CN109013204B - Dispensing process and device based on laser tracking track movement - Google Patents
Dispensing process and device based on laser tracking track movement Download PDFInfo
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- CN109013204B CN109013204B CN201811254998.2A CN201811254998A CN109013204B CN 109013204 B CN109013204 B CN 109013204B CN 201811254998 A CN201811254998 A CN 201811254998A CN 109013204 B CN109013204 B CN 109013204B
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- dispensing
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- dimensional information
- laser
- guide rail
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004519 manufacturing process Methods 0.000 claims abstract description 3
- 230000001360 synchronised effect Effects 0.000 claims description 37
- 125000004122 cyclic group Chemical group 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 abstract description 2
- 238000011161 development Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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
- B05C5/0208—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 for applying liquid or other fluent material to separate articles
- B05C5/0212—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 for applying liquid or other fluent material to separate articles only at particular parts of the articles
- B05C5/0216—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 for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a dispensing process and a dispensing device based on laser tracking track movement, which are characterized in that a space rectangular coordinate system, primary laser scanning, primary photographing, dispensing and circulating production are established, laser scanning and photographing of a die are carried out, three-dimensional information of the die is obtained, the three-dimensional information of the die is compared with three-dimensional information of a template, a difference value is calculated, and then the difference value is calculated, so that a dispensing movement track is finely adjusted, and then dispensing action is carried out on the die, so that the dispensing result of equipment on the die is more accurate, and the circulating operation is carried out. Through the mode, the dispensing process and the device based on the laser tracking track motion, disclosed by the invention, particularly utilize the laser device to scan the template in two directions, and the camera is used for photographing, so that the three-dimensional information of the template can be obtained through analysis, the dispensing motion track of the dispensing needle cylinder can be generated, and the precise dispensing can be realized.
Description
Technical Field
The invention relates to the technical field of laser tracking application, in particular to a dispensing process and device based on laser tracking track movement.
Background
Laser light has been a significant invention of humans, following atomic energy, computers and semiconductors, for the 20 th century, called "fastest knife", "most collimated ruler", "brightest light" and "singular laser".
The development of the laser industry can be roughly divided into three stages:
the first stage (1960-1970) is the stage of developing the laser variety, improving the laser performance, exploring the application. The method has the advantages that no industry is formed, batch commodity is not formed, only experimental devices and sample development machines are used, and in this stage, the research and development of military application account for a large proportion;
the second stage (1970-1980) has important breakthrough in application exploration, and most importantly, breakthrough of low-loss optical fibers, laser guided bombs, gun laser rangefinders, laser processing practicability and the like;
the third stage (from 1980 to now) is the stage of laser application of the refulgence, resulting in a considerable scale of the laser-related optoelectronic industry.
The market movement of China laser engineering application has become a wind vane developed by the global laser industry, however, the traditional laser scanning can only scan a plane to acquire two-dimensional information, has limitation, and the track of equipment in dispensing is three-dimensional, if the laser scanning is simply used, only planar dispensing can be performed, and the dispensing of the whole die cannot be completed;
the traditional track algorithm motion is to roughly calculate the track of the whole die by teaching some points, but the error is larger, so that the deviation of the dispensing position is larger;
the traditional dispensing machine is that each die performs one-time integral track scanning when dispensing, and then dispensing is performed on the die according to the track result scanned at the time, and because of slight difference between each die, the dispensing machine also has slight error when dispensing, and needs improvement.
Disclosure of Invention
The invention mainly solves the technical problem of providing a dispensing process and device based on laser tracking track movement, which are used for three-dimensional dispensing of a die, improving the working efficiency and reducing the dispensing error.
