CN110170416A - A kind of automatically dropping glue method and device being applicable in multiple product - Google Patents
A kind of automatically dropping glue method and device being applicable in multiple product Download PDFInfo
- Publication number
- CN110170416A CN110170416A CN201910277343.5A CN201910277343A CN110170416A CN 110170416 A CN110170416 A CN 110170416A CN 201910277343 A CN201910277343 A CN 201910277343A CN 110170416 A CN110170416 A CN 110170416A
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- Prior art keywords
- dispensing
- workpiece
- outer profile
- path
- point
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- 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 kind of automatically dropping glue methods for being applicable in multiple product, comprising: pastes corresponding removable signature identification in workpiece surface；Control camera obtains the characteristic information and azimuth information of the workpiece, and the characteristic information includes removable signature identification, size and the outer profile information of workpiece；According to the characteristic information, pre- dispensing path corresponding with the workpiece is determined；According to the pre- dispensing path and the azimuth information, determine that corresponding practical dispensing path, the practical dispensing path include at least dispensing starting point and dispensing terminating point；Dispenser is controlled to work according to the practical dispensing path.Described device has used the method.Present invention saves manpowers, improve dispensing efficiency, can carry out dispensing operation in real time for a variety of different shape workpiece.
Description
Technical field
The present invention relates to automatic field more particularly to a kind of automatically dropping glue method and devices for being applicable in multiple product.
Background technique
Existing spot gluing equipment generallys use fixed angle and puts to dispensing workpiece, then the dispensing by programming in advance
Path clustering dispenser carry out dispensing, although this mode has liberated manpower to a certain extent, need for various workpiece it is artificial
Programming setting dispensing path, early-stage preparations labor intensive cost, time-consuming, and is typically only capable to be directed in a batch of processing tasks
A kind of workpiece, when needing replacing workpiece, it is also desirable to switch different programmings to change corresponding dispensing path, operate complicated effect
Rate is low.
Summary of the invention
To overcome existing dispensing method to need early-stage preparations, time-consuming, in same batch can not be different workpieces dispensing
The problem of, the embodiment of the invention provides a kind of automatically dropping glue methods for being applicable in multiple product, comprising:
Corresponding removable signature identification is pasted in workpiece surface；
Control camera obtains the characteristic information and azimuth information of the workpiece, and the characteristic information includes the removable feature of workpiece
Mark, size and outer profile information；
According to the characteristic information, pre- dispensing path corresponding with the workpiece is determined；
According to the pre- dispensing path and the azimuth information, corresponding practical dispensing path, the practical dispensing path are determined
Including at least dispensing starting point and dispensing terminating point；
Dispenser is controlled to work according to the practical dispensing path.
Further, azimuth information described above includes the lateral length of workpiece, longitudinal length and setting angle, the side
Position information acquisition methods include:
Obtain maximum two coordinate points of relative distance on workpiece outer profile；
The wire length for determining described two coordinate points is the lateral length of the workpiece；
Determine that the direction vertical with lateral length direction is longitudinal length；
The maximum distance for determining longitudinal length on workpiece outer profile is longitudinal length；
The angle for determining the lateral length direction and reference direction is the setting angle of workpiece.
Further, described above according to the characteristic information, the step of determining pre- dispensing path corresponding with the workpiece,
Include:
Pre- dispensing path corresponding with removable signature identification is screened from feature database, obtains the first Candidate Set；
Pre- dispensing path corresponding with workpiece lateral length and longitudinal length is screened from the first Candidate Set, obtains the second candidate
Collection；
Unique pre- dispensing path corresponding with workpiece outer profile is screened from the second Candidate Set.
Further, before the step of control camera described above obtains the characteristic information and azimuth information of the workpiece, also
Include:
Dispensing drawing path is made on standard workpiece, and pastes corresponding removable signature identification on standard workpiece, is kept
The setting angle of standard workpiece is corresponding with the reference direction of the camera；
Control camera obtains the characteristic information of the standard workpiece and the dispensing drawing path on standard workpiece；The feature letter
Breath includes removable signature identification, size and the outer profile information of standard workpiece；
Tracing point is obtained on the dispensing drawing path with the second preset interval, tracing point is sequentially connected with smoothed curve and is obtained
Pre- dispensing path, the pre- dispensing path include the coordinate and vector of each tracing point；
The pairing relationship of the characteristic information Yu pre- dispensing path is established, feature database is generated.
