CN110328107A - Dispensing method for planning track, device and spot gluing equipment for LED lens attachment - Google Patents
Dispensing method for planning track, device and spot gluing equipment for LED lens attachment Download PDFInfo
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- CN110328107A CN110328107A CN201910675310.6A CN201910675310A CN110328107A CN 110328107 A CN110328107 A CN 110328107A CN 201910675310 A CN201910675310 A CN 201910675310A CN 110328107 A CN110328107 A CN 110328107A
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- Prior art keywords
- glue spraying
- glue
- painted
- trajectory planning
- dispensing
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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
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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
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
- B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
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- Application Of Or Painting With Fluid Materials (AREA)
- Coating Apparatus (AREA)
Abstract
This application discloses a kind of dispensing method for planning track, device and spot gluing equipment for LED lens attachment, the carry out Multi-target position of multiple pins by corresponding to lens to the aluminum substrate that LED lens mount obtains multiple glue point coordinates to be painted；According to the arrangement regulation of multiple glue point coordinates to be painted, corresponding trajectory planning mode is chosen；According to specific trajectory planning mode, dispensing speed, glue spraying pressure, colloid gravity and colloid centrifugal force when determining glue spraying operation are glue spraying pre-set time needed for making colloid fall within corresponding glue point coordinate to be painted when obtaining glue spraying；It is final to realize dispensing trajectory planning according to trajectory planning mode and glue spraying pre-set time.Compared with prior art, the application carries out glue spraying pre-set time when glue spraying operation by obtaining under each trajectory planning mode, and dispensing track is generated according to trajectory planning mode and glue spraying pre-set time, so that glue spraying error is compensated, and using formula dispensing of dropping a bomb, the dispensing speed and precision of dispenser are improved.
Description
Technical field
This application involves gluing process technical field more particularly to a kind of dispensing trajectory plannings for LED lens attachment
Method, apparatus and spot gluing equipment.
Background technique
With manufacturing high speed development, dispenser has obtained extensive utilization.Dispenser also known as be glue pouring machine, be exclusively used in controlling
Fluid processed, the equipment that fluid is coated in product surface or inside, is widely used in the every field of intelligence manufacture.For example, with
It in the dispensing technology of LED lens attachment, specifically includes that and dispensing target is positioned, after planning dispensing track, according to preparatory
The dispensing track of setting carries out the dispensing operation of descontinuous motion.
But industry is mounted in LED lens, it is slow that the dispensing operation of descontinuous motion will lead to glue spraying speed, and can open due to movement
Stop caused vibratory impulse, causes motion track uneven, glue spraying precision is low, and then causes production efficiency low, and seriously affect
The quality of product.
Summary of the invention
The embodiment of the present application technical problem to be solved is, provides a kind of dispensing track for LED lens attachment
Planing method, device and spot gluing equipment improve the dispensing speed and precision of dispenser.
To solve the above problems, the embodiment of the present application provides a kind of dispensing method for planning track for LED lens attachment,
Include:
Multi-target position is carried out to the surface region of LED lens attachment workpiece, obtains multiple glue point coordinates to be painted；
According to the arrangement regulation of multiple glue point coordinates to be painted, corresponding trajectory planning mode is determined；
According under the trajectory planning mode carry out glue spraying operation when spot gluing equipment speed, glue spraying pressure, colloid weight
Power and colloid centrifugal force, when being that glue spraying needed for making colloid fall within the corresponding glue point coordinate to be painted shifts to an earlier date when obtaining glue spraying
Between；
According to the trajectory planning mode and the glue spraying pre-set time, dispensing track is generated.
Further, the surface region to LED lens attachment workpiece carries out Multi-target position, obtains multiple to glue spraying
Point coordinate, comprising:
The image for obtaining the surface region of the LED lens attachment workpiece, is analyzed and processed described image, obtains institute
State in image with multiple target glue points position multiple plane XY coordinates correspondingly, as multiple glue point coordinates to be painted.