In order to solve the technical problems, the invention adopts a technical scheme that: the utility model provides a point gum technology based on laser tracking track motion, include:
establishing a space rectangular coordinate system, wherein the space rectangular coordinate system comprises an X coordinate axis, a Y coordinate axis and a Z coordinate axis which extend horizontally;
the method comprises the steps of performing primary laser scanning, scanning two directions on a template through laser, acquiring two-dimensional information of a Y coordinate axis and a Z coordinate axis when the template is scanned in a direction parallel to the X coordinate axis, and acquiring two-dimensional information of the X coordinate axis and the Z coordinate axis when the template is scanned in a direction parallel to the Y coordinate axis;
photographing for the first time, photographing by using a camera above the template, analyzing and acquiring two-dimensional information of an X coordinate axis and a Y coordinate axis by using a photographing and processor, and combining the two-dimensional information of the primary laser scanning so as to acquire three-dimensional information of the template;
dispensing, namely generating a dispensing motion track of a dispensing needle cylinder according to the three-dimensional information of the template and the designed dispensing position, and driving dispensing equipment to automatically dispense the template;
and (3) circularly producing, after the automatic dispensing of the template is completed, taking the template down, replacing the template with a subsequent die, referring to the steps, carrying out laser scanning and photographing of the subsequent die to obtain three-dimensional information of the subsequent die, comparing the three-dimensional information with the three-dimensional information of the template, calculating a difference value, and then calculating according to the difference value between the two, so that the dispensing motion track is finely adjusted, and then the die is subjected to dispensing action, so that the die dispensing result of equipment is more accurate, and circularly working.
In a preferred embodiment of the invention, teaching of the point location is performed by laser scanning, and accurate dispensing movement track is calculated.
In a preferred embodiment of the invention, a dot location is taught every 1 mm.
In a preferred embodiment of the present invention, the three-dimensional information of the template or the three-dimensional information of the former dispensing mold is used as the object to be compared in the cyclic production process.
In a preferred embodiment of the invention, the laser is rotated 90 ° in direction when scanning the mold in both directions by the laser.
In order to solve the technical problems, the invention adopts another technical scheme that: the utility model provides a point gum device based on laser tracking orbit motion, include: base, computer, support, crossbeam, camera, radium-shine ware, point gum needle cylinder and slide, the support sets up on the base, the crossbeam sets up at the support top, be provided with X axle guide rail on the crossbeam, be provided with the Y axle guide rail that is located the crossbeam below on the base, be provided with anchor clamps on the Y axle guide rail, the slide sets up on X axle guide rail, be provided with the fixing base on the slide, be provided with downwardly extending's Z axle guide rail on the fixing base, be provided with the crane on the Z axle guide rail, be provided with steering motor on the crane, steering motor bottom is provided with downwardly extending's dabber, the dabber is provided with the mounting bracket, camera, radium-shine ware, point gum needle cylinder set up respectively on the mounting bracket, camera and point gum needle cylinder point respectively below, radium-shine ware point X axle guide rail or Y axle guide rail direction, camera and radium-shine ware are connected with the computer respectively and send information.
In a preferred embodiment of the present invention, a first synchronous belt is disposed on the base, the bottom of the clamp is connected with the first synchronous belt to move synchronously along the Y-axis guide rail direction, a first motor is disposed on the base, and a first synchronous wheel for driving the first synchronous belt is disposed on a rotating shaft of the first motor.
In a preferred embodiment of the present invention, a second synchronous belt is disposed on the beam, the sliding seat is connected with the second synchronous belt to synchronously move along the direction of the X-axis guide rail, a second motor is disposed on the beam, and a second synchronous wheel for driving the second synchronous belt is disposed on a rotating shaft of the second motor.
In a preferred embodiment of the present invention, a third synchronous belt is disposed on the fixing base, the lifting frame is connected with the third synchronous belt to move synchronously along the Z-axis guide rail direction, a third motor is disposed on the fixing base, and a third synchronous wheel for driving the third synchronous belt is disposed on a rotating shaft of the third motor.
In a preferred embodiment of the present invention, a fourth motor is disposed in the sliding seat, and a rotating shaft of the fourth motor is connected to the fixing seat to drive the fixing seat to swing.