Further, the acquisition methods of the outer profile information of standard workpiece described above include:
Generate outer profile curve, on the outer profile curve with the first preset interval obtain characteristic point, using smoothed curve according to
Secondary connection features point, obtains the first benchmark outer profile；
Reduce first preset interval by preset ratio, repeats the above steps to obtain the second benchmark outer profile；
First preset interval is further decreased by preset ratio, repeats the above steps to obtain third benchmark outer profile；
The outer profile letter of standard workpiece is determined according to the first benchmark outer profile, the second benchmark outer profile and third benchmark outer profile
Breath.
Further, described above that uniquely pre- dispensing path corresponding with workpiece outer profile is screened from the second Candidate Set
Step, comprising:
Characteristic point is obtained with the first preset interval on the outer profile curve of the workpiece, is sequentially connected feature using smoothed curve
Point is obtained referring to outer profile；
From the second Candidate Set screening with referring to the corresponding first benchmark outer profile of outer profile；
When judging that the selection result is not unique, reduce first preset interval according to preset ratio, and update referring to outer profile,
From the selection result screening with referring to the corresponding second benchmark outer profile of outer profile；
When judging that the selection result is not unique, first preset interval is further decreased according to preset ratio, and update reference
Outer profile, from the selection result screening with referring to the corresponding third benchmark outer profile of outer profile.
Further, described above that tracing point is obtained on the dispensing drawing path with the second preset interval, with smooth bent
Line is sequentially connected the step of tracing point obtains practical dispensing path, comprising:
Tracing point is obtained on the dispensing drawing path with the second preset interval, tracing point is sequentially connected with smoothed curve and is obtained
Candidate dispensing path；
The candidate dispensing path and dispensing drawing path are compared, judges to compare whether registration is greater than 95%；
If it is not, reducing second preset interval by preset ratio, candidate dispensing path is reacquired, and describe with the dispensing
Path compares；
Determine that comparing candidate dispensing path of the registration greater than 95% is pre- dispensing path.
Further, described above according to the pre- dispensing path and the azimuth information, determine corresponding practical dispensing road
The step of diameter, the practical dispensing path includes at least dispensing starting point and dispensing terminating point, comprising:
According to the coordinate and vector of each tracing point on pre- dispensing path described in the setting angular transformation of workpiece；
Dispensing starting point is chosen, the dispensing starting point is any endpoint or described two coordinate points on open loop dispensing path
Middle any point；
Dispensing terminating point is chosen, the dispensing terminating point is another endpoint on open loop dispensing path, or is risen with the dispensing
Initial point is overlapped；
According to the coordinate of each tracing point after the transformation and vector, the dispensing starting point and dispensing terminating point, actual point is determined
Glue path.
Further, camera described above is linear array camera, and the removable signature identification is number mark or figure mark
Know, the area of the removable signature identification is not more than 3*3cm.
On the other hand the embodiment of the present invention provides a kind of automatic dispensing device for being applicable in multiple product, comprising:
Module is obtained, the characteristic information and azimuth information of the workpiece are obtained for controlling camera, the characteristic information includes work
Removable signature identification, size and the outer profile information of part；The removable signature identification is covered in workpiece surface；
First determining module, for determining pre- dispensing path corresponding with the workpiece according to the characteristic information；
Second determining module, for determining corresponding practical dispensing path according to the pre- dispensing path and the azimuth information,
The practical dispensing path includes at least dispensing starting point and dispensing terminating point；
Control module works for controlling dispenser according to the practical dispensing path.
The embodiment of the present invention obtains the characteristic information of workpiece by control camera, and is determined according to characteristic information stored
The corresponding pre- dispensing path of characteristic information realizes and extracts corresponding pre- dispensing path according to the workpiece of different characteristic information, promoted
To the judgement of different workpieces and the ability automatically extracted in pre- dispensing path, same processing batch can be used for pair point glue equipment
A variety of different workpieces carry out dispensing, programming process early period are eliminated, without manual switching dispensing path；Meanwhile the present embodiment
According to pre- dispensing path and the azimuth information, determine corresponding practical dispensing path so that the placement angle of workpiece with put
Position more freely greatly can alleviate human load；In addition, characteristic information extracts the removable feature mark of workpiece simultaneously
The reliability for obtaining workpiece features information can be improved in knowledge, size and outer profile information, finally, signature identification, which can be removed, to be had
The characteristics of easy to identify and uniqueness, can be used for the different workpiece of dispensing scheme, and the determination in pre- dispensing path can be substantially improved
Speed improves production efficiency, meanwhile, removable signature identification can be recycled and be recycled, and save resource consumption.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow chart of the automatically dropping glue method for being applicable in multiple product of first embodiment of the invention.
Specific embodiment
In order to which the technical problems, technical solutions and beneficial effects solved by the present invention is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
When the embodiment of the present invention refers to the ordinal numbers such as " first ", " second " (if present), unless based on context it is true
The meaning of real order of representation, it should be understood that only play differentiation and be used.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " (if present) shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or one
Ground connection；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, the indirect phase of intermediary can also be passed through
Even, it can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition above-mentioned
The concrete meaning of term in the present invention.
First embodiment:
It please refers to shown in Fig. 1, the embodiment of the invention provides a kind of automatically dropping glue methods for being applicable in multiple product, comprising:
S1 makes dispensing drawing path on standard workpiece, and pastes corresponding removable signature identification on standard workpiece, protects
The setting angle for holding standard workpiece is corresponding with the reference direction of the camera；
Standard workpiece is used to provide pre- dispensing path for the subsequent workpiece with same characteristic features information, and dispensing drawing path can be
Pen draws path, or the path that punching is formed, and in the present embodiment, the camera is linear array camera.The removable feature mark
Knowing is number mark or pattern identification, can recognize that eye-catching color, laser stripe, mirror surface material can be used in the outer of signature identification
Material can capture rapidly positioning so as to camera.When using pattern identification, the figure in the removable signature identification of difference needs full
Sufficient larger difference.
Usually recognizable signature identification and dispensing mode have relevance, and manufacturer can establish according to the relevance and can recognize
The corresponding relationship of signature identification and certain a kind of dispensing mode, so that producers can be needed according to dispensing to workpiece and can recognize
Signature identification carries out quickly and accurately pairing and chooses.The mode for dispensing glue of the present embodiment includes the quantity of dispensing section, position for dispensing glue
It sets or shape for dispensing glue.Illustratively, number mark 3 represents on workpiece that there are multiple dispensing sections, the generations such as pattern identification " → " " ↑ "
The position of table dispensing section, pattern identification " O ", " C ", " V " represent the shape of dispensing section.
Since to avoid can recognize that signature identification covers dispensing position when pasting, size is not easy too big, it is preferred that institute
The area of removable signature identification is stated no more than 3*3cm, can recognize that plastics or the production of hard paper can be used in signature identification,
Shape can be regular polygon, round or ellipse.
S2, control camera obtain the characteristic information of the standard workpiece and the dispensing drawing path on standard workpiece；Institute
State the removable signature identification, size and outer profile information that characteristic information includes standard workpiece；
As an improvement the acquisition methods of the outer profile information of the standard workpiece include:
Generate outer profile curve, on the outer profile curve with the first preset interval obtain characteristic point, using smoothed curve according to
Secondary connection features point, obtains the first benchmark outer profile；
Reduce first preset interval by preset ratio, repeats the above steps to obtain the second benchmark outer profile；
First preset interval is further decreased by preset ratio, repeats the above steps to obtain third benchmark outer profile；
The outer profile letter of standard workpiece is determined according to the first benchmark outer profile, the second benchmark outer profile and third benchmark outer profile
Breath.
In improvement project, outer profile information may include the first benchmark outer profile, the second benchmark outer profile and third base
Quasi- outer profile, it is subsequent the effect of improvement project to be further described.
S3 is obtained tracing point on the dispensing drawing path with the second preset interval, is sequentially connected and is retouched with smoothed curve
It draws and a little obtains pre- dispensing path, the pre- dispensing path includes the coordinate and vector of each tracing point；
For second preset interval for obtaining tracing point, the second preset interval, which can be, carries out interval operation with length unit, can also
Interval operation is carried out to choose ratio.By obtaining the coordinate and vector of each tracing point, practical dispensing road when subsequent dispensing is determined
The coordinate and vector of each dispensing path point in diameter.