Further, the trajectory planning mode includes X-direction type trajectory planning mode；
The arrangement regulation according to multiple glue point coordinates to be painted, determines corresponding trajectory planning mode, comprising:
According to the multiple glue point coordinates to be painted arranged with horizontal X axis direction, construct on the basis of X-direction
X-direction type trajectory planning mode.
Further, the trajectory planning mode includes Y direction type trajectory planning mode；
The arrangement regulation according to multiple glue point coordinates to be painted, determines corresponding trajectory planning mode, comprising:
According to the multiple glue point coordinates to be painted arranged with horizontal Y direction, construct on the basis of Y direction
Y direction type trajectory planning mode.
Further, the trajectory planning mode includes R circular arc type trajectory planning mode；
The arrangement regulation according to multiple glue point coordinates to be painted, determines corresponding trajectory planning mode, comprising:
According to the multiple glue point coordinates to be painted arranged with circular arc or curve shape, construction is with R circular arc direction
The R circular arc type trajectory planning mode of benchmark.
Further, the embodiment again of the application provides a kind of dispensing trajectory planning device for LED lens attachment, packet
It includes:
Positioning unit is imaged in target dispensing coordinate, and it is fixed to carry out multiple target for the surface region to LED lens attachment workpiece
Position obtains multiple glue point coordinates to be painted；
Initial track planning unit determines corresponding rail for the arrangement regulation according to multiple glue point coordinates to be painted
Mark Planning Model；
Time calculating unit carries out the speed of spot gluing equipment when glue spraying operation for basis under the trajectory planning mode
Degree, glue spraying pressure, colloid gravity and colloid centrifugal force, when establishing glue spraying by dynamic analysis and kinematics analysis displacement with
Mathematical model between glue spraying pre-set time is to fall within colloid needed for the corresponding glue point coordinate to be painted when obtaining glue spraying
Glue spraying pre-set time；
Track generation unit, for generating dispensing track according to the trajectory planning mode and the glue spraying pre-set time.
Further, the embodiment again of the application provides a kind of spot gluing equipment for LED lens attachment, comprising: camera shooting
Equipment, processor, motion controller, XYZ axis mould group and glue spraying valve；
The picture pick-up device is used under the floor light of light source, the image of acquisition LED lens attachment workpiece；
The processor is used for according to described image, carries out multiple target to the surface region of LED lens attachment workpiece
Positioning obtains multiple glue point coordinates to be painted, and according to the arrangement regulation of multiple glue point coordinates to be painted, determines corresponding track
Planning Model；
The processor is also used to, according to XYZ axis when carrying out glue spraying operation under the trajectory planning mode
The speed of mould group, the glue spraying pressure of the glue spraying valve, colloid gravity and colloid centrifugal force fall within colloid when obtaining glue spraying
Glue spraying pre-set time needed for the corresponding glue point coordinate to be painted, and shifted to an earlier date according to the trajectory planning mode and the glue spraying
Time generates dispensing track；
The motion controller is used for, and according to the dispensing track, is generated movement instruction, is controlled the XYZ axis mould
Group moves with uniform velocity along the dispensing track, and the control glue spraying valve carries out dispensing.
Implement the embodiment of the present application, has the following beneficial effects:
A kind of dispensing method for planning track, device and dispensing for LED lens attachment provided by the embodiments of the present application is set
Standby, the surface region by the way that LED lens are mounted with workpiece carries out Multi-target position, obtains multiple glue point coordinates to be painted；According to more
The arrangement regulation of a glue point coordinate to be painted determines the trajectory planning mode of corresponding continuous high speed movement；According in trajectory planning
Speed, glue spraying pressure, colloid gravity and the colloid centrifugal force that spot gluing equipment when glue spraying operation is carried out under mode, when obtaining glue spraying
For glue spraying pre-set time needed for making colloid fall within corresponding glue point coordinate to be painted；When being shifted to an earlier date according to trajectory planning mode and glue spraying
Between, generate dispensing track.Compared with prior art, the application is before and after glue spraying without the movement for accelerating with slowing down, continuous path fortune
Dynamic speed is uniform and stable, avoids start and stop bring motion control, so that mechanical oscillation caused by velocity variations are avoided,
The positioning accuracy for improving transmission mechanism, reduces the glue spraying position error during glue spraying, and the spray of glue spraying process consideration rate
The influence of the factors such as glue laminated power, colloid gravity, colloid centrifugal force carries out glue spraying prediction in advance, improves the dispensing speed of dispenser
Degree and precision.
Detailed description of the invention
Fig. 1 is that the process for the dispensing method for planning track in LED lens attachment that one embodiment of the application provides is shown
It is intended to；
Fig. 2 is the glue spraying path schematic diagram for the X-direction type trajectory planning mode that one embodiment provides；
Fig. 3 is the glue spraying path schematic diagram for the Y direction type trajectory planning mode that one embodiment provides；
Fig. 4 is the glue spraying path schematic diagram for the R circular arc type trajectory planning mode that one embodiment provides；
Fig. 5 is the glue spraying force analysis illustraton of model of X, Y direction type trajectory planning mode；
Fig. 6 is the glue spraying force analysis illustraton of model of R circular arc type trajectory planning mode；
Fig. 7 is the trapezoidal rate curve model schematic of X, Y-axis and R circular arc direction type trajectory planning mode；
Fig. 8 is the structure for the dispensing trajectory planning device for LED lens attachment that one embodiment of the application provides
Schematic diagram；
Fig. 9 is the structural schematic diagram for the spot gluing equipment for LED lens attachment that one embodiment of the application provides.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
It is the stream of the dispensing method for planning track in LED lens attachment of one embodiment offer of the application referring to Fig. 1
Journey schematic diagram, comprising:
Step S11 carries out Multi-target position to the surface region of LED lens attachment workpiece, obtains multiple glue points to be painted and sit
Mark.
In the present embodiment, the image for obtaining the surface region of LED lens attachment workpiece, is analyzed and processed image,
Obtain in image with multiple target glue points position multiple plane XY coordinates correspondingly, as multiple glue point coordinates to be painted.
Step S12 determines corresponding trajectory planning mode according to the arrangement regulation of multiple glue point coordinates to be painted.
In the present embodiment, trajectory planning mode includes X-direction type trajectory planning mode, Y direction type trajectory planning
Mode and R circular arc type trajectory planning mode.Wherein, the selection mode of Three models is as follows:
According to the multiple glue point coordinates to be painted arranged with horizontal X axis direction, the X-axis on the basis of X-direction is constructed
Direction type trajectory planning mode, as shown in Figure 2；And it is sat according to the multiple glue points to be painted arranged with horizontal Y direction
Mark constructs the Y direction type trajectory planning mode on the basis of Y direction, as shown in Figure 3；And according to circular arc or curve
Multiple glue point coordinates to be painted that shape is arranged construct the R circular arc type trajectory planning mode on the basis of R circular arc direction, such as
Shown in Fig. 4.
In the present embodiment, three kinds of trajectory planning modes are constructed by heuristic search algorithm, for example, such as Fig. 4 institute
Show, retrieval positions resulting glue point to be painted, from glue point 101s to be painted, is obtained according to the positioning of heuristic search approach next
Glue point 102 to be painted positions backward all glue points to be painted by heuristic search algorithm, until the glue point to be painted 103 of dispensing object
Positioning complete.
Step S13, according under the Planning Model of track carry out glue spraying operation when spot gluing equipment speed, glue spraying pressure, glue
Weight power and colloid centrifugal force, when being that glue spraying needed for making colloid fall within corresponding glue point coordinate to be painted shifts to an earlier date when obtaining glue spraying
Between.
In the present embodiment, by under corresponding trajectory planning mode carry out glue spraying operation when spot gluing equipment speed,
Glue spraying pressure, colloid gravity and colloid centrifugal force, displacement and spray when establishing glue spraying by dynamic analysis and kinematics analysis
The time interval that glue spraying shifts to an earlier date is calculated in mathematical model between glue pre-set time.
