CN109590168B - Calibration method of inclined rotary type dispensing device - Google Patents
Calibration method of inclined rotary type dispensing device Download PDFInfo
- Publication number
- CN109590168B CN109590168B CN201910023618.2A CN201910023618A CN109590168B CN 109590168 B CN109590168 B CN 109590168B CN 201910023618 A CN201910023618 A CN 201910023618A CN 109590168 B CN109590168 B CN 109590168B
- Authority
- CN
- China
- Prior art keywords
- nozzle
- height
- laser
- dispensing
- dispensing device
- 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.)
- Active
Links
Images
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
Abstract
The invention discloses a calibration method of an inclined rotary glue dispensing device, which comprises the following steps: s1, moving the laser to a position to be dispensed, adjusting the coordinate of the dispensing device on the Z axis, and adjusting the laser value to a preset value to obtain a height H1; s2, moving the laser to the center position of the tool setting gauge, adjusting the coordinate of the dispensing device on the Z axis, and adjusting the laser value to a preset value to obtain a height H2; s3, teaching an optimal dispensing position and an optimal dispensing angle in an inclined rotating direction on the workpiece to obtain an inclined rotating direction R1 and a dispensing height H3; s4, keeping the inclined rotation direction of the R1, moving the nozzle to the position above the tool setting gauge, executing tool setting operation, and storing the height H4 of the nozzle contacting the surface of the tool setting gauge, wherein the height H5= H4-H0-H3 of the nozzle from the position to be dispensed; and S5, moving the nozzle to a position with a distance H4 from the height of the gauge surface for glue spraying, moving the center of the camera to the glue spraying position, and calculating the deviation between the nozzle in the R1 direction and the center of the camera. The calibration method has the advantages of small error, high efficiency and the like.
Description
Technical Field
The invention relates to a calibration method of an inclined rotary glue dispensing device.
Background
In a conventional calibration method for a tilt rotation mechanism, first, deviations between nozzle positions in respective tilt rotation directions and a camera center position are calibrated in a calibration device, and then, when a dispensing trajectory line is edited, a corresponding tilt rotation type is selected, and dispensing work is performed according to the tilt rotation type. The method can not ensure that the dispensing height is completely consistent with the height during calibration, calibration errors exist, and the trace line needs to be adjusted to realize the dispensing effect; when the nozzle is replaced or the spray valve is disassembled and assembled, the nozzle needs to be recalibrated once, and the debugging is inconvenient. The existing calibration method of the inclined rotating mechanism has the defects of inconvenient operation, large error, low efficiency and the like.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
Therefore, the invention provides a calibration method of an inclined rotary type glue dispensing device, which has the advantages of convenience in operation, small error, high efficiency and the like.
According to the calibration method of the inclined rotary type glue dispensing device provided by the embodiment of the invention, the glue dispensing device can move along the Z-axis direction, the Z-axis has a zero point position, and the glue dispensing device comprises: the calibration method comprises the following steps of: s1, moving laser to a position, to be subjected to glue dispensing, of the workpiece through a camera of the laser height indicator, adjusting the coordinate of the glue dispensing device on the Z axis, adjusting the laser value measured by the laser height indicator to a preset value, and storing the position height H1 of the glue dispensing device from the zero point position; s2, moving the laser to the center position of the tool setting gauge, adjusting the coordinate of the glue dispensing device on the Z axis, adjusting the laser value measured by the laser height gauge to the preset value, storing the height H2 of the glue dispensing device from the zero point position, and setting the height difference H0 between the position to be subjected to glue dispensing and the surface of the tool setting gauge to be H2-H1; s3, teaching an optimal dispensing position and an optimal dispensing angle in an inclined rotating direction on the workpiece, and storing the inclined rotating direction R1 and a dispensing height H3, wherein the dispensing height H3 is the distance between the optimal dispensing position and a zero point position; s4, keeping an inclined rotating direction R1, moving the nozzle to a position above the tool setting gauge, executing tool setting operation, and storing the height H4 from the zero point position when the nozzle contacts the surface of the tool setting gauge, wherein the height H5 from the nozzle to the position to be dispensed is H4-H0-H3; s5, moving the nozzle to a position with a distance H4 from the surface of the cutting tool for glue spraying, moving the center of the camera to the glue spraying position, and calculating the deviation between the nozzle and the center of the camera in the inclined rotating direction R1.
According to the calibration method of the inclined rotary type dispensing device, the calibration method of the deviation between the nozzle and the center of the camera is adopted, so that the operation is convenient, and the calibration precision of the nozzle and the center of the camera can be obviously improved.
According to one embodiment of the invention, said preset value is zero.
