improves the machining accuracy of device.
2, controller of the present invention is robot teaching apparatus, and controller passes through communication cable, connection plug and control cabinet
The setting being connected can carry out robot remote control by teaching apparatus, and communication cable length is 2 meters, convenient for using
Family holds teaching, improves the teaching effect of device.
3, manipulator of the present invention is internally provided with two driving motors, and manipulator can be realized vertically by driving motor
With the setting of the adjusting in horizontal direction, degree of regulation is high, improves the positioning datum degree of device, reduces error amount, further
Improve processing quality.
4, the present invention has operability strong by the improvement in structure, easy to operate, and degree of regulation is high, positioning datum
The advantages that degree is high, and error amount is smaller, high in machining efficiency, and processing quality is good, and teaching effect is good, to the existing dress of effective solution
The problem of setting and deficiency.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the system structure diagram of the present invention.
Fig. 3 is the controller architecture schematic diagram of the present invention.
Fig. 4 is the dispensing coating machine structural schematic diagram of the present invention.
Fig. 5 is the system electrical wiring schematic diagram of the present invention.
Fig. 6 is the manipulator joint crawl operational flowchart of the present invention.
In figure：Controller 1, control cabinet 2, dispensing coating machine 3, CCD camera 4, ccd sensor 5, display screen 101, connection
Cable 102, connection plug 103, manipulator 301, dispensing controller 302, Glue dripping head 303, workbench 304, sliding rail 305, rack
306, pedestal 307.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It please refers to Fig.1 to Fig. 6, the present invention provides a kind of technical solution：
A kind of manipulator control system for dispensing coating machine, including：Controller 1, control cabinet 2, dispensing coating machine 3,
CCD camera 4, ccd sensor 5, display screen 101, communication cable 102, connection plug 103, manipulator 301, dispensing controller
302, Glue dripping head 303, workbench 304, sliding rail 305, rack 306, pedestal 307；Control cabinet 2 is located at the side of dispensing coating machine 3,
And control cabinet 2 with dispensing coating machine 3 by being electrically connected；Controller 1 is located at the side of control cabinet 2, and controller 1 and control
Case 2 is by being electrically connected；CCD camera 4 is arranged on the top of dispensing coating machine 3, and CCD camera 4 passes through with dispensing coating machine 3
Fixed form is connected；Ccd sensor 5 is located at the inside of CCD camera 4, and ccd sensor 5 passes through electrical phase with CCD camera 4
Connection；Display screen 101 is arranged by embedded mode in the centre position of controller 1；Communication cable 102 is arranged in controller 1
Bottom, and one end of communication cable 102 is connected with connection plug 103；Sliding rail 305 is located at the top of rack 306, and sliding rail
305 are connected with rack 306 by fixed form；Dispensing controller 302 is arranged on the outer wall of rack 306；Manipulator 301 is set
It sets at the top of sliding rail 305, and manipulator 301 is connected with sliding rail 305 by sliding type；Glue dripping head 303 is arranged in machinery
The bottom of hand 301；Pedestal 307 is located at the bottom of rack 306, and workbench 304 is arranged in the top of pedestal 307.
Specifically, controller 1 is Demountable, and controller 1 is tablet computer, and the back side of controller 1 is provided with
Hanging plate, the hook for being suspended on control cabinet 2 control device using tablet computer, and intelligence degree is high, carries
The high machining accuracy of device.
Specifically, controller 1 be robot teaching apparatus, and controller 1 by communication cable 102, connection plug 103 with
Control cabinet 2 is connected, and remote control can be carried out to robot by teaching apparatus, and communication cable length is 2 meters, convenient for using
Family holds teaching, improves the teaching effect of device.
Specifically, display screen 101 is eight cun of very color LED displays, resolution ratio 800X600, and the inside of display screen 101
Equipped with resistive touch screen, the operability of device is enhanced, operation is more convenient.
Specifically, manipulator 301 is internally provided with two driving motors, and manipulator 301 can be real by driving motor
Now vertically with the adjusting in horizontal direction, degree of regulation is high, improves the positioning datum degree of device, reduces error amount, further
Improve processing quality.