When trajectory planning mode is X, Y direction type trajectory planning mode, as shown in figure 5, according to spot gluing equipment in point
Suffered glue spraying power F when glue operation, the gravity G of colloid, spot gluing equipment and are executed with to the target area distance H of glue spraying
The move distance L of spot gluing equipment when continuous glue spraying is established based on mechanics and kinematic mathematical model.
When trajectory planning mode is R circular arc type trajectory planning mode, as shown in fig. 6, analysis spot gluing equipment is positioned to be painted
The stress condition of colloid when above glue point coordinate position, obtains centrifugal force F1, gravity G, glue spraying pressure F suffered by colloid at this time.
By the stress condition of preset circular motion speed and colloid, establish based on mechanics and kinematic mathematical model.
For detailed description mathematical model, in the present embodiment, as shown in fig. 7, physical quantity needed for mathematical model includes: fortune
Dynamic acceleration, speed, displacement.The trapezoidal rate curve of each Planning Model includes: dispensing target object single glue spraying velocity variations
The acceleration of curve 115, desired guiding trajectory midpoint glue point position from initial target region to final goal in interregional motion process
Glue spraying region and the moving displacement curve interregional to glue spraying when executing glue spraying operation in conversion curve 114, desired guiding trajectory
116。
Under trapezoidal rate curve mode, the area that trapezoidal speed is built up is move distance L, be may be expressed as:
L=L1+L2+L3 (1)
Wherein, L is total displacement, L1It is moved to accelerate section, L2For the shifting of uniform motion section, L3For retarded motion section
It moves.It can be obtained according to speed, time and the kinematic relation of displacement:
Wherein, VmaxFor maximum speed, TaFor the acceleration time, T is total run duration.
It can be obtained according to formula (1) and formula (2):
Acceleration may be expressed as: during uniformly accelrated rectilinear motion
During glue spraying, the spray of the glue point coordinate to be painted from the glue point coordinate to be painted of initial position to final goal position
Glue movement velocity and glue-spraying device moving displacement function expression are as follows:
According to formula (3), (4), (5), (6), the mathematical relationship of linear uniform motion phase displacement and time can be obtained:
If X-direction type trajectory model is only considered, according to the relationship of Newton's second law stress and acceleration are as follows:
F+G=m.a (8)
The speed of vertical direction of the colloid before being detached from glue-spraying device is 0 at this time, and the moment for being just detached from glue-spraying device is obtained
The acceleration obtained is a, and the vertical range of nozzle of the glue point coordinate to be painted to glue-spraying device is h.Assuming that the glue spraying time is Δ in advance
T can be obtained according to kinematic relationship:
It is calculated by above-mentioned formula, falls within colloid needed for the corresponding glue point coordinate to be painted when obtaining glue spraying
Glue spraying pre-set time Δ t.
Step S14 generates dispensing track according to the trajectory planning mode and the glue spraying pre-set time.
As a preferred distance of the present embodiment, under X-direction type trajectory model, when glue-spraying device in the horizontal direction
It moving with uniform velocity, horizontal displacement distance is Δ S, then has:
Δ S=V.t (10)
According to above (7), (8), (9) formula, when glue-spraying device carries out glue spraying body during uniform motion, when glue spraying shifts to an earlier date
Between be Δ t, then before the offset distance Δ S of glue spraying be addressed further under are as follows:
Comprehensive (3), (7), (11) formula, the mathematical model being specifically displaced when obtaining practical glue spraying are as follows:
To obtain dispensing track according to the mathematical model.
The embodiment of the present application provides a kind of dispensing method for planning track for LED lens attachment, by pasting to LED lens
The surface region for filling workpiece carries out Multi-target position, obtains multiple glue point coordinates to be painted；According to the row of multiple glue point coordinates to be painted
Column rule, determines corresponding trajectory planning mode；According under the Planning Model of track carry out glue spraying operation when spot gluing equipment speed
Degree, glue spraying pressure, colloid gravity and colloid centrifugal force make colloid fall within corresponding glue point coordinate institute to be painted when obtaining glue spraying
The glue spraying pre-set time needed；According to trajectory planning mode and glue spraying pre-set time, dispensing track is generated.Compared with prior art,
The dispensing track that the present embodiment generates may make dispenser before and after glue spraying without the movement for being accelerated and being slowed down, continuous path
Movement velocity is uniform and stable, avoids start and stop bring motion control, so that machinery caused by velocity variations be avoided to shake
It is dynamic, the positioning accuracy of transmission mechanism is improved, the glue spraying position error during glue spraying, and glue spraying process consideration rate are reduced
The influence of the factors such as glue spraying pressure, colloid gravity, colloid centrifugal force carries out glue spraying prediction in advance, improves the dispensing of dispenser
Speed and precision.
It further, is the dispensing track for LED lens attachment that one embodiment of the application provides referring to Fig. 8
The structural schematic diagram of device for planning, comprising:
Positioning unit 1 is imaged in target dispensing coordinate, and it is fixed to carry out multiple target for the surface region to LED lens attachment workpiece
Position obtains multiple glue point coordinates to be painted.
In the present embodiment, target dispensing coordinate imaging positioning unit 1 is specifically used for, and obtains LED lens attachment workpiece
The image of surface region, is analyzed and processed image, obtains multiple correspondingly with multiple target glue points position in image
Plane XY coordinate, as multiple glue point coordinates to be painted.
Initial track planning unit 2 determines corresponding track rule for the arrangement regulation according to multiple glue point coordinates to be painted
The mode of drawing.
Time calculating unit 3 carries out the speed of spot gluing equipment, spray when glue spraying operation for basis under the Planning Model of track
Glue laminated power, colloid gravity and colloid centrifugal force are to fall within colloid needed for corresponding glue point coordinate to be painted when obtaining glue spraying
Glue spraying pre-set time.
Track generation unit 4, for generating dispensing track according to trajectory planning mode and glue spraying pre-set time.
The embodiment of the present application provides a kind of dispensing trajectory planning device for LED lens attachment.Compared with prior art,
The dispensing track that the present embodiment generates may make dispenser before and after glue spraying without the movement for being accelerated and being slowed down, continuous path
Movement velocity is uniform and stable, avoids start and stop bring motion control, so that machinery caused by velocity variations be avoided to shake
It is dynamic, the positioning accuracy of transmission mechanism is improved, the glue spraying position error during glue spraying, and glue spraying process consideration rate are reduced
The influence of the factors such as glue spraying pressure, colloid gravity, colloid centrifugal force carries out glue spraying prediction in advance, improves the dispensing of dispenser
Speed and precision.
It further, is the spot gluing equipment for LED lens attachment that one embodiment of the application provides referring to Fig. 9
Structural schematic diagram, comprising: picture pick-up device 21, processor 22, motion controller 23, XYZ axis mould group 24 and glue spraying valve 25.
Picture pick-up device 21 is used under the floor light of light source, the image of acquisition LED lens attachment workpiece.
Processor 22 is used for according to image, is carried out Multi-target position to the surface region of LED lens attachment workpiece, is obtained more
A glue point coordinate to be painted, and according to the arrangement regulation of multiple glue point coordinates to be painted, determine corresponding trajectory planning mode.
Processor 22 is also used to, according to the speed of XYZ axis mould group 24 when carrying out glue spraying operation under the Planning Model of track
Degree, the glue spraying pressure of glue spraying valve 25, colloid gravity and colloid centrifugal force fall within colloid when obtaining glue spraying corresponding to be painted
Glue spraying pre-set time needed for glue point coordinate, and according to trajectory planning mode and glue spraying pre-set time, generate dispensing track.
In the present embodiment, XYZ axis mould group 24 is to construct three-dimensional rectangular coordinate by X-axis, Y-axis, z axis mould group
It is robot, the movement instruction of motion controller 23 can be performed, end-of-arm tooling glue spraying valve 25 is accurately located in glue point to be painted and is sat
The side of putting on.
Motion controller 23 is used for, and according to dispensing track, generates movement instruction, controls XYZ axis mould group 24 along dispensing
Track moves with uniform velocity, and control glue spraying valve 25 carries out dispensing.
It should be noted that XYZ axis mould group 24 before and after glue spraying without accelerate with slow down movement, avoid starting with
Stop bring motion control, avoids mechanical oscillation caused by velocity variations, improve the positioning accuracy of transmission mechanism, reduce
Glue spraying position error during glue spraying.
The present embodiment provides a kind of spot gluing equipments for LED lens attachment, pass through suitable glue spraying trajectory planning mode
With glue spraying pre-set time, best glue spraying path is generated, so that during LED lens attachment, without being added before and after glue spraying
Speed and the movement slowed down, continuous path motion speed are uniform and stable.The movement of continuous and stable avoids start and stop bring
Motion control avoids mechanical oscillation caused by velocity variations, improves the positioning accuracy of transmission mechanism, during reducing glue spraying
Glue spraying position error, and the influence of the factors such as glue spraying process consideration rate glue spraying pressure, colloid gravity, colloid centrifugal force, into
Row shifts to an earlier date glue spraying prediction, improves the dispensing speed and precision of dispenser.
The above is the preferred embodiment of the application, it is noted that for those skilled in the art
For, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also considered as
The protection scope of the application.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Claims (7)
1. a kind of dispensing method for planning track for LED lens attachment characterized by comprising
Multi-target position is carried out to the surface region of LED lens attachment workpiece, obtains multiple glue point coordinates to be painted；
According to the arrangement regulation of multiple glue point coordinates to be painted, corresponding trajectory planning mode is determined；
According to the speed of spot gluing equipment, glue spraying pressure, colloid gravity when carrying out glue spraying operation under the trajectory planning mode with
And colloid centrifugal force, it is glue spraying pre-set time needed for making colloid fall within the corresponding glue point coordinate to be painted when obtaining glue spraying；
According to the trajectory planning mode and the glue spraying pre-set time, dispensing track is generated.
2. the dispensing method for planning track according to claim 1 for LED lens attachment, which is characterized in that described right
The surface region that LED lens mount workpiece carries out Multi-target position, obtains multiple glue point coordinates to be painted, comprising:
The image for obtaining the surface region of the LED lens attachment workpiece, is analyzed and processed described image, obtains the figure
As in multiple target glue points position multiple plane XY coordinates correspondingly, as multiple glue point coordinates to be painted.
3. the dispensing method for planning track according to claim 2 for LED lens attachment, which is characterized in that the rail
Mark Planning Model includes X-direction type trajectory planning mode；
The arrangement regulation according to multiple glue point coordinates to be painted, determines corresponding trajectory planning mode, comprising:
According to the multiple glue point coordinates to be painted arranged with horizontal X axis direction, the X-axis on the basis of X-direction is constructed
Direction type trajectory planning mode.
4. the dispensing method for planning track according to claim 2 for LED lens attachment, which is characterized in that the rail
Mark Planning Model includes Y direction type trajectory planning mode；
The arrangement regulation according to multiple glue point coordinates to be painted, determines corresponding trajectory planning mode, comprising:
According to the multiple glue point coordinates to be painted arranged with horizontal Y direction, the Y-axis on the basis of Y direction is constructed
Direction type trajectory planning mode.
5. the dispensing method for planning track according to claim 1 for LED lens attachment, which is characterized in that the rail
Mark Planning Model includes R circular arc type trajectory planning mode；
The arrangement regulation according to multiple glue point coordinates to be painted, determines corresponding trajectory planning mode, comprising:
According to the multiple glue point coordinates to be painted arranged with circular arc or curve shape, construct on the basis of R circular arc direction
R circular arc type trajectory planning mode.