According to one embodiment of the invention, when the nozzle is replaced or the spray valve is disassembled and assembled, the tool setting operation is carried out on the inclined rotating direction R1, and the height difference of the nozzle before and after replacement is automatically calculated; and then executing glue spraying operation, moving the center of the camera to the glue spraying position, and calibrating the deviation between the nozzle and the center of the camera.
According to one embodiment of the invention, the laser altimeter is an electromagnetic wave altimeter using laser as a carrier wave.
According to one embodiment of the invention, the tool setting gauge comprises a contact sensor, and the nozzle sends a signal when contacting the surface of the tool setting gauge.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic diagram illustrating a calibration method of a tilting rotary dispensing device according to an embodiment of the invention.
Reference numerals:
a calibration method 100 for a tilt rotary dispensing device.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The following describes a calibration method 100 of the tilting rotary type dispensing device according to an embodiment of the present invention with reference to the drawings.
As shown in fig. 1, according to the calibration method of the tilting rotary type dispensing device of the embodiment of the present invention, the dispensing device is movable in the Z-axis direction, the Z-axis has a zero point position, the dispensing device includes: the calibration method comprises the following steps of: s1, moving laser to a position, to be subjected to glue dispensing, of the workpiece through a camera of the laser height indicator, adjusting the coordinate of the glue dispensing device on the Z axis, adjusting the laser value measured by the laser height indicator to a preset value, and storing the position height H1 of the glue dispensing device from the zero point position; s2, moving the laser to the center position of the tool setting gauge, adjusting the coordinate of the glue dispensing device on the Z axis, adjusting the laser value measured by the laser height gauge to the preset value, storing the height H2 of the glue dispensing device from the zero point position, and setting the height difference H0 between the position to be subjected to glue dispensing and the surface of the tool setting gauge to be H2-H1; s3, teaching an optimal dispensing position and an optimal dispensing angle in an inclined rotating direction on the workpiece, and storing the inclined rotating direction R1 and a dispensing height H3, wherein the dispensing height H3 is the distance between the optimal dispensing position and a zero point position; s4, keeping an inclined rotating direction R1, moving the nozzle to a position above the tool setting gauge, executing tool setting operation, and storing the height H4 from the zero point position when the nozzle contacts the surface of the tool setting gauge, wherein the height H5 from the nozzle to the position to be dispensed is H4-H0-H3; s5, moving the nozzle to a position with a distance H4 from the surface of the cutting tool for glue spraying, moving the center of the camera to the glue spraying position, and calculating the deviation between the nozzle and the center of the camera in the inclined rotating direction R1.
In other words, the calibration method of the oblique rotary dispensing device according to the embodiment of the invention comprises the following steps:
firstly, the laser is moved to a workpiece dispensing position through a camera, the Z-axis coordinate of the machine is adjusted, the laser value is adjusted to zero, and the height H1 of the position is saved.
Then, the laser is moved to the center of the tool setting gauge, the Z-axis coordinate of the machine is adjusted, the numerical value of the laser is adjusted to zero, the height H2 of the position is saved, and the height difference H0 between the dispensing position of the workpiece and the surface of the tool setting gauge is H2-H1.
Subsequently, an optimum dispensing position and angle in the oblique rotation direction are taught on the workpiece, and the oblique rotation direction R1 and the dispensing height H3 are saved.
Then, the inclined rotation direction of the R1 is maintained, the nozzle is moved to the position above the tool setting gauge, the tool setting operation is carried out, the height H4 of the nozzle contacting the surface of the tool setting gauge is kept, and the height H5 of the nozzle from the dispensing position is H4-H0-H3.
And finally, automatically moving the nozzle to a position which is H4 away from the surface of the gauge for glue spraying, then moving the center of the camera to the glue position, calculating the deviation between the nozzle and the center of the camera in the R1 direction, and executing the deviation calibration between the nozzle and the center of the camera at the same height, so that the taught trajectory is the glue dispensing position, and the debugging is convenient.
According to one embodiment of the invention, said preset value is zero.
In some embodiments of the present invention, the calibration method of the tilting rotary dispensing device further comprises the following steps: and S6, setting the dispensing height of the other oblique rotating direction R2 and the deviation of the nozzle from the center of the camera.
It should be noted that, by analogy, other dispensing heights in oblique rotation directions and nozzle camera deviations R3, R4, and R5 … … are set
According to one embodiment of the invention, when the nozzle is replaced or the spray valve is disassembled and assembled, the tool setting operation is carried out on the inclined rotating direction, and the height difference of the nozzle before and after replacement is automatically calculated; and then executing glue spraying operation, moving the center of the camera to the glue spraying position, and calibrating the deviation between the nozzle and the center of the camera.