The working method of the present invention：When using the device, after correct progress control cabinet 2 installation and the debugging of manipulator 301, and
Check confirm it is errorless after, you can booting, control cabinet 2 powers on first, is then powered on to dispensing controller 302, controller 1 show into
After entering system, start FluidVision.exe programs on desktop and enter init state, system interface show accordingly initialize into
Spend information and Aligning control prompt；When needing to carry out the operation of joint crawl, i.e., the step value of setting is pressed in 301 joint of manipulator every time
It is mobile, such as need manipulator 301 moving 10mm, then choose crawl, and crawl step-length 10mm is set, then clicks corresponding arrow
Head button, manipulator will move left 10mm, and Fig. 6 is the operational flowchart of above-mentioned crawl process；Ontology with foolproof function is known
Other system, establishes visual identity control system, and by the benchmark image input system of the circuit board of new spec, wait for dispensing chip into
After entering operating position, first scanning recognition anchor point confirms the specification for waiting for dispensing chip, then confirms target location by scanning, really
The range deviation of fixed practical valve head position and centre of figure point for dispensing glue, realizes automatic compensation correction actually horizontal position for dispensing glue
It sets, setting laser-measured height sensor coordinates CCD camera 4 to control the height error value of injection valve calibration, and software then passes through servo
Motor completes the altimetric compensation of injection valve along the lifting of control Z axis, injection valve may be implemented glue-applying point height value always
Remain setting value；Mainly coordinate software, identification object features that will be waited for by reference to the image comparison of point by CCD camera 4
The specification of circuit board for dispensing glue is compared with the feature of the datum mark of the circuit board of this specification for pre-depositing system, to rise
To foolproof function, meanwhile, the framing operator searched for using shape, and the position for obtaining object is scanned by CCD camera 4
It sets, then passes through the practical horizontal position for dispensing glue of automatic compensation correction；By the way that laser-measured height sensor, automatic compensation correction is arranged
Practical upright position for dispensing glue.
In summary：A kind of manipulator control system and its working method for dispensing coating machine of the present invention, passes through
Controller is Demountable, and the setting that controller is tablet computer, the back side of controller are provided with hanging plate, are used for it
It is suspended on the hook of control cabinet, device is controlled using Portable tablet personal computer, intelligence degree is high, improves device
Machining accuracy；It is robot teaching apparatus by controller, and controller passes through communication cable, connection plug and control cabinet phase
The setting of connection can carry out robot remote control by teaching apparatus, and communication cable length is 2 meters, is convenient for user
Hand-held teaching, improves the teaching effect of device；Two driving motors are internally provided with by manipulator, and manipulator passes through
Driving motor can realize the setting with the adjusting in horizontal direction vertically, and degree of regulation is high, improves the positioning datum degree of device,
Reduce error amount, further improves processing quality.The present invention has operability strong, operation side by the improvement in structure
Just, the advantages that degree of regulation is high, and positioning datum degree is high, and error amount is smaller, high in machining efficiency, and processing quality is good, and teaching effect is good,
To the problem of effective solution existing apparatus and deficiency.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of manipulator control system for dispensing coating machine, including：Controller (1), control cabinet (2), dispensing coating machine
(3), CCD camera (4), ccd sensor (5), display screen (101), communication cable (102), connection plug (103), manipulator
(301), dispensing controller (302), Glue dripping head (303), workbench (304), sliding rail (305), rack (306), pedestal (307)；
It is characterized in that：The control cabinet (2) is located at the side of dispensing coating machine (3), and control cabinet (2) and dispensing coating machine (3) are logical
It crosses and is electrically connected；The controller (1) is located at the side of control cabinet (2), and controller (1) with control cabinet (2) by electrical
It is connected；CCD camera (4) setting is on the top of dispensing coating machine (3), and CCD camera (4) and dispensing coating machine (3) are logical
Fixed form is crossed to be connected；The ccd sensor (5) is located at the inside of CCD camera (4), and ccd sensor (5) and CCD camera
(4) by being electrically connected；The display screen (101) is arranged by embedded mode in the centre position of controller (1)；It is described logical
It interrogates cable (102) to be arranged in the bottom of controller (1), and one end of communication cable (102) is connected with connection plug (103)；
The sliding rail (305) is located at the top of rack (306), and sliding rail (305) is connected with rack (306) by fixed form；Institute
Dispensing controller (302) is stated to be arranged on the outer wall of rack (306)；Top of manipulator (301) setting in sliding rail (305)
Portion, and manipulator (301) is connected with sliding rail (305) by sliding type；The Glue dripping head (303) is arranged in manipulator
(301) bottom；The pedestal (307) is located at the bottom of rack (306), and workbench (304) is arranged in the upper of pedestal (307)
Side.
2. a kind of manipulator control system for dispensing coating machine according to claim 1, it is characterised in that：The control
Device (1) processed is Demountable, and controller (1) is tablet computer.
3. a kind of manipulator control system for dispensing coating machine according to claim 1, it is characterised in that：The control
Device (1) processed is robot teaching apparatus, and controller (1) passes through communication cable (102), connection plug (103) and control cabinet (2)
It is connected.
4. a kind of manipulator control system for dispensing coating machine according to claim 1, it is characterised in that：It is described aobvious
Display screen (101) is eight cun of very coloured silk LED displays, resolution ratio 800X600, and the inside of display screen (101) is touched equipped with resistance-type
Touch screen.