6. a kind of dispensing trajectory planning device for LED lens attachment characterized by comprising
Positioning unit is imaged in target dispensing coordinate, carries out Multi-target position for the surface region to LED lens attachment workpiece, obtains
Take multiple glue point coordinates to be painted；
Initial track planning unit determines corresponding track rule for the arrangement regulation according to multiple glue point coordinates to be painted
The mode of drawing；
Time calculating unit carries out the speed of spot gluing equipment, spray when glue spraying operation for basis under the trajectory planning mode
Glue laminated power, colloid gravity and colloid centrifugal force make colloid fall within the corresponding glue point coordinate institute to be painted when obtaining glue spraying
The glue spraying pre-set time needed；
Track generation unit, for generating dispensing track according to the trajectory planning mode and the glue spraying pre-set time.
7. a kind of spot gluing equipment for LED lens attachment characterized by comprising picture pick-up device, processor, motion control
Device, XYZ axis mould group and glue spraying valve；
The picture pick-up device is used under the floor light of light source, the image of acquisition LED lens attachment workpiece；
The processor is used for according to described image, carries out Multi-target position to the surface region of LED lens attachment workpiece,
Multiple glue point coordinates to be painted are obtained, and according to the arrangement regulation of multiple glue point coordinates to be painted, determine corresponding trajectory planning
Mode；
The processor is also used to, according to XYZ axis mould group when carrying out glue spraying operation under the trajectory planning mode
Speed, the glue spraying valve glue spraying pressure, colloid gravity and colloid centrifugal force, to make colloid fall within correspondence when obtaining glue spraying
The glue point coordinate to be painted needed for glue spraying pre-set time, and when being shifted to an earlier date according to the trajectory planning mode and the glue spraying
Between, generate dispensing track；
The motion controller is used for, and according to the dispensing track, is generated movement instruction, is controlled XYZ axis mould group edge
The dispensing track moves with uniform velocity, and the control glue spraying valve carries out dispensing.
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| CN201910675310.6A CN110328107A (en) | 2019-07-24 | 2019-07-24 | Dispensing method for planning track, device and spot gluing equipment for LED lens attachment |
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| CN201910675310.6A CN110328107A (en) | 2019-07-24 | 2019-07-24 | Dispensing method for planning track, device and spot gluing equipment for LED lens attachment |
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| CN111420852A (en) * | 2020-05-08 | 2020-07-17 | 安徽江淮华霆电池系统有限公司 | Efficient injection type dispensing method |
| CN112191468A (en) * | 2020-09-25 | 2021-01-08 | 东莞高伟光学电子有限公司 | Glue dispensing method and device for preventing glue from overflowing and storage medium thereof |
| CN112387553A (en) * | 2020-09-02 | 2021-02-23 | 北京德鑫泉物联网科技股份有限公司 | Flying glue dispensing method and flying glue dispensing equipment |
| CN112487707A (en) * | 2020-11-13 | 2021-03-12 | 北京遥测技术研究所 | Intelligent dispensing graph generation method based on LSTM |
| CN112916336A (en) * | 2021-01-21 | 2021-06-08 | 易视智瞳科技（深圳）有限公司 | Path dispensing control method, path dispensing equipment and computer readable storage medium |
| WO2021115293A1 (en) * | 2019-12-13 | 2021-06-17 | 青岛歌尔智能传感器有限公司 | Adhesive dispensing method and adhesive dispensing device |
| CN115625094A (en) * | 2022-10-28 | 2023-01-20 | 怡力精密制造有限公司 | Automatic glue spraying process |
| CN117123433A (en) * | 2023-10-26 | 2023-11-28 | 常州铭赛机器人科技股份有限公司 | Control logic analysis method for variable-speed glue quantity of dispensing valve |
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| CN112487707A (en) * | 2020-11-13 | 2021-03-12 | 北京遥测技术研究所 | Intelligent dispensing graph generation method based on LSTM |
| CN112487707B (en) * | 2020-11-13 | 2023-10-17 | 北京遥测技术研究所 | LSTM-based intelligent dispensing pattern generation method |
| CN112916336A (en) * | 2021-01-21 | 2021-06-08 | 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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| CN117772566A (en) * | 2023-12-26 | 2024-03-29 | 东莞市朗通自动化科技有限公司 | Control method and system for planning dispensing track |
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