When the nozzle is replaced or the spray valve is disassembled and assembled, the tool setting operation is carried out in the inclined rotating direction R1, and the height difference of the nozzle before and after replacement is automatically calculated; then glue spraying is carried out, and the camera moves to the position of the glue point for operation, so that the center deviation calibration of the nozzle and the camera is realized; by analogy, the same operation is performed on R2, R3, R4, R5 and the like, deviation can be calibrated quickly, the dispensing track does not need to be adjusted, the dispensing task is directly performed, and the method is quick and effective.
In some embodiments of the present invention, the laser altimeter is an electromagnetic wave altimeter using laser as a carrier wave.
According to one embodiment of the invention, the tool setting gauge comprises a contact sensor, and the nozzle emits a signal when contacting the surface of the tool setting gauge.
In summary, according to the calibration method 100 of the oblique rotary dispensing device of the embodiment of the present invention, the calibration method of the oblique rotary mechanism is adopted, so that the operation is convenient, and the calibration accuracy of the nozzle and the center of the camera can be significantly improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A calibration method for an oblique rotary dispensing device, wherein said dispensing device is movable in a Z-axis direction, the Z-axis having a zero position, said dispensing device comprising: a tool setting gauge for tool setting operation, a spray valve provided with a nozzle for dispensing and a laser altimeter capable of detecting the height of a measured object by laser,
the calibration method comprises the following steps:
s1, moving laser to a position, to be subjected to glue dispensing, of the workpiece through a camera of the laser height indicator, adjusting the coordinate of the glue dispensing device on the Z axis, adjusting the laser value measured by the laser height indicator to a preset value, and storing the position height H1 of the glue dispensing device from the zero point position;
s2, moving the laser to the center position of the tool setting gauge, adjusting the coordinate of the glue dispensing device on the Z axis, adjusting the laser value measured by the laser height gauge to the preset value, storing the height H2 of the glue dispensing device from the zero point position, and setting the height difference H0 between the position to be subjected to glue dispensing and the surface of the tool setting gauge to be H2-H1;
s3, teaching an optimal dispensing position and an optimal dispensing angle in an inclined rotating direction on the workpiece, and storing the inclined rotating direction R1 and a dispensing height H3, wherein the dispensing height H3 is the distance between the optimal dispensing position and a zero point position;
s4, keeping an inclined rotating direction R1, moving the nozzle to a position above the tool setting gauge, executing tool setting operation, and storing the height H4 from the zero point position when the nozzle contacts the surface of the tool setting gauge, wherein the height H5 from the nozzle to the position to be dispensed is H4-H0-H3;
s5, moving the nozzle to a position with a distance H4 from the surface of the cutting tool for glue spraying, moving the center of the camera to the glue spraying position, and calculating the deviation between the nozzle and the center of the camera in the inclined rotating direction R1.
2. The method of claim 1, wherein the predetermined value is zero.
3. The method according to claim 1, wherein when the nozzle is replaced or the nozzle valve is removed, a tool setting operation is performed in the direction of the inclined rotation R1, and a height difference between the nozzle before and after replacement is automatically calculated; and then executing glue spraying operation, moving the center of the camera to the glue spraying position, and calibrating the deviation between the nozzle and the center of the camera.
