CN109092640A - A kind of pair of dispensing position carries out the method and device of altimetric compensation - Google Patents
A kind of pair of dispensing position carries out the method and device of altimetric compensation Download PDFInfo
- Publication number
- CN109092640A CN109092640A CN201811011964.0A CN201811011964A CN109092640A CN 109092640 A CN109092640 A CN 109092640A CN 201811011964 A CN201811011964 A CN 201811011964A CN 109092640 A CN109092640 A CN 109092640A
- Authority
- CN
- China
- Prior art keywords
- dispensing
- dispensing position
- laser
- coordinate
- vision system
- Prior art date
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000003292 glue Substances 0.000 claims abstract description 28
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 3
- 238000004026 adhesive bonding Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000000084 colloidal system Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011049 filling Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
-
- 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
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
-
- 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
Landscapes
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The present invention discloses the method and device that a kind of pair of dispensing position carries out altimetric compensation, comprising: S1: surveying high detecting location to setting in dispensing part first, calibrates the positional relationship of vision system and Glue dripping head, measure the height difference H of vision system and Glue dripping head；S2: the positional relationship of calibration laser-measured height module and vision system, measurement vision system the Z coordinate Z1 of detecting location, laser-measured height module the Z coordinate Z2 of detecting location, laser-measured height module laser to detecting location survey high level V1；S3: dispensing position of the setting second to dispensing part；S4: measurement laser-measured height module dispensing position Z coordinate Z3 and laser-measured height module the laser of dispensing position survey high level V2；S5: the Z coordinate Z of dispensing position new=Z1+H-V1-Z2+V2+Z3；Z: newly being compensated the Z coordinate to dispensing position by S6, and invention additionally discloses the device that a kind of pair of dispensing position carries out altimetric compensation, technical solution of the present invention can carry out altimetric compensation to dispensing position, so that dispensing quality be made to stablize.
Description
Technical field
The present invention relates to electronic component manufacturing technology field, in particular to a kind of pair of dispensing position carries out altimetric compensation
Method and device.
Background technique
Dispenser system is a kind of process equipment for being widely used in field of electronic components manufacturing, and use scope covers
The techniques such as bonding, encapsulating, coating, sealing, filling, drop, the scribing line gluing of product, are mainly used for the glue in Product Process
The liquid such as water, paint Accurate Points, note, point drip to each product exact position.The dispensing position precision of dispenser system directly affects
The quality of gluing process, especially contact dispensing, it is therefore desirable to which dispensing position is compensated.
However, dispenser system is the coordinate for compensating X/Y plane by vision system mostly at present in industrial production application
To achieve the purpose that dispensing position compensation.When due to using contact dispensing, the coordinate for compensating only for XY can only achieve translation and mend
The effect repaid cannot compensate height, that is, Z axis of dispensing position, and the height of dispensing position then influences final workpiece point
Colloid amount.Therefore, when the height of dispensing workpiece is inconsistent, the dispensing method of no height and position compensation will be unable to realize good
Good dispensing effect, dispensing are second-rate.
Therefore, how dispensing position height is compensated, is that current those skilled in the art technology urgently to be resolved is asked
Topic.
Summary of the invention
The main object of the present invention is to propose that a kind of pair of dispensing position carries out the method and device of altimetric compensation, it is intended to be solved
The technical issues of existing dispenser system can not carry out altimetric compensation to dispensing position.
To achieve the above object, the method proposed by the present invention that altimetric compensation is carried out to dispensing position, comprising the following steps:
S1: high detecting location is surveyed to setting in dispensing part first, calibrates the positional relationship of vision system and Glue dripping head, measurement
The height difference H of the vision system and the Glue dripping head；
S2: the positional relationship of calibration laser-measured height module and the vision system measures the vision system in the detection position
The Z coordinate Z1 that sets, the laser-measured height module are arrived in the Z coordinate Z2 of the detecting location, the laser of the laser-measured height module
The survey high level V1 of the detecting location；
S3: dispensing position of the setting second to dispensing part；
S4: it measures Z of the laser-measured height module in the dispensing position and sits Z3, and the measurement laser-measured height module in institute
State the survey high level V2 of the laser of dispensing position；
S5: the Z coordinate Z of the dispensing position is calculatedNewly: ZNewly=Z1+H-V1-Z2+V2+Z3；
S6: by the ZNewlyThe Z coordinate of the dispensing position is compensated, the Glue dripping head executes dispensing.
Preferably, the vision system includes camera.
Preferably, in the S3 step, the dispensing position includes three-dimensional coordinate.
