CN110813649A - Control method and equipment of double-valve dispensing device and storage medium - Google Patents
Control method and equipment of double-valve dispensing device and storage medium Download PDFInfo
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- CN110813649A CN110813649A CN201911219291.2A CN201911219291A CN110813649A CN 110813649 A CN110813649 A CN 110813649A CN 201911219291 A CN201911219291 A CN 201911219291A CN 110813649 A CN110813649 A CN 110813649A
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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
- B05C5/027—Coating heads with several outlets, e.g. aligned transversally to the moving direction of a web to be coated
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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
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Abstract
The invention discloses a control method, equipment and a storage medium of a double-valve dispensing device, wherein the method comprises the following steps: when the dispensing valves are located at respective initial positions, the camera determines first platform coordinates and second platform coordinates when the dispensing valves correspond to positions to be dispensed, and then third platform coordinates of the motion platform, first compensation coordinates of the first dispensing valves and second compensation coordinates of the second dispensing valves are obtained through calculation according to a preset adjusting algorithm, the first platform coordinates and the second platform coordinates, so that the motion platform and the dispensing valves are controlled to move to corresponding positions, the positions of the dispensing valves correspond to the positions to be dispensed, the position adjusting precision of the double-valve dispensing device is improved, and the technical problem that the position adjusting precision of the double-valve dispensing device in the prior art is low is solved.
Description
Technical Field
The invention relates to the field of dispensing equipment, in particular to a control method and equipment of a double-valve dispensing device and a storage medium.
Background
The dispenser is also called a glue spreader, a glue dispenser, a glue filling machine, etc., and is an automatic machine which is specially used for controlling fluid and dripping and coating the fluid on the surface of a product or in the product.
The bivalve that current bivalve point was glued is the fixed spacing, and is the form of can not adjusting, when leading to the point to glue, the point when gluing the product because of the matching point is glued the interval and is the fixed spacing, make the flexibility of point to glue poor, adaptability is low, and then it is adjustable to have released the interval that drives the bivalve through adjustable motor, but at the in-process of motor adjustment bivalve interval, whether the position of position and the actual need point of judging the bivalve through the manual work matches, lead to can't ensure that the position precision of adjusting the back bivalve can satisfy the production demand.
Disclosure of Invention
The invention mainly aims to provide a control method and equipment of a double-valve dispensing device and a storage medium, aiming at improving the position adjustment precision of the double-valve dispensing device and improving the production efficiency.
In order to achieve the above object, the present invention provides a control method for a dual-valve dispensing device, where the dual-valve dispensing device includes a first dispensing valve, a second dispensing valve, and a compensation area, the first dispensing valve and the second dispensing valve are movably disposed in the compensation area, the dual-valve dispensing device is fixedly disposed on a motion platform, the motion platform is movably disposed above a dispensing station, and a camera is disposed on the motion platform, and the control method for the dual-valve dispensing device includes the following steps:
acquiring a first platform coordinate and a second platform coordinate of the motion platform through the camera, wherein the first platform coordinate is the coordinate of the motion platform when the first dispensing valve is located at a first initial coordinate of the compensation area and the first dispensing valve corresponds to a first point to be dispensed of the dispensing station by moving the motion platform, and the second platform coordinate is the coordinate of the motion platform when the second dispensing valve is located at a second initial coordinate of the compensation area and the second dispensing valve corresponds to a second point to be dispensed of the dispensing station by moving the motion platform;
determining a third platform coordinate of the motion platform, a first compensation coordinate of the first dispensing valve and a second compensation coordinate of the second dispensing valve based on the first platform coordinate, the second platform coordinate and a preset adjusting algorithm;
and controlling the motion platform to move to a third platform coordinate, the first dispensing valve to move to a first compensation coordinate of the compensation area, and the second dispensing valve to move to a second compensation coordinate of the compensation area, so that the first dispensing valve corresponds to a first dispensing point to be dispensed of the dispensing station, and the second dispensing valve corresponds to a second dispensing point to be dispensed of the dispensing station.
Optionally, the compensation area is provided with an X axis and a Y axis, the dispensing station is provided with an X axis and a Y axis, the first dispensing valve can move along the X axis, the second dispensing valve can move along the Y axis, and before the step of acquiring the first platform coordinate and the second platform coordinate of the motion platform by the camera, the method further includes:
determining a first included angle between the X axis and the X axis;
determining a second included angle between the Y axis and the Y axis;
and determining a preset adjustment algorithm according to the first included angle and the second included angle.
Optionally, the step of determining the first included angle between the X axis and the X axis includes:
controlling the motion platform to move to a first preset platform coordinate, controlling the first dispensing valve to move to a first preset compensation coordinate along the x axis for dispensing, and controlling the first dispensing valve to move to a second preset compensation coordinate along the x axis for dispensing;
acquiring a fourth platform coordinate and a fifth platform coordinate when the motion platform moves to enable the camera to correspond to the glue dispensed by the first dispensing valve twice respectively;
and determining a first included angle between the X axis and the X axis according to the fourth platform coordinate and the fifth platform coordinate.
Optionally, the step of determining a second included angle between the Y axis and the Y axis includes:
controlling the motion platform to move to a second preset platform coordinate, controlling the second dispensing valve to move to a third preset compensation coordinate along the y axis for dispensing, and controlling the second dispensing valve to move to a fourth preset compensation coordinate along the y axis for dispensing;
acquiring a sixth platform coordinate and a seventh platform coordinate when the motion platform moves to enable the camera to correspond to the glue dispensed by the second dispensing valve twice respectively;
and determining a second included angle between the Y axis and the Y axis according to the sixth platform coordinate and the seventh platform coordinate.
Optionally, the step of acquiring the first platform coordinates and the second platform coordinates of the moving platform by the camera includes:
acquiring an eighth platform coordinate of the motion platform when the motion platform moves to enable the camera to correspond to the first point to be dispensed of the dispensing station;
acquiring a ninth platform coordinate of the motion platform when the motion platform moves to a position where the camera corresponds to a second point to be dispensed of the dispensing station;
calculating to obtain a first platform coordinate according to the position deviation of the first dispensing valve and the camera and the eighth platform coordinate;
and calculating to obtain a second platform coordinate according to the position deviation of the second dispensing valve and the camera and the ninth platform coordinate.
Optionally, before the step of obtaining the eighth platform coordinate of the moving platform when the moving platform moves to the point to be dispensed, where the camera corresponds to the first point to be dispensed of the dispensing station, the method further includes:
controlling the first dispensing valve to move to a first initial coordinate of the compensation area;
moving the motion platform to a third preset platform coordinate, and controlling the first dispensing valve to dispense;
acquiring a tenth platform coordinate when the motion platform moves to a position where the camera corresponds to glue dispensed by the first glue dispensing valve;
and obtaining the position deviation of the first dispensing valve and the camera according to the third preset platform coordinate and the tenth platform coordinate.
Optionally, before the step of obtaining the eighth platform coordinate of the moving platform when the moving platform moves to the point to be dispensed, where the camera corresponds to the first point to be dispensed of the dispensing station, the method further includes:
controlling the second dispensing valve to move to a second initial coordinate of the compensation area;
moving the motion platform to a fourth preset platform coordinate, and controlling the second dispensing valve to dispense;
acquiring eleventh platform coordinates when the motion platform moves to enable the camera to correspond to glue dispensed by the second dispensing valve;
and obtaining the position deviation of the first dispensing valve and the camera according to the fourth preset platform coordinate and the eleventh platform coordinate.
Optionally, the preset compensation algorithm is:
the first platform coordinate is (Xx1, Yx 1);
the second platform coordinate is (Xx2, Yx 2);
the first compensation coordinate is (x, 0);
the second compensation coordinate is (0, y);
the third platform coordinate is (X, Y);
the first included angle is tx;
the second included angle is ty.