4. The method of claim 1, wherein the laser altimeter is an electromagnetic altimeter using laser as a carrier.
5. The method of calibrating an inclined rotary dispensing device of claim 1, wherein the feeler gauge comprises a contact sensor, and the nozzle emits a signal when contacting a surface of the feeler gauge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910023618.2A CN109590168B (en) | 2019-01-10 | 2019-01-10 | Calibration method of inclined rotary type dispensing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910023618.2A CN109590168B (en) | 2019-01-10 | 2019-01-10 | Calibration method of inclined rotary type dispensing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109590168A CN109590168A (en) | 2019-04-09 |
| CN109590168B true CN109590168B (en) | 2020-07-10 |
Family
ID=65965815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910023618.2A Active CN109590168B (en) | 2019-01-10 | 2019-01-10 | Calibration method of inclined rotary type dispensing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109590168B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110665747B (en) * | 2019-11-04 | 2021-11-05 | 广州翔天智能科技有限公司 | Calibration method for dispensing and curing chip electronic component |
| CN110918388B (en) * | 2019-11-27 | 2021-11-05 | 深圳市裕展精密科技有限公司 | Dispensing device and dispensing method |
| CN112767495B (en) * | 2021-01-21 | 2024-02-27 | 易视智瞳科技（深圳）有限公司 | Camera and valve angle calibration method, system, electronic equipment and storage medium |
| CN114152201B (en) * | 2021-11-04 | 2023-10-17 | 深圳橙子自动化有限公司 | Laser altimeter calibration method and device, electronic equipment and storage medium |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10361018C9 (en) * | 2003-12-23 | 2021-03-04 | QUISS Qualitäts-Inspektionssysteme und Service GmbH | Method for recognizing a structure to be applied to a substrate with a plurality of cameras and a device therefor |
| CN103357556B (en) * | 2013-06-27 | 2015-02-04 | 深圳市轴心自控技术有限公司 | Method and system for obliquely dispensing adhesive |
| CN204584700U (en) * | 2015-02-05 | 2015-08-26 | 东莞市安达自动化设备有限公司 | A kind of multi-functional full-automatic kludge |
| CN104815785B (en) * | 2015-04-29 | 2017-04-19 | 深圳市智立方自动化设备有限公司 | Automatic pin head position calibration device and automatic pin head position calibration method |
| CN105318837B (en) * | 2015-11-20 | 2018-04-17 | 常州铭赛机器人科技股份有限公司 | Vulnerable part end position vision alignment device and its calibration method |
| CN108620288B (en) * | 2017-03-22 | 2020-02-14 | 深圳市腾盛精密装备股份有限公司 | Glue dispensing height compensation method and device |
| CN108662974B (en) * | 2017-03-28 | 2021-01-29 | 深圳市腾盛精密装备股份有限公司 | Dual-camera-based dispensing positioning method and device |
| CN107991638B (en) * | 2017-10-31 | 2020-09-18 | 广东省电子技术研究所 | Calibration method of rotary SMT first piece detection system |
| CN107918354B (en) * | 2017-11-17 | 2020-06-16 | 中国航发沈阳黎明航空发动机有限责任公司 | Tool setting method in right-angle head machine of numerical control machine tool |
| CN108636672B (en) * | 2018-05-30 | 2020-04-28 | 常州铭赛机器人科技股份有限公司 | Glue spraying method for correcting running speed by weighing and fluid coating device |
| CN109013188B (en) * | 2018-05-30 | 2021-05-04 | 常州铭赛机器人科技股份有限公司 | Calibration system, calibration method, and fluid application apparatus |
| CN108543674B (en) * | 2018-06-26 | 2024-02-27 | 东莞市欧特自动化技术有限公司 | Dispensing and assembling system and dispensing method thereof |
| CN109092640A (en) * | 2018-08-31 | 2018-12-28 | 深圳市和田古德自动化设备有限公司 | A kind of pair of dispensing position carries out the method and device of altimetric compensation |
-
2019
- 2019-01-10 CN CN201910023618.2A patent/CN109590168B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109590168A (en) | 2019-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109590168B (en) | Calibration method of inclined rotary type dispensing device | |
| CN102483621B (en) | Machine tool calibration method | |
| CN110918398B (en) | Calibration method of variable-diameter rotary dispensing device based on binocular camera | |
| US20020170196A1 (en) | Surface texture measuring instrument and a method of adjusting an attitude of a work for the same | |
| US8336219B2 (en) | Apparatus and method for calibrating a scanning head | |
| US9897993B2 (en) | Control device for machining apparatus, machining apparatus, and correction method of machining data | |
| KR101673978B1 (en) | Robotic Arm System and Method for calibrating Parallelism of the Same | |
| CN101893433B (en) | Form measuring instrument, form measuring method, and program | |
| CN105547072A (en) | Geometric-error identification system and geometric-error identification method | |
| EP2584419B1 (en) | CNC machine for cutting with plasma, oxygen and water jet used as a cutting tool with automatic setting up a precise position of a cutting tool in a cutting head by autocalibration and method thereof | |
| US11289303B2 (en) | Calibrating method and calibrating system | |
| KR101452928B1 (en) | Stage Calibration Method using camera and displacement sensor | |
| US20160107283A1 (en) | Machine tool | |
| US20110033254A1 (en) | System And Method Of Locating Relative Positions Of Objects | |
| US11293745B2 (en) | Inspection master | |
| JP2012134258A (en) | Electronic component mounting device | |
| US9511386B2 (en) | Coating system and coating method | |
| JP2016003985A (en) | Machine tool | |
| US4769917A (en) | Method and apparatus for orienting a feeler of a gear testing apparatus | |
| KR100925647B1 (en) | Sensing device and its method for compensating tool position processing oil-groove inside of engine cylinder | |
| CN113733102B (en) | Error calibration device for industrial robot | |
| KR20130009433A (en) | Method and device for compensating position to change tools of a machine tool | |
| JPH06249641A (en) | Calibration of rotary table for coordinate measuring machine | |
| CN209755201U (en) | Robot | |
| JP2007075772A (en) | Paste applicator and paste application method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |