CN109701819B - Dispensing method of dispenser, computer storage medium and dispenser - Google Patents
Dispensing method of dispenser, computer storage medium and dispenser Download PDFInfo
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- CN109701819B CN109701819B CN201910024225.3A CN201910024225A CN109701819B CN 109701819 B CN109701819 B CN 109701819B CN 201910024225 A CN201910024225 A CN 201910024225A CN 109701819 B CN109701819 B CN 109701819B
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Abstract
The invention discloses a dispensing method of a dispenser, a computer storage medium and a dispenser, comprising the following steps: s1, teaching a dispensing track; s2, adding a workpiece array after the track teaching is finished; s3, generating a dispensing track, dispensing the workpiece to be processed according to the dispensing track, and when the dispenser is an inclined rotary dispensing device, the step S1 comprises: s11, selecting the inclined rotation type of the dispenser; and S12, teaching the dispensing tracks in at least two directions according to the inclination rotation type. The dispensing method of the dispenser can improve the working efficiency.
Description
Technical Field
The invention relates to a dispensing method of a dispenser, a computer storage medium and a dispenser.
Background
The existing glue dispensing method of the glue dispenser dispenses glue according to a pre-edited trajectory line and a workpiece array mode in sequence. The method has low efficiency, and when the track direction is opposite to the workpiece array direction or the inclined rotating mechanism is used for dispensing, the dispensing machine wastes time on some unnecessary paths or inclined rotating actions, thereby affecting the efficiency.
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 dispensing method of a dispenser, which can improve dispensing efficiency.
The invention also provides a computer storage medium which has the advantages of high automation degree, convenience in operation and the like.
The invention further provides a dispenser, and the dispenser can improve the operation efficiency through a track optimization method and an inclined rotation track optimization method.
The dispensing method of the dispenser according to the embodiment of the first aspect of the invention comprises the following steps: s1, teaching a dispensing track; s2, adding a workpiece array after the track teaching is finished; s3, generating a dispensing track, dispensing the workpiece to be processed according to the dispensing track, and when the dispenser is an inclined rotary dispensing device, the step S1 comprises: s11, selecting the inclined rotation type of the dispenser; and S12, teaching the dispensing tracks in at least two directions according to the inclination rotation type.
According to the dispensing method of the dispenser, the operation efficiency is improved and the operation time is shortened according to the track optimization method and the inclined rotating track optimization method.
In step S1, a dispensing trajectory is taught by the camera center, according to one embodiment of the present invention.
According to one embodiment of the present invention, step S3 includes: s31, all the dispensing tracks in the same direction are executed to complete dispensing; and S32, switching to a dispensing track in another direction for dispensing.
According to an embodiment of the present invention, in step S3, the dispensing trajectory is a plurality of independent points, and the dispensing sequence is adjusted according to the distance between two independent points so as to make the running path of the dispenser shortest.
According to an embodiment of the present invention, in step S3, the dispensing trajectory is at least two line segments, and the dispensing sequence is adjusted according to the distance between the end position of the current line segment and the start position of the next line segment so as to make the running path of the dispenser shortest.
According to an embodiment of the present invention, in step S3, the dispensing trajectory is at least two line segments, and the dispensing order is adjusted according to the distance between the end position of the current line segment and the end position of the next line segment so as to make the running path of the dispenser shortest.
A computer storage medium according to an embodiment of the second aspect of the present invention includes one or more computer instructions that, when executed, implement the dispensing method according to any one of the above.
According to the dispenser of the third aspect of the invention, any one of the above dispensing methods is adopted for dispensing.
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 view illustrating a dispensing method of a dispenser according to an embodiment of the invention;
fig. 2 is a schematic diagram of a step S1 of a dispensing method of a dispenser according to another embodiment of the invention;
fig. 3 is a schematic diagram of step S3 of a dispensing method of a dispenser according to another embodiment of the invention.
Reference numerals:
a dispensing method 100 of a dispenser.
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.
A dispensing method 100 of a dispenser according to an embodiment of the present invention is described in detail below with reference to the drawings.
As shown in fig. 1, the dispensing method of the dispenser according to the embodiment of the invention includes the following steps: s1, teaching a dispensing track; s2, adding a workpiece array after the track teaching is finished; and S3, generating a dispensing track, and dispensing the workpiece to be processed according to the dispensing track.
In other words, according to the dispensing method of the dispenser of the embodiment of the invention, the teaching track is firstly generated, then the workpiece array is added, and finally the dispensing track is generated, and the workpiece is dispensed according to the generated dispensing track.
Therefore, according to the dispensing method of the dispenser provided by the embodiment of the invention, dispensing can be carried out according to the dispensing track, and the working efficiency is improved.
According to one embodiment of the invention, in step S1, a dispensing trajectory is taught by the camera center.
As shown in fig. 2, in some embodiments of the present invention, when the dispenser is an inclined rotary dispensing device, step S1 includes: s11, selecting the inclined rotation type of the dispenser; and S12, teaching the dispensing tracks in at least two directions according to the inclined rotation type, in other words, when the inclined rotation mechanism works, selecting the corresponding inclined rotation type, adding the workpiece array after the track teaching is finished, and finishing all the dispensing tracks of the workpieces.
That is, when the tilting mechanism of the dispenser performs dispensing, the dispenser can avoid wasting time on some unnecessary paths or tilting rotation actions, which affects efficiency.