The beneficial effects of the invention are as follows: according to the dispensing process and device based on the laser tracking track movement, particularly, the laser device is used for scanning the template in two directions, and the camera is used for photographing, so that the three-dimensional information of the template can be obtained through analysis, the dispensing movement track of the dispensing needle cylinder can be generated, precise dispensing is realized, the three-dimensional information is compared in the subsequent die scanning process, the dispensing movement track is corrected, the working efficiency is improved, and the dispensing precision is ensured.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
FIG. 1 is a schematic diagram of a dispensing process and apparatus according to a preferred embodiment of the present invention based on laser tracking of track movements;
fig. 2 is a perspective view of fig. 1.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 2, an embodiment of the present invention includes:
a dispensing device based on laser tracking track motion, comprising: the device comprises a base 1, a computer, a bracket 18, a cross beam 15, a camera 7 (preferably a CCD camera), a laser 16, a dispensing syringe 6 and a sliding seat 20, wherein the bracket 18 is arranged on the base 1 to form a gantry structure.
The cross beam 15 is arranged at the top of the bracket 18, the X-axis guide rail 13 is arranged on the cross beam 15, the sliding seat 20 is arranged on the X-axis guide rail 13, the second synchronous belt 14 is arranged on the cross beam 15, the sliding seat 20 is connected with the second synchronous belt 14 to synchronously move along the X-axis guide rail 13, the second motor 12 is arranged on the cross beam 15, and a second synchronous wheel for driving the second synchronous belt 14 is arranged on a rotating shaft of the second motor 12, so that the driving is flexible.
The base 1 is provided with a Y-axis guide rail 5 positioned below the cross beam 15, and the Y-axis guide rail 5 is provided with a clamp 2 which can load a die and send the die to the position below the camera 7. The base 1 is provided with a first synchronous belt 3, the bottom of the clamp 2 is connected with the first synchronous belt 3 to synchronously move along the Y-axis guide rail 5 direction, the base 1 is provided with a first motor 17, and a rotating shaft of the first motor 17 is provided with a first synchronous wheel for driving the first synchronous belt 3 to move along the Y-axis guide rail direction of the die.
The sliding seat 20 is provided with a fixing seat 10, the fixing seat 10 is provided with a Z-axis guide rail extending downwards, the Z-axis guide rail is provided with a lifting frame 21, the fixing seat 10 is provided with a third synchronous belt, the lifting frame 21 is connected with the third synchronous belt and synchronously moves along the Z-axis guide rail direction, the fixing seat 10 is provided with a third motor, and a rotating shaft of the third motor is provided with a third synchronous wheel for driving the third synchronous belt. The fixing base 10 is provided with a protective cover 19 for protecting the third synchronous belt.
The lifting frame 21 is provided with a steering motor 11, the bottom of the steering motor 11 is provided with a core shaft 9 extending downwards, the core shaft 9 is provided with a mounting frame 8, the camera 7, the laser 16 and the dispensing needle cylinder 6 are respectively arranged on the mounting frame 8, the camera 7 and the dispensing needle cylinder 6 are respectively directed downwards, the laser is directed towards the X-axis guide rail 13 or the Y-axis guide rail 5, the steering motor 11 is utilized for steering, and the camera 7 and the laser 16 are respectively connected with a computer to send information.
A fourth motor is arranged in the sliding seat 20, and a rotating shaft of the fourth motor is connected with the fixed seat 10 to drive the swing of the fixed seat 10, so that the angle of the dispensing needle cylinder 6 is changed, and multi-angle dispensing is performed. All motors are controlled by a PLC controller, the computer transmits the track to be moved to the PLC controller through processing, a control panel 4 of the PLC controller is arranged in front of the base 1, and corresponding control buttons are arranged on the control panel 4, so that the operation is convenient.