5. a kind of manipulator control system for dispensing coating machine according to claim 1, it is characterised in that：The machine
Tool hand (301) is internally provided with two driving motors, and manipulator (301) can realize vertical and level side by driving motor
Upward adjusting.
6. a kind of working method for the manipulator control system being used for dispensing coating machine according to claim 1：It is correct to carry out
Control cabinet (2) install and manipulator (301) debugging after, and check confirm it is errorless after, you can booting, control cabinet (2) powers on first,
Then it is powered on to dispensing controller (302), after controller (1) shows access into system, starts FluidVision.exe journeys on desktop
Sequence enters init state, and system interface shows corresponding initialization progress msg and Aligning control prompt；When need carry out artis
When dynamic operation, i.e., the step value movement of setting is pressed in manipulator (301) joint every time, and manipulator (301) is moved 10mm, then is chosen
Crawl, and crawl step-length 10mm is set, corresponding arrow button is then clicked, (301) are moved left 10mm by manipulator；With anti-
The ontology identifying system of slow-witted function establishes visual identity control system, and the benchmark image of the circuit board of new spec is inputted and is
System, after dispensing chip enters operating position, first scanning recognition anchor point confirms the specification for waiting for dispensing chip, then passes through scanning
Confirm target location, determine the range deviation of practical valve head position and centre of figure point for dispensing glue, realizes that automatic compensation correction is real
Border horizontal position for dispensing glue, setting laser-measured height sensor coordinate CCD camera (4) to control the height error of injection valve calibration
Value, software then complete the altimetric compensation of injection valve by servo motor along the lifting of control Z axis, and injection valve may be implemented applying
The height value of glue point remains setting value；Coordinate software by CCD camera (4), object features is identified, by reference to point
Image comparison, by the feature of the specification for waiting for circuit board for dispensing glue and the datum mark of the circuit board of this specification for pre-depositing system into
Row compares, to play foolproof function, meanwhile, the framing operator searched for using shape, and scanned by CCD camera (4)
The position of object is obtained, then by the practical horizontal position for dispensing glue of automatic compensation correction, passes through and laser-measured height is set senses
Device, the practical upright position for dispensing glue of automatic compensation correction.
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| CN201810100436.6A CN108311340A (en) | 2018-02-01 | 2018-02-01 | A kind of manipulator control system and its working method for dispensing coating machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810100436.6A CN108311340A (en) | 2018-02-01 | 2018-02-01 | A kind of manipulator control system and its working method for dispensing coating machine |
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| CN201810100436.6A Pending CN108311340A (en) | 2018-02-01 | 2018-02-01 | A kind of manipulator control system and its working method for dispensing coating machine |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109013207A (en) * | 2018-10-31 | 2018-12-18 | 苏州光宝科技股份有限公司 | A kind of spot gluing equipment and control method of high-precision high-load |
| CN109351558A (en) * | 2018-12-26 | 2019-02-19 | 苏州富强科技有限公司 | Bivalve positioning height difference compensates glue applying mechanism |
| CN110355759A (en) * | 2019-07-05 | 2019-10-22 | 保定科海自动化科技有限公司 | A kind of industrial robot gluing control system of view-based access control model |
| CN110523580A (en) * | 2019-08-30 | 2019-12-03 | 深圳市福宝兴业有限公司 | A kind of Fpc flexibility reinforcement manipulator that App wechat remotely monitors |
| CN110538766A (en) * | 2019-08-12 | 2019-12-06 | 苏州富强科技有限公司 | Height-based dispensing head closed-loop control method and system |
| CN111174696A (en) * | 2019-11-30 | 2020-05-19 | 河北科技大学 | Laser-assisted calibration method and device based on CCD sensor |
| CN111975788A (en) * | 2020-01-03 | 2020-11-24 | 广东安达智能装备股份有限公司 | Calibration method of SCARA manipulator glue dispensing system |
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| CN112916351A (en) * | 2021-01-22 | 2021-06-08 | 苏州市星光精密机械有限公司 | Real-time speed dispensing method |
| CN113909057A (en) * | 2021-10-15 | 2022-01-11 | 江门市盈丰智能装备有限公司 | High-efficiency full-automatic dispensing machine |
| CN113953122A (en) * | 2021-12-23 | 2022-01-21 | 苏州优晶光电科技有限公司 | Silicon carbide ingot bonding processing equipment and method capable of automatically centering |
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| CN110538766A (en) * | 2019-08-12 | 2019-12-06 | 苏州富强科技有限公司 | Height-based dispensing head closed-loop control method and system |
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| CN111174696B (en) * | 2019-11-30 | 2022-04-15 | 河北科技大学 | Laser-assisted calibration method based on CCD sensor |
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