Further, to achieve the above object, the present invention further provides a control apparatus for a dual-valve dispensing device, where the dual-valve dispensing device includes a first dispensing valve, a second dispensing valve, and a compensation area, the first dispensing valve and the second dispensing valve are movably disposed in the compensation area, the dual-valve dispensing device is fixedly disposed on a moving platform, the moving platform is movably disposed above a dispensing station, and a camera is disposed on the moving platform, and the control apparatus for the dual-valve dispensing device includes:
the obtaining module is used for obtaining a first platform coordinate and a second platform coordinate through the camera, the first platform coordinate is the coordinate of the moving platform when the moving platform is moved to enable the first dispensing valve to correspond to a first dispensing point to be dispensed of the dispensing station when the first dispensing valve is located in a first initial coordinate of the compensation area, and the second platform coordinate is the coordinate of the moving platform when the moving platform is moved to enable the second dispensing valve to correspond to a second dispensing point to be dispensed of the dispensing station when the second dispensing valve is located in a second initial coordinate of the compensation area;
the determining module is used for determining a third platform coordinate of the moving platform, a first compensation coordinate of the first dispensing valve and a second compensation coordinate of the second dispensing valve based on the first platform coordinate, the second platform coordinate and a preset adjusting algorithm;
and the adjusting module is used for controlling the motion platform to move to a third platform coordinate, the first dispensing valve to move to a first compensation coordinate of the compensation area, and the second dispensing valve to move to a second compensation coordinate of the compensation area, so that the first dispensing valve corresponds to a first point to be dispensed of the dispensing station, and the second dispensing valve corresponds to a second point to be dispensed of the dispensing station.
Further, in order to achieve the above object, the present invention further provides a storage medium, wherein a control program of the dual-valve dispensing device is stored in the storage medium, and the control program of the dual-valve dispensing device, when executed by a processor, implements the steps of the control method of the dual-valve dispensing device as described above.
The method comprises the steps that a first platform coordinate and a second platform coordinate of a motion platform are obtained through a camera; determining a third platform coordinate of the motion platform, a first compensation coordinate of the first dispensing valve and a second compensation coordinate of the second dispensing valve based on the first platform coordinate, the second platform coordinate and a preset adjusting algorithm; and controlling the motion platform to move to a third platform coordinate, the first dispensing valve to move to a first compensation coordinate of the compensation area, and the second dispensing valve to move to a second compensation coordinate of the compensation area, so that the first dispensing valve corresponds to a first dispensing point to be dispensed of the dispensing station, and the second dispensing valve corresponds to a second dispensing point to be dispensed of the dispensing station. When the dispensing valves are located at respective initial positions, the camera determines first platform coordinates and second platform coordinates when the dispensing valves correspond to positions to be dispensed, and then third platform coordinates of the motion platform, first compensation coordinates of the first dispensing valves and second compensation coordinates of the second dispensing valves are obtained through calculation according to a preset adjusting algorithm, the first platform coordinates and the second platform coordinates, so that the motion platform and the dispensing valves are controlled to move to corresponding positions, the positions of the dispensing valves correspond to the positions to be dispensed, the position adjusting precision of the double-valve dispensing device is improved, and the technical problem that the position adjusting precision of the double-valve dispensing device in the prior art is low is solved.
Drawings
Fig. 1 is a schematic structural diagram of an equipment hardware operating environment related to an embodiment of a control device of a double-valve dispensing device according to the present invention;
FIG. 2 is a schematic flow chart illustrating a control method of a dual-valve dispensing device according to a first embodiment of the present invention;
FIG. 3 is a functional block diagram of an embodiment of a control apparatus of a dual-valve dispensing device according to the present invention;
fig. 4 is a schematic view of a control method of a dual-valve dispensing device according to a second embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that the bivalve that current bivalve point was glued is the fixed spacing, and is the form of can not adjusting, when leading to the point to glue, the point is glued the interval for the fixed spacing when the product is glued to the point because of the matching point for the flexibility of point is poor, and adaptability is low, and then has released the interval that drives the bivalve through adjustable motor and adjustable, but at the in-process of motor adjustment bivalve interval, whether the position of judging the bivalve through the manual work matches with the position that the actual need point was glued, lead to the position precision that can't guarantee the bivalve after the adjustment can satisfy the production demand.
Based on the above drawbacks, the present invention provides a control device for a dual-valve dispensing device, and referring to fig. 1, fig. 1 is a schematic structural diagram of a hardware operating environment of a device according to an embodiment of the control device for the dual-valve dispensing device of the present invention.