This step further comprises:
S31 obtains tracing point on the dispensing drawing path with the second preset interval, is sequentially connected tracing point with smoothed curve
Obtain candidate dispensing path；
S32 compares the candidate dispensing path and dispensing drawing path, judges to compare whether registration is greater than 95%；
S33 reacquires candidate dispensing path if it is not, reduce second preset interval by preset ratio, and with the dispensing
Drawing path compares；
S34 determines that comparing candidate dispensing path of the registration greater than 95% is pre- dispensing path.
S31-S34 can guarantee point when registration is greater than 95% for determining close to the pre- dispensing path of dispensing drawing path
Glue yield.Further include S35 as a kind of supplement to above scheme, judges whether pre- dispensing path exceeds outer profile curve, if
Be will exceed outer profile curve pre- dispensing path sections use corresponding outer profile curved portion replace.
S4 establishes the pairing relationship of the characteristic information Yu pre- dispensing path, generates feature database.
It is different according to the kind quantity of manufacturer, it can store the feature of dozens of or a workpiece up to a hundred in feature database
Information and pre- dispensing path.
S5 pastes corresponding removable signature identification in workpiece surface.
Workpiece described in this step is to workpiece for dispensing glue, and producers can be according to pre-setting under normal conditions
The corresponding relationship that signature identification and workpiece can be removed pastes workpiece.
S6, control camera obtain the characteristic information and azimuth information of the workpiece, the characteristic information include workpiece can
Remove signature identification, size and outer profile information.
This step waits for that workpiece for dispensing glue is identical with the characteristic information content of standard workpiece, and the azimuth information includes workpiece
Lateral length, longitudinal length and setting angle, the acquisition methods of the azimuth information include:
S61 obtains maximum two coordinate points of relative distance on workpiece outer profile；
S62 determines that the wire length of described two coordinate points is the lateral length of the workpiece；
S63 determines that the direction vertical with lateral length direction is longitudinal length；
S64 determines that the maximum distance of longitudinal length on workpiece outer profile is longitudinal length；
In this step, the acquisition methods of longitudinal length specifically, obtain longitudinal length forward direction maximum value point and it is reversed most
The point being worth greatly, the distance of the point of the point and reversed maximum value that determine forward direction maximum value in a longitudinal direction is longitudinal length.
S65 determines that the angle of the lateral length direction and reference direction is the setting angle of workpiece.
Non-limiting as an example, the angle of longitudinal length and reference direction can also be used as the setting of workpiece
Angle.
S7 determines pre- dispensing path corresponding with the workpiece according to the characteristic information.
This step searches corresponding pre- dispensing path by characteristic information in feature database.This step further comprises:
S71 screens pre- dispensing path corresponding with removable signature identification from feature database, obtains the first Candidate Set；
The corresponding removable spy with current workpiece of the corresponding removable signature identification in all pre- dispensing paths in first Candidate Set
Sign mark correspondence is identical.
S72 screens corresponding with workpiece lateral length and longitudinal length pre- dispensing path from the first Candidate Set, obtains the
Two Candidate Sets；
The workpiece lateral length and longitudinal length of all workpiece lateral lengths and longitudinal length and current workpiece in second Candidate Set
Degree is close.As a kind of simplification, lateral length and longitudinal length can also be judged in a manner of ratio, the advantage that
In the error that can be excluded camera distortion and generate.
S73 screens unique pre- dispensing path corresponding with workpiece outer profile from the second Candidate Set.
It under normal conditions, can be with using the screening of workpiece outer profile by the screening of signature identification and size can be removed
Obtain unique pre- dispensing path.However, due to dispensing workpiece placement location and angle be it is arbitrary, when executing S73
There is a situation where that calculation amount is larger, time-consuming relatively long.For this purpose, relative to the improvement project in S2, this step may include
S731-S733。
S731, on the outer profile curve of the workpiece with the first preset interval obtain characteristic point, using smoothed curve according to
Secondary connection features point is obtained referring to outer profile；
First preset interval is used to obtain the characteristic point of outer profile curve.