Preferably, in the step S5, the vision system calculates the ZNewly, and save the ZNewly, update the ZNewlyFor
The final height of the dispensing position.
The second technical problem to be solved by the present invention is, in view of the above-mentioned drawbacks in the prior art, provides one kind to point
Glue position carries out the device of altimetric compensation, including ontology and setting servo motor on the body, carrier, Glue dripping head,
The top of the ontology is arranged in light source and camera, the servo motor, and the servo motor is mounted on the carrier, institute
The lower left that the ontology is arranged in camera is stated, is used for first to choose reference point on dispensing part and second to dispensing
Reference point is chosen on part, the lower section of the camera is arranged in the light source, and the lower end of the ontology is arranged in the Glue dripping head,
For carrying out altimetric compensation according to second point glue point.
Preferably, through-hole is provided on the carrier, the rotating bar of the servo motor is arranged across the through-hole.
Preferably, camera clamping seats are additionally provided on the ontology, the camera is set on the camera clamping seats.
Preferably, sliding panel is additionally provided on the ontology, the Glue dripping head is mounted on the sliding panel.
Preferably, light source mounting plate is additionally provided on the ontology, the light source is mounted on the light source mounting plate.
Preferably, further include laser-measured height module, sat for measuring Z of the laser-measured height module in the dispensing position
Z3, and the survey high level V2 of laser of the measurement laser-measured height module in the dispensing position.
The method and device that altimetric compensation is carried out to dispensing position of the invention, is compared with the prior art, increases laser
It surveys high module accurately to compensate height, so that the altimetric compensation to dispensing position is realized, so that carrying out batch dispensing
Shi Buhui to the difference in height of dispensing product itself due to causing dispensing effect impacted, due to having carried out altimetric compensation, in this way
Dispensing precision can be made higher, dispensing effect is more stable.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the flow chart for the method that the present invention carries out altimetric compensation to dispensing position；
Fig. 2 is the structural schematic diagram that the present invention carries out height compensation device to dispensing position.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 1 | Servo motor | 2 | Carrier |
| 3 | Glue dripping head | 4 | Light source |
| 5 | Camera | 6 | Ontology |
| 7 | Through-hole | 8 | Camera clamping seats |
| 9 | Sliding panel | 10 | Light source mounting plate |
| 1 | Servo motor | 2 | Carrier |
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
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 description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that if relating to directionality instruction (such as up, down, left, right, before and after ...) in the embodiment of the present invention,
Then directionality instruction be only used for explain under a certain particular pose (as shown in the picture) between each component relative positional relationship,
Motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
In addition, being somebody's turn to do " first ", " second " etc. if relating to the description of " first ", " second " etc. in the embodiment of the present invention
Description be used for description purposes only, be not understood to indicate or imply its relative importance or implicitly indicate indicated skill
The quantity of art feature." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one spy
Sign.It in addition, the technical solution between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy
It is enough realize based on, will be understood that the knot of this technical solution when conflicting or cannot achieve when occurs in the combination of technical solution
Conjunction is not present, also not the present invention claims protection scope within.
The present invention proposes the method that a kind of pair of dispensing position carries out altimetric compensation.
In one embodiment of the invention, as shown in Figure 1, this to dispensing position carry out altimetric compensation method include with
Lower step:
S1: high detecting location is surveyed to setting in dispensing part first, calibrates the positional relationship of vision system and Glue dripping head, measurement
The height difference H of the vision system and the Glue dripping head；
S2: the positional relationship of calibration laser-measured height module and the vision system measures the vision system in the detection position
The Z coordinate Z1 that sets, the laser-measured height module are arrived in the Z coordinate Z2 of the detecting location, the laser of the laser-measured height module
The survey high level V1 of the detecting location；
S3: dispensing position of the setting second to dispensing part；
S4: it measures Z of the laser-measured height module in the dispensing position and sits Z3, and the measurement laser-measured height module in institute
State the survey high level V2 of the laser of dispensing position；
S5: the Z coordinate Z of the dispensing position is calculatedNewly: ZNewly=Z1+H-V1-Z2+V2+Z3；
S6: by the ZNewlyThe Z coordinate of the dispensing position is compensated, the Glue dripping head executes dispensing.
Further, the vision system includes camera.
Further, in the S3 step, the dispensing position includes three-dimensional coordinate.
Further, in the step S5, the vision system calculates the ZNewly, and save the ZNewly, update the ZNewly
For the final height of the dispensing position.