As shown in fig. 1, the control apparatus of the dual-valve dispensing device may include: a processor 1001, e.g. a CPU, a communication bus 1002, a user interface 1003 to be analyzed, a network interface 1004, a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The to-be-analyzed user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional to-be-analyzed user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a memory device separate from the processor 1001 described above.
It will be understood by those skilled in the art that the hardware configuration of the control apparatus of the dual valve dispensing apparatus shown in fig. 1 does not constitute a limitation of the control apparatus of the dual valve dispensing apparatus, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module to be analyzed, and a control program of the double-valve dispensing apparatus. The operating system is a program for managing and controlling the control equipment and software resources of the double-valve dispensing device and supports the operation of the network communication module, the user interface module to be analyzed, the control program of the double-valve dispensing device and other programs or software; the network communication module is used to manage and control the network interface 1004; the to-be-analyzed user interface module is used for managing and controlling the to-be-analyzed user interface 1003.
In the hardware structure of the control device of the dual-valve dispensing device shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and performing data communication with the background server; the user interface to be analyzed 1003 is mainly used for connecting a client and performing data communication with the client; the processor 1001 may call a control program of the two-valve dispensing apparatus stored in the memory 1005, and perform the following operations:
acquiring a first platform coordinate and a second platform coordinate of the motion platform through the camera, wherein the first platform coordinate is the coordinate of the motion platform when the first dispensing valve is located at a first initial coordinate of the compensation area and the first dispensing valve corresponds to a first point to be dispensed of the dispensing station by moving the motion platform, and the second platform coordinate is the coordinate of the motion platform when the second dispensing valve is located at a second initial coordinate of the compensation area and the second dispensing valve corresponds to a second point to be dispensed of the dispensing station by moving the motion platform;
determining a third platform coordinate of the motion platform, a first compensation coordinate of the first dispensing valve and a second compensation coordinate of the second dispensing valve based on the first platform coordinate, the second platform coordinate and a preset adjusting algorithm;
and controlling the motion platform to move to a third platform coordinate, the first dispensing valve to move to a first compensation coordinate of the compensation area, and the second dispensing valve to move to a second compensation coordinate of the compensation area, so that the first dispensing valve corresponds to a first dispensing point to be dispensed of the dispensing station, and the second dispensing valve corresponds to a second dispensing point to be dispensed of the dispensing station.
Further, the compensation area is provided with an X axis and a Y axis, the dispensing station is provided with an X axis and a Y axis, the first dispensing valve can move along the X axis, the second dispensing valve can move along the Y axis, and before the step of acquiring the first platform coordinate and the second platform coordinate of the motion platform through the camera, the method further comprises the following steps:
determining a first included angle between the X axis and the X axis;
determining a second included angle between the Y axis and the Y axis;
and determining a preset adjustment algorithm according to the first included angle and the second included angle.
Further, the step of determining the first angle between the X-axis and the X-axis comprises:
controlling the motion platform to move to a first preset platform coordinate, controlling the first dispensing valve to move to a first preset compensation coordinate along the x axis for dispensing, and controlling the first dispensing valve to move to a second preset compensation coordinate along the x axis for dispensing;
acquiring a fourth platform coordinate and a fifth platform coordinate when the motion platform moves to enable the camera to correspond to the glue dispensed by the first dispensing valve twice respectively;
and determining a first included angle between the X axis and the X axis according to the fourth platform coordinate and the fifth platform coordinate.
Further, the step of determining a second angle between the Y-axis and the Y-axis comprises:
controlling the motion platform to move to a second preset platform coordinate, controlling the second dispensing valve to move to a third preset compensation coordinate along the y axis for dispensing, and controlling the second dispensing valve to move to a fourth preset compensation coordinate along the y axis for dispensing;
acquiring a sixth platform coordinate and a seventh platform coordinate when the motion platform moves to enable the camera to correspond to the glue dispensed by the second dispensing valve twice respectively;
and determining a second included angle between the Y axis and the Y axis according to the sixth platform coordinate and the seventh platform coordinate.