S732, from the second Candidate Set screening with referring to the corresponding first benchmark outer profile of outer profile；
The shape of first benchmark outer profile is relatively easy, is compared convenient for dispenser, can promote comparison effect to the greatest extent
Rate reduces resource occupation, saves comparison time, however, when piece count is more, and when workpiece dispensing mode and size approximation,
The embodiment of the invention provides following proposals to further determine that unique pre- dispensing path.
S733 reduces first preset interval according to preset ratio, and update ginseng when judging that the selection result is not unique
According to outer profile, from the selection result screening with referring to the corresponding second benchmark outer profile of outer profile；
Second benchmark outer profile compares also relatively easy closer to workpiece outer profile.
When judging that the selection result is not unique, first preset interval is further decreased according to preset ratio, and update
Referring to outer profile, from the selection result screening with referring to the corresponding third benchmark outer profile of outer profile.
Third benchmark outer profile is closest to workpiece outer profile, and comparison time is slightly long, and resource occupation is slightly larger, but time-consuming is still shorter than
Directly compared with referring to outer profile.
S8 determines corresponding practical dispensing path, the actual point according to the pre- dispensing path and the azimuth information
Glue path includes at least dispensing starting point and dispensing terminating point.
This step for will to dispensing workpiece setting angle in conjunction with pre- dispensing path, obtain practical dispensing path.This
Step further comprises:
S81, according to the coordinate and vector of each tracing point on pre- dispensing path described in the setting angular transformation of workpiece；
S82, chooses dispensing starting point, and the dispensing starting point is any endpoint or described two seats on open loop dispensing path
Any point in punctuate；
Two coordinate points of this step meaning are two endpoints for determining lateral length.
S83, choose dispensing terminating point, the dispensing terminating point be open loop dispensing path on another endpoint, or with institute
State the coincidence of dispensing starting point；
S84 is determined real according to the coordinate of each tracing point after the transformation and vector, the dispensing starting point and dispensing terminating point
Border dispensing path.
S9, control dispenser work according to the practical dispensing path.
The embodiment of the present invention obtains the characteristic information of workpiece by control camera, and is determined according to characteristic information stored
The corresponding pre- dispensing path of characteristic information realizes and extracts corresponding pre- dispensing path according to the workpiece of different characteristic information, promoted
To the judgement of different workpieces and the ability automatically extracted in pre- dispensing path, same processing batch can be used for pair point glue equipment
A variety of different workpieces carry out dispensing, programming process early period are eliminated, without manual switching dispensing path；Meanwhile the present embodiment
According to pre- dispensing path and the azimuth information, determine corresponding practical dispensing path so that the placement angle of workpiece with put
Position more freely greatly can alleviate human load；In addition, characteristic information extracts the removable feature mark of workpiece simultaneously
The reliability for obtaining workpiece features information can be improved in knowledge, size and outer profile information, finally, signature identification, which can be removed, to be had
The characteristics of easy to identify and uniqueness, can be used for the different workpiece of dispensing scheme, and the determination in pre- dispensing path can be substantially improved
Speed improves production efficiency, meanwhile, removable signature identification can be recycled and be recycled, and save resource consumption.
Second embodiment:
The embodiment of the invention provides a kind of automatic dispensing devices for being applicable in multiple product, comprising:
Module is obtained, is connect with the first determining module, the characteristic information and azimuth information of the workpiece is obtained for controlling camera,
The characteristic information includes removable signature identification, size and the outer profile information of workpiece；The removable signature identification pastes
In workpiece surface；
First determining module is connect with the second determining module, for according to the characteristic information, determination to be corresponding with the workpiece
Pre- dispensing path；
Second determining module, connect with control module, for determining and corresponding to according to the pre- dispensing path and the azimuth information
Practical dispensing path, the practical dispensing path include at least dispensing starting point and dispensing terminating point；
Control module works for controlling dispenser according to the practical dispensing path.
Non-limiting as a kind of specific implementation, in the present embodiment, obtaining module can integrate the biography in camera
In sensor and in the processor of dispenser, the first determining module, the second determining module be can integrate in the processor of dispenser,
Control module can integrate in the controller of dispenser.
The embodiment of the present invention obtains the characteristic information of workpiece by control camera, and is determined according to characteristic information stored
The corresponding pre- dispensing path of characteristic information realizes and extracts corresponding pre- dispensing path according to the workpiece of different characteristic information, promoted
To the judgement of different workpieces and the ability automatically extracted in pre- dispensing path, same processing batch can be used for pair point glue equipment
A variety of different workpieces carry out dispensing, programming process early period are eliminated, without manual switching dispensing path；Meanwhile the present embodiment
According to pre- dispensing path and the azimuth information, determine corresponding practical dispensing path so that the placement angle of workpiece with put
Position more freely greatly can alleviate human load；In addition, characteristic information extracts the removable feature mark of workpiece simultaneously
The reliability for obtaining workpiece features information can be improved in knowledge, size and outer profile information, finally, signature identification, which can be removed, to be had
The characteristics of easy to identify and uniqueness, can be used for the different workpiece of dispensing scheme, and the determination in pre- dispensing path can be substantially improved
Speed improves production efficiency, meanwhile, removable signature identification can be recycled and be recycled, and save resource consumption.
The above is merely preferred embodiments of the present invention, it is not intended to limit the invention.It is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of automatically dropping glue method for being applicable in multiple product characterized by comprising
Corresponding removable signature identification is pasted in workpiece surface；
Control camera obtains the characteristic information and azimuth information of the workpiece, and the characteristic information includes the removable feature of workpiece
Mark, size and outer profile information；
According to the characteristic information, pre- dispensing path corresponding with the workpiece is determined；
According to the pre- dispensing path and the azimuth information, corresponding practical dispensing path, the practical dispensing path are determined
Including at least dispensing starting point and dispensing terminating point；
Dispenser is controlled to work according to the practical dispensing path.
2. being applicable in the automatically dropping glue method of multiple product as described in claim 1, which is characterized in that the azimuth information includes
The lateral length of workpiece, longitudinal length and setting angle, the acquisition methods of the azimuth information include:
Obtain maximum two coordinate points of relative distance on workpiece outer profile；
The wire length for determining described two coordinate points is the lateral length of the workpiece；
Determine that the direction vertical with lateral length direction is longitudinal length；
The maximum distance for determining longitudinal length on workpiece outer profile is longitudinal length；
The angle for determining the lateral length direction and reference direction is the setting angle of workpiece.
3. being applicable in the automatically dropping glue method of multiple product as claimed in claim 2, which is characterized in that described according to the feature
The step of information, determining pre- dispensing path corresponding with the workpiece, comprising:
Pre- dispensing path corresponding with removable signature identification is screened from feature database, obtains the first Candidate Set；
Pre- dispensing path corresponding with workpiece lateral length and longitudinal length is screened from the first Candidate Set, obtains the second candidate
Collection；
Unique pre- dispensing path corresponding with workpiece outer profile is screened from the second Candidate Set.
4. being applicable in the automatically dropping glue method of multiple product as claimed in claim 3, which is characterized in that the control camera obtains
Before the step of characteristic information and azimuth information of the workpiece, further includes:
Dispensing drawing path is made on standard workpiece, and pastes corresponding removable signature identification on standard workpiece, is kept
The setting angle of standard workpiece is corresponding with the reference direction of the camera；
Control camera obtains the characteristic information of the standard workpiece and the dispensing drawing path on standard workpiece；The feature letter
Breath includes removable signature identification, size and the outer profile information of standard workpiece；
Tracing point is obtained on the dispensing drawing path with the second preset interval, tracing point is sequentially connected with smoothed curve and is obtained
Pre- dispensing path, the pre- dispensing path include the coordinate and vector of each tracing point；
The pairing relationship of the characteristic information Yu pre- dispensing path is established, feature database is generated.
5. being applicable in the automatically dropping glue method of multiple product as claimed in claim 4, which is characterized in that outside the standard workpiece
The acquisition methods of profile information include:
Generate outer profile curve, on the outer profile curve with the first preset interval obtain characteristic point, using smoothed curve according to
Secondary connection features point, obtains the first benchmark outer profile；
Reduce first preset interval by preset ratio, repeats the above steps to obtain the second benchmark outer profile；
First preset interval is further decreased by preset ratio, repeats the above steps to obtain third benchmark outer profile；
The outer profile letter of standard workpiece is determined according to the first benchmark outer profile, the second benchmark outer profile and third benchmark outer profile
Breath.