As shown in fig. 3, further, step S3 includes: s31, all the dispensing tracks in the same direction are executed to complete dispensing; and S32, switching to a dispensing track in another direction for dispensing, and further improving the working efficiency.
In some embodiments of the present invention, in step S3, the dispensing trajectory is a plurality of independent points, and the dispensing order is adjusted according to the distance between two independent points to make the running path of the dispenser shortest, that is, if the dispensing trajectory is an independent point, the dispensing order is adjusted according to the distance between two points to ensure the running path is shortest.
According to an embodiment of the present invention, in step S3, the dispensing trajectory is at least two line segments, and the dispensing order is adjusted according to the distance between the end position of the current line segment and the start position of the next line segment to make the running path of the dispenser shortest, that is, if the dispensing trajectory is a line segment, the dispensing order is adjusted according to the distance between the end position of the current line segment and the start position of the next line segment to ensure the running path is shortest.
According to an embodiment of the present invention, in step S3, the dispensing trajectory is at least two line segments, and the dispensing order is adjusted according to the distance between the end position of the current line segment and the end position of the next line segment so as to make the running path of the dispenser shortest.
In some embodiments of the present invention, in step S3, when the dispensing trajectory is a line segment, the dispensing order may be adjusted according to a distance between an end position of the current line segment and a start position or an end position of a next line segment, so as to make a running path of the dispenser shortest.
In addition, an embodiment of the present invention further provides a computer storage medium, where the computer storage medium includes one or more computer instructions, and when executed, the one or more computer instructions implement any one of the foregoing dispensing methods.
That is, the computer storage medium stores a computer program, and the computer program, when executed by a processor, causes the processor to execute any one of the above dispensing methods.
The glue dispenser provided by the embodiment of the invention adopts any one of the glue dispensing methods to perform glue dispensing.
In summary, the dispensing method of the dispenser according to the embodiment of the invention can overcome the problems of low working efficiency and the like caused by the dispensing method of the existing dispenser, and has the advantages of convenient operation, improved working efficiency and the like.
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 (7)
1. A dispensing method of a dispenser is characterized in that the dispenser is an inclined rotary dispensing device, and the dispensing method comprises the following steps:
s1, teaching a dispensing track;
s2, adding a workpiece array after the track teaching is finished;
s3, generating a dispensing track, and dispensing the workpiece to be processed according to the dispensing track;
step S1 includes:
s11, selecting the inclined rotation type of the dispenser;
s12, teaching dispensing tracks in at least two directions according to the inclined rotation type;
step S3 includes:
s31, all the dispensing tracks in the same direction are executed to complete dispensing;
and S32, switching to a dispensing track in another direction for dispensing.
2. The dispensing method of the dispenser according to claim 1, wherein in step S1, the dispensing trajectory is taught by a camera center.
3. The dispensing method of the dispenser according to claim 1, wherein in step S3, the dispensing trajectory is a plurality of independent points, and the dispensing sequence is adjusted according to the distance between two independent points to make the traveling path of the dispenser shortest.
4. The dispensing method of the dispenser according to claim 1, wherein in step S3, the dispensing trajectory is at least two line segments, and the dispensing sequence is adjusted according to the distance between the ending position of the current line segment and the starting position of the next line segment to make the traveling path of the dispenser shortest.
5. The dispensing method of the dispenser according to claim 1, wherein in step S3, the dispensing trajectory is at least two line segments, and the dispensing sequence is adjusted according to the distance between the end position of the current line segment and the end position of the next line segment to make the running path of the dispenser shortest.
6. A computer storage medium comprising one or more computer instructions which, when executed, implement a method of dispensing in accordance with any of claims 1 to 5.
7. A dispenser, characterized in that dispensing is carried out by the dispensing method of any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910024225.3A CN109701819B (en) | 2019-01-10 | 2019-01-10 | Dispensing method of dispenser, computer storage medium and dispenser |
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| CN201910024225.3A CN109701819B (en) | 2019-01-10 | 2019-01-10 | Dispensing method of dispenser, computer storage medium and dispenser |
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| CN109701819A CN109701819A (en) | 2019-05-03 |
| CN109701819B true CN109701819B (en) | 2020-09-08 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111974616B (en) * | 2019-10-23 | 2023-01-03 | 广东安达智能装备股份有限公司 | Dispensing method, dispensing device, computer equipment and storage medium |
| CN111001534B (en) * | 2019-12-13 | 2021-05-04 | 青岛歌尔智能传感器有限公司 | Dispensing method and dispensing device |
| CN112916336B (en) * | 2021-01-21 | 2022-03-08 | 易视智瞳科技（深圳）有限公司 | Path dispensing control method, path dispensing equipment and computer readable storage medium |
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| CN101049757A (en) * | 2006-02-13 | 2007-10-10 | 精工爱普生株式会社 | Method for forming pattern, droplet ejection apparatus, and apparatus for forming alignment film |
| CN103699500A (en) * | 2013-08-27 | 2014-04-02 | 东莞全职数控科技有限公司 | Visual guidance system and visual guidance method for dispenser |
| CN106824677B (en) * | 2017-02-16 | 2020-11-13 | 苏州华天视航智能装备技术有限公司 | Vision-guided robot alignment dispenser |
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