Further, the step of acquiring the first platform coordinate and the second platform coordinate of the moving platform by the camera includes:
acquiring an eighth platform coordinate of the motion platform when the motion platform moves to enable the camera to correspond to the first point to be dispensed of the dispensing station;
acquiring a ninth platform coordinate of the motion platform when the motion platform moves to a position where the camera corresponds to a second point to be dispensed of the dispensing station;
calculating to obtain a first platform coordinate according to the position deviation of the first dispensing valve and the camera and the eighth platform coordinate;
and calculating to obtain a second platform coordinate according to the position deviation of the second dispensing valve and the camera and the ninth platform coordinate.
Further, before the step of obtaining the eighth platform coordinate of the moving platform when the moving platform moves to the point to be dispensed, where the camera corresponds to the first point to be dispensed of the dispensing station, the method further includes:
controlling the first dispensing valve to move to a first initial coordinate of the compensation area;
moving the motion platform to a third preset platform coordinate, and controlling the first dispensing valve to dispense;
acquiring a tenth platform coordinate when the motion platform moves to a position where the camera corresponds to glue dispensed by the first glue dispensing valve;
and obtaining the position deviation of the first dispensing valve and the camera according to the third preset platform coordinate and the tenth platform coordinate.
Further, before the step of obtaining the eighth platform coordinate of the moving platform when the moving platform moves to the point to be dispensed, where the camera corresponds to the first point to be dispensed of the dispensing station, the method further includes:
controlling the second dispensing valve to move to a second initial coordinate of the compensation area;
moving the motion platform to a fourth preset platform coordinate, and controlling the second dispensing valve to dispense;
acquiring eleventh platform coordinates when the motion platform moves to enable the camera to correspond to glue dispensed by the second dispensing valve;
and obtaining the position deviation of the first dispensing valve and the camera according to the fourth preset platform coordinate and the eleventh platform coordinate.
Further, the preset compensation algorithm is as follows:
the first platform coordinate is (Xx1, Yx 1);
the second platform coordinate is (Xx2, Yx 2);
the first compensation coordinate is (x, 0);
the second compensation coordinate is (0, y);
the third platform coordinate is (X, Y);
the first included angle is tx;
the second included angle is ty.
The specific implementation of the control device of the dual-valve dispensing device of the present invention is substantially the same as the following embodiments of the control method of the dual-valve dispensing device, and will not be described herein again.
The invention also provides a control method of the double-valve dispensing device.
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating a control method of a dual-valve dispensing device according to a first embodiment of the present invention.
While a logical sequence is shown in the flow chart, in some cases, the steps shown or described may be performed in a different order than that shown or described herein.
In each embodiment of the control method of the dual-valve dispensing device, the execution main body may be the dual-valve dispensing device or a control apparatus of the dual-valve dispensing device integrated with the dual-valve dispensing device, and for convenience of description, the execution main body is omitted for illustrating each embodiment.
In this embodiment, the double-valve dispensing device includes a first dispensing valve, a second dispensing valve and a compensation area, the first dispensing valve and the second dispensing valve are movably disposed in the compensation area, the double-valve dispensing device is fixedly disposed on a moving platform, the moving platform is movably disposed above a dispensing station, a camera is disposed on the moving platform, and a control method of the double-valve dispensing device includes:
step S10, obtaining, by the camera, a first platform coordinate and a second platform coordinate of the motion platform, where the first platform coordinate is a coordinate of the motion platform when the first dispensing valve is located in a first initial coordinate of the compensation area, and the motion platform is moved so that the first dispensing valve corresponds to a first point to be dispensed of the dispensing station, and the second platform coordinate is a coordinate of the motion platform when the second dispensing valve is located in a second initial coordinate of the compensation area, and the motion platform is moved so that the second dispensing valve corresponds to a second point to be dispensed of the dispensing station;
among the prior art, the bivalve that bivalve point was glued is the fixed spacing, and for can not the adjustment form, when leading to the point to glue, the point glue interval when gluing the product because of the matching is glued for the fixed spacing, make the flexibility of point glue poor, adaptability is low, and then has released the interval that drives the bivalve through adjustable motor and adjustable, but at the in-process of motor adjustment bivalve interval, whether the position of position and the actual need point glue of judging the bivalve through the manual work matches, lead to can't ensure that the position precision of adjusting the back bivalve can satisfy the production demand.