6. being applicable in the automatically dropping glue method of multiple product as claimed in claim 5, which is characterized in that described from the second Candidate Set
Middle the step of screening unique pre- dispensing path corresponding with workpiece outer profile, comprising:
Characteristic point is obtained with the first preset interval on the outer profile curve of the workpiece, is sequentially connected feature using smoothed curve
Point is obtained referring to outer profile；
From the second Candidate Set screening with referring to the corresponding first benchmark outer profile of outer profile；
When judging that the selection result is not unique, reduce first preset interval according to preset ratio, and update referring to outer profile,
From the selection result screening with referring to the corresponding second benchmark outer profile of outer profile；
When judging that the selection result is not unique, first preset interval is further decreased according to preset ratio, and update reference
Outer profile, from the selection result screening with referring to the corresponding third benchmark outer profile of outer profile.
7. being applicable in the automatically dropping glue method of multiple product as claimed in claim 4, which is characterized in that it is described with second preset between
It is interposed between on the dispensing drawing path and obtains tracing point, tracing point is sequentially connected with smoothed curve and obtains the step in practical dispensing path
Suddenly, comprising:
Tracing point is obtained on the dispensing drawing path with the second preset interval, tracing point is sequentially connected with smoothed curve and is obtained
Candidate dispensing path；
The candidate dispensing path and dispensing drawing path are compared, judges to compare whether registration is greater than 95%；
If it is not, reducing second preset interval by preset ratio, candidate dispensing path is reacquired, and describe with the dispensing
Path compares；
Determine that comparing candidate dispensing path of the registration greater than 95% is pre- dispensing path.
8. being applicable in the automatically dropping glue method of multiple product as claimed in claim 6, which is characterized in that described according to the pre- point
Glue path and the azimuth information determine that corresponding practical dispensing path, the practical dispensing path are originated including at least dispensing
The step of point and dispensing terminating point, comprising:
According to the coordinate and vector of each tracing point on pre- dispensing path described in the setting angular transformation of workpiece；
Dispensing starting point is chosen, the dispensing starting point is any endpoint or described two coordinate points on open loop dispensing path
Middle any point；
Dispensing terminating point is chosen, the dispensing terminating point is another endpoint on open loop dispensing path, or is risen with the dispensing
Initial point is overlapped；
According to the coordinate of each tracing point after the transformation and vector, the dispensing starting point and dispensing terminating point, actual point is determined
Glue path.
9. being applicable in the automatically dropping glue method of multiple product as claimed in claim 7, which is characterized in that the camera is linear array
Camera, the removable signature identification are number mark or pattern identification, and the area of the removable signature identification is not more than 3*
3cm。
10. a kind of automatic dispensing device for being applicable in multiple product characterized by comprising
Module is obtained, the characteristic information and azimuth information of the workpiece are obtained for controlling camera, the characteristic information includes work
Removable signature identification, size and the outer profile information of part；The removable signature identification is covered in workpiece surface；
First determining module, for determining pre- dispensing path corresponding with the workpiece according to the characteristic information；
Second determining module, for determining corresponding practical dispensing path according to the pre- dispensing path and the azimuth information,
The practical dispensing path includes at least dispensing starting point and dispensing terminating point；
Control module works for controlling dispenser according to the practical dispensing path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910277343.5A CN110170416B (en) | 2019-04-08 | 2019-04-08 | Automatic dispensing method and device suitable for various products |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910277343.5A CN110170416B (en) | 2019-04-08 | 2019-04-08 | Automatic dispensing method and device suitable for various products |
Publications (2)
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| CN112238032A (en) * | 2020-09-04 | 2021-01-19 | 上海尧崇智能科技有限公司 | Gluing path generation method, device and system and computer-readable storage medium |
| CN112705435A (en) * | 2020-12-21 | 2021-04-27 | 深圳市轴心自控技术有限公司 | Double-mark-point grabbing and dispensing method |
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| CN110170416B (en) | 2020-09-01 |
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