The dispensing process based on the laser tracking track motion by using the device comprises the following steps:
according to the X-axis guide rail 13, the Y-axis guide rail 5 and the Z-axis guide rail, a space rectangular coordinate system is established, wherein the space rectangular coordinate system comprises an X coordinate axis, a Y coordinate axis and a Z coordinate axis extending horizontally;
the method comprises the steps of performing primary laser scanning, fixing a template on a clamp 2, pressing a start button on a control panel 4, conveying the clamp 2 to one side of a laser 16, performing scanning in two directions on the template through 90-degree rotation of the laser 16, acquiring two-dimensional information of a Y coordinate axis and a Z coordinate axis when the template is scanned in a direction parallel to the X coordinate axis, and acquiring two-dimensional information of the X coordinate axis and the Z coordinate axis when the template is scanned in a direction parallel to the Y coordinate axis;
photographing for the first time, photographing by using a camera 7 above the template, analyzing and acquiring two-dimensional information of an X coordinate axis and a Y coordinate axis by using a photographing and processor, combining the two-dimensional information of the first laser scanning, finally obtaining three-dimensional information, and transmitting the three-dimensional path information to a computer;
the computer calculates accurate dispensing movement tracks according to the three-dimensional information of the template and the designed dispensing positions through processing, and drives the dispensing equipment to automatically dispense the template;
after the automatic dispensing of the template is completed, the template is taken down and replaced by a subsequent die, laser scanning and photographing of the subsequent die are performed according to the steps, three-dimensional information of the subsequent die is obtained, the three-dimensional information of the subsequent die is compared with the three-dimensional information of the template, a difference value is calculated, then the difference value is calculated according to the difference value between the three-dimensional information and the template, so that a dispensing motion track is finely adjusted, and then dispensing action is performed on the die, so that the die dispensing result of equipment is more accurate (corresponding to the small difference of die parts in the same batch), and the cyclic operation is performed.
In summary, the dispensing process and the device based on the laser tracking track motion can scan the die and rapidly dispense the glue, the dispensing position precision is high, the adaptability of the die structure is improved, and the dispensing working efficiency is high.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related arts are included in the scope of the present invention.
Claims (8)
1. The dispensing process based on the laser tracking track motion is characterized by comprising the following steps of:
establishing a space rectangular coordinate system, wherein the space rectangular coordinate system comprises an X coordinate axis, a Y coordinate axis and a Z coordinate axis which extend horizontally;
the method comprises the steps of performing primary laser scanning, scanning two directions on a template through laser, acquiring two-dimensional information of a Y coordinate axis and a Z coordinate axis when the template is scanned in a direction parallel to the X coordinate axis, and acquiring two-dimensional information of the X coordinate axis and the Z coordinate axis when the template is scanned in a direction parallel to the Y coordinate axis;
photographing for the first time, photographing by using a camera above the template, analyzing and acquiring two-dimensional information of an X coordinate axis and a Y coordinate axis by using a photographing and processor, and combining the two-dimensional information of the primary laser scanning so as to acquire three-dimensional information of the template;
dispensing, namely generating a dispensing motion track of a dispensing needle cylinder according to the three-dimensional information of the template and the designed dispensing position, and driving dispensing equipment to automatically dispense the template;
after automatic dispensing of the template is completed, the template is taken down and replaced by a subsequent die, laser scanning and photographing of the subsequent die are performed according to the steps, three-dimensional information of the subsequent die is obtained, the three-dimensional information of the subsequent die is compared with the three-dimensional information of the template, a difference value is calculated, then the difference value is calculated according to the difference value, so that fine adjustment is performed on a dispensing motion track, dispensing action is performed on the die, the die dispensing result of equipment is more accurate, and the cyclic operation is performed;
in the cyclic production process, the three-dimensional information of the template is used as a compared object or the three-dimensional information of the die of the previous dispensing is used as the compared object.
2. The dispensing process based on the laser tracking track motion according to claim 1, wherein the teaching of the point location is performed through laser scanning, and the accurate dispensing motion track is calculated.
3. The dispensing process based on laser tracking trajectory of claim 2, wherein a spot is taught every 1 mm.
4. The dispensing process based on the laser tracking trajectory of claim 1, wherein the direction of the laser is rotated 90 ° when the laser is used to scan the die in both directions.
5. A dispensing device of a dispensing process based on a laser tracking trajectory of motion as claimed in claim 1, comprising: base, computer, support, crossbeam, camera, radium-shine ware, point gum needle cylinder and slide, the support sets up on the base, the crossbeam sets up at the support top, be provided with X axle guide rail on the crossbeam, be provided with the Y axle guide rail that is located the crossbeam below on the base, be provided with anchor clamps on the Y axle guide rail, the slide sets up on X axle guide rail, be provided with the fixing base on the slide, be provided with downwardly extending's Z axle guide rail on the fixing base, be provided with the crane on the Z axle guide rail, be provided with steering motor on the crane, steering motor bottom is provided with downwardly extending's dabber, the dabber is provided with the mounting bracket, camera, radium-shine ware, point gum needle cylinder set up respectively on the mounting bracket, camera and point gum needle cylinder point respectively below, radium-shine ware point X axle guide rail or Y axle guide rail direction, camera and radium-shine ware are connected with the computer respectively and send information, be provided with the fourth motor in the fixing base in the slide, the pivot of fourth motor is connected with the wobbling of being driven.
6. The dispensing device based on laser tracking trajectory according to claim 5, wherein a first synchronous belt is provided on the base, the bottom of the jig is connected with the first synchronous belt to move synchronously along the Y-axis guide rail direction, a first motor is provided on the base, and a first synchronous wheel for driving the first synchronous belt is provided on a rotating shaft of the first motor.
7. The dispensing device based on the laser tracking track motion according to claim 5, wherein a second synchronous belt is arranged on the cross beam, the sliding seat is connected with the second synchronous belt to synchronously move along the X-axis guide rail direction, a second motor is arranged on the cross beam, and a second synchronous wheel for driving the second synchronous belt is arranged on a rotating shaft of the second motor.
8. The dispensing device based on laser tracking track motion according to claim 5, wherein a third synchronous belt is arranged on the fixing base, the lifting frame is connected with the third synchronous belt to synchronously move along the Z-axis guide rail direction, a third motor is arranged on the fixing base, and a third synchronous wheel for driving the third synchronous belt is arranged on a rotating shaft of the third motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811254998.2A CN109013204B (en) | 2018-10-26 | 2018-10-26 | Dispensing process and device based on laser tracking track movement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811254998.2A CN109013204B (en) | 2018-10-26 | 2018-10-26 | Dispensing process and device based on laser tracking track movement |
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| CN109013204A CN109013204A (en) | 2018-12-18 |
| CN109013204B true CN109013204B (en) | 2023-12-19 |
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| CN201811254998.2A Active CN109013204B (en) | 2018-10-26 | 2018-10-26 | Dispensing process and device based on laser tracking track movement |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110090779A (en) * | 2019-04-30 | 2019-08-06 | 苏州市星光精密机械有限公司 | A kind of 3D scanning guidance device for dispensing glue |
| CN110201845B (en) * | 2019-07-10 | 2023-06-30 | 深圳西顺万合科技有限公司 | Guiding dispensing method and device for curved lens |
| CN111109766B (en) * | 2019-12-16 | 2021-10-22 | 广东天机工业智能系统有限公司 | Shoe upper grinding device |
| CN111097662B (en) * | 2020-01-06 | 2021-02-26 | 广东博智林机器人有限公司 | Gluing method and device of gluing robot, storage medium and gluing robot |
| CN112024318A (en) * | 2020-09-09 | 2020-12-04 | 苏州艾科瑞思智能装备股份有限公司 | 2D and 3D vision integration independent dispensing method |
| CN112570205A (en) * | 2020-12-04 | 2021-03-30 | 博众精工科技股份有限公司 | 3D modeling device and dispensing equipment |
| CN113019842A (en) * | 2021-03-16 | 2021-06-25 | 苏州小蜂视觉科技有限公司 | Method and device for tracking dispensing position in real time and dispensing equipment |
| CN113304971B (en) * | 2021-04-26 | 2022-12-13 | 深圳市世宗自动化设备有限公司 | 3D dynamic guiding dispensing compensation method, device and equipment and storage medium thereof |
| CN113522657B (en) * | 2021-09-14 | 2021-12-07 | 常州铭赛机器人科技股份有限公司 | Dispensing programming method |
| CN114061458B (en) * | 2022-01-17 | 2022-04-19 | 快克智能装备股份有限公司 | Method and device for positioning gap through space scanning and application |
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| CN109013204A (en) | 2018-12-18 |
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