Specifically, in one particular embodiment of the present invention, S1: surveying high detection to setting in dispensing product first
The positional relationship of vision system and Glue dripping head is calibrated in position, measures the height difference H of vision system and Glue dripping head；Such as H is 3 millis
Rice；
S2: calibration laser-measured height module and vision system positional relationship, measurement vision system detecting location Z coordinate Z1,
Laser-measured height module the Z coordinate Z2 of detecting location, laser-measured height module laser to detecting location survey high level V1；Such as Z1
For 20 millimeters, Z2 be 18 millimeters, V1 is 16 millimeters；
S3: dispensing position of the setting second to dispensing product；
S4: laser-measured height module is measured in the Z coordinate Z3 of dispensing position, and measurement laser-measured height module swashing in dispensing position
The survey high level V2 of light；Such as Z3 is 19 millimeters, V2 is 17 millimeters；
S5: the Z coordinate Z for calculating dispensing position is new: Z is new=Z1+H-V1-Z2+V2+Z3；Z is new=20 millimeters+3 millimeters -16 millimeters -
18 millimeters+17 millimeters+19 millimeters=25 millimeters.
S6: Z is newly compensated to the Z coordinate to dispensing position, executes dispensing.
The central principle of the present embodiment is: first first to carry out elevation carrection in dispensing product, then second to point
The same position of glue product carries out elevation carrection, according to the difference of two elevation carrections to the second dispensing position progress to dispensing product
Altimetric compensation.And if without altimetric compensation, second when the dispensing position of dispensing product, the Z coordinate of dispensing position=
+ 3 millimeters=23 millimeters of Z1+H=20 millimeter；And after carrying out altimetric compensation, the Z coordinate Z of dispensing position is new=and 25 millimeters；As it can be seen that
The Z coordinate of dispensing position after carrying out altimetric compensation is more accurate.
The present invention also provides the devices that a kind of pair of dispensing position carries out altimetric compensation, as shown in Fig. 2, include ontology 6 and
Servo motor 1, carrier 2, Glue dripping head 3, light source 4 and camera 5 on the ontology 6 are set, and the setting of servo motor 1 exists
The top of the ontology 6, the servo motor 1 are mounted on the carrier 2, and the lower section of the ontology 6 is arranged in the camera 5
Left side, for, to choose reference point on dispensing part and second to choose reference point on dispensing part, the light source 4 to be set first
It sets in the lower section of the camera 5, the lower end of the ontology 6 is arranged in the Glue dripping head 3, for being carried out according to second point glue point
Altimetric compensation.
Further, through-hole 7 is provided on the carrier 2, the rotating bar of the servo motor 1 passes through the through-hole 7 and sets
It sets.
Further, camera clamping seats 8 are additionally provided on the ontology 6, the camera 5 is set to the camera clamping seats
On 8.
Further, sliding panel 9 is additionally provided on the ontology 6, the Glue dripping head 3 is mounted on the sliding panel 9.
Further, light source mounting plate 10 is additionally provided on the ontology 6, the light source 4 is mounted on the light source installation
On plate 10.
It further, further include laser-measured height module, for measuring the laser-measured height module in the Z of the dispensing position
Sit Z3, and the survey high level V2 of laser of the measurement laser-measured height module in the dispensing position.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in scope of patent protection of the invention.
Claims (10)
1. the method that a kind of pair of dispensing position carries out altimetric compensation, which comprises the following steps:
S1: high detecting location is surveyed to setting in dispensing part first, calibrates the positional relationship of vision system and Glue dripping head, measurement
The height difference H of the vision system and the Glue dripping head；
S2: the positional relationship of calibration laser-measured height module and the vision system measures the vision system in the detection position
The Z coordinate Z1 that sets, the laser-measured height module are arrived in the Z coordinate Z2 of the detecting location, the laser of the laser-measured height module
The survey high level V1 of the detecting location；
S3: dispensing position of the setting second to dispensing part；
S4: it measures Z of the laser-measured height module in the dispensing position and sits Z3, and the measurement laser-measured height module in institute
State the survey high level V2 of the laser of dispensing position；
S5: the Z coordinate Z of the dispensing position is calculatedNewly: ZNewly=Z1+H-V1-Z2+V2+Z3；
S6: by the ZNewlyThe Z coordinate of the dispensing position is compensated, the Glue dripping head executes dispensing.
2. the method for carrying out altimetric compensation to dispensing position as described in claim 1, which is characterized in that the vision system packet
Include camera.
3. the method for carrying out altimetric compensation to dispensing position as described in claim 1, which is characterized in that in the S3 step,
The dispensing position includes three-dimensional coordinate.
4. the method for carrying out altimetric compensation to dispensing position as described in claim 1, which is characterized in that in the step S5,
The vision system calculates the ZNewly, and save the ZNewly, update the ZNewlyFor the final height of the dispensing position.
5. the device that a kind of pair of dispensing position carries out altimetric compensation, which is characterized in that including ontology and be arranged in the ontology
On servo motor, carrier, Glue dripping head, light source and camera, the top of the ontology is arranged in the servo motor, described to watch
It takes motor to be mounted on the carrier, the lower left of the ontology is arranged in the camera, is used for first to dispensing part
Choose reference point and second to choose reference point on dispensing part, the lower section of the camera, the point is arranged in the light source
The lower end of the ontology is arranged in rubber head, for carrying out altimetric compensation according to second point glue point.
6. dispensing height compensation device as claimed in claim 5, which is characterized in that through-hole is provided on the carrier, it is described
The rotating bar of servo motor is arranged across the through-hole.
7. dispensing height compensation device as claimed in claim 5, which is characterized in that be additionally provided with camera clamping on the ontology
Seat, the camera are set on the camera clamping seats.
8. dispensing height compensation device as claimed in claim 5, which is characterized in that it is additionally provided with sliding panel on the ontology,
The Glue dripping head is mounted on the sliding panel.
9. dispensing height compensation device as claimed in claim 5, which is characterized in that be additionally provided with light source installation on the ontology
Plate, the light source are mounted on the light source mounting plate.
10. dispensing height compensation device as claimed in claim 5, which is characterized in that further include laser-measured height module, for surveying
It measures Z of the laser-measured height module in the dispensing position and sits Z3, and the measurement laser-measured height module in the dispensing position
The survey high level V2 for the laser set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811011964.0A CN109092640A (en) | 2018-08-31 | 2018-08-31 | A kind of pair of dispensing position carries out the method and device of altimetric compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811011964.0A CN109092640A (en) | 2018-08-31 | 2018-08-31 | A kind of pair of dispensing position carries out the method and device of altimetric compensation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109092640A true CN109092640A (en) | 2018-12-28 |
Family
ID=64864582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811011964.0A Pending CN109092640A (en) | 2018-08-31 | 2018-08-31 | A kind of pair of dispensing position carries out the method and device of altimetric compensation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109092640A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590168A (en) * | 2019-01-10 | 2019-04-09 | 常州铭赛机器人科技股份有限公司 | The calibration method of sloped rotary type point glue equipment |
| CN112756193A (en) * | 2020-12-19 | 2021-05-07 | 深圳市轴心自控技术有限公司 | Synchronous automatic adjustable double-valve control system |
| CN113313756A (en) * | 2021-04-26 | 2021-08-27 | 深圳市世宗自动化设备有限公司 | Camera and laser composite guiding dispensing compensation method and related device |
| CN113996502A (en) * | 2021-11-12 | 2022-02-01 | 杭州鸿星电子有限公司 | Height control method and device for dispensing head in dispensing process of quartz crystal resonator |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104607368A (en) * | 2014-12-29 | 2015-05-13 | 深圳市轴心自控技术有限公司 | Height compensation method for adhesive dispensing position |
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2018
- 2018-08-31 CN CN201811011964.0A patent/CN109092640A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104607368A (en) * | 2014-12-29 | 2015-05-13 | 深圳市轴心自控技术有限公司 | Height compensation method for adhesive dispensing position |
Non-Patent Citations (1)
| Title |
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| 高宏伟等: "《电子制造装备技术》", 30 September 2015, 西安电子科技大学出版社 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109590168A (en) * | 2019-01-10 | 2019-04-09 | 常州铭赛机器人科技股份有限公司 | The calibration method of sloped rotary type point glue equipment |
| CN112756193A (en) * | 2020-12-19 | 2021-05-07 | 深圳市轴心自控技术有限公司 | Synchronous automatic adjustable double-valve control system |
| CN112756193B (en) * | 2020-12-19 | 2022-03-22 | 深圳市轴心自控技术有限公司 | Synchronous automatic adjustable double-valve control system |
| CN113313756A (en) * | 2021-04-26 | 2021-08-27 | 深圳市世宗自动化设备有限公司 | Camera and laser composite guiding dispensing compensation method and related device |
| CN113996502A (en) * | 2021-11-12 | 2022-02-01 | 杭州鸿星电子有限公司 | Height control method and device for dispensing head in dispensing process of quartz crystal resonator |
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Application publication date: 20181228 |