In order to solve the technical problem of low position adjustment precision of the double-valve dispensing device in the prior art, the embodiment of the invention provides a control method of the double-valve dispensing device, aiming at determining the position actually needing dispensing through a camera and carrying out automatic position adjustment of a double-dispensing valve so as to improve the position adjustment precision of the double-valve dispensing device.
In this embodiment, be equipped with the motion platform that can move above the station of can dispensing above the station of dispensing, the last fixed camera that is equipped with of motion platform, portable bivalve adhesive deposite device that is equipped with, bivalve adhesive deposite device includes first dispensing valve, second dispensing valve and compensation area, and first dispensing valve is at the compensation on regional with the movably setting of second dispensing valve.
Specifically, the step S10 includes: acquiring an eighth platform coordinate of the motion platform when the motion platform moves to enable the camera to correspond to the first point to be dispensed of the dispensing station; acquiring a ninth platform coordinate of the motion platform when the motion platform moves to a position where the camera corresponds to a second point to be dispensed of the dispensing station; calculating to obtain a first platform coordinate according to the position deviation of the first dispensing valve and the camera and the eighth platform coordinate; and calculating to obtain a second platform coordinate according to the position deviation of the second dispensing valve and the camera and the ninth platform coordinate.
The first platform coordinate is the coordinate of the moving platform when the first dispensing valve is located at the first initial coordinate of the compensation area and the first dispensing valve corresponds to the first dispensing point to be dispensed of the dispensing station by moving the moving platform; the second platform coordinate is the coordinate of the moving platform when the second dispensing valve is located at the second initial coordinate of the compensation area and the moving platform is moved to enable the second dispensing valve to correspond to the second dispensing point to be dispensed of the dispensing station; the first initial coordinate and the second initial coordinate are set by a user or an operation and maintenance person, and the first initial coordinate is different from the second initial coordinate.
The point corresponding to the point to be dispensed of the product to be dispensed on the dispensing station by the camera refers to the coincidence of a preset reference point of a camera picture and the point to be dispensed, or the preset reference point of the camera picture and a preset identification point of the product to be dispensed coincide, so that the position of the point to be dispensed can be determined according to the relative position of the preset identification point and the point to be dispensed. The preset reference point of the camera image may be set by the operation and maintenance staff according to the need, for example, the front center point of the camera image, the top right corner vertex and one third of the bottom left corner vertex of the camera image, and the embodiment is not particularly limited.
It can be understood that the moving platform moves in the area covered by the dispensing station (coordinate system of the dispensing station), and the first and second dispensing valves move in the compensation area (coordinate system of the compensation area), so that the platform coordinates of the moving platform refer to the coordinates of the moving platform in the coordinate system of the dispensing station, and the coordinates of the first and second dispensing valves in the compensation area refer to the coordinates of the dispensing valves in the coordinate system of the compensation area.
Step S20, determining a third platform coordinate of the motion platform, a first compensation coordinate of the first dispensing valve and a second compensation coordinate of the second dispensing valve based on the first platform coordinate, the second platform coordinate and a preset adjusting algorithm;
in this embodiment, after obtaining the first platform coordinate and the second platform coordinate, the third platform coordinate of the motion platform, the first compensation coordinate of the first dispensing valve, and the second compensation coordinate of the second dispensing valve may be calculated according to a preset adjustment algorithm.
And step S30, controlling the motion platform to move to a third platform coordinate, controlling the first dispensing valve to move to a first compensation coordinate of the compensation area, and controlling the second dispensing valve to move to a second compensation coordinate of the compensation area so that the first dispensing valve corresponds to a first point to be dispensed of the dispensing station, and the second dispensing valve corresponds to a second point to be dispensed of the dispensing station.
In this embodiment, after obtaining a third platform coordinate of the motion platform, a first compensation coordinate of the first dispensing valve, and a second compensation coordinate of the second dispensing valve, the motion platform is controlled to move to the third platform coordinate, the first dispensing valve is controlled to move to the first compensation coordinate of the compensation area, the second dispensing valve is controlled to move to the second compensation coordinate of the compensation area, so that the first dispensing valve corresponds to a first point to be dispensed of the dispensing station, and the second dispensing valve corresponds to a second point to be dispensed of the dispensing station.
In the embodiment, a camera is used for acquiring a first platform coordinate and a second platform coordinate of a motion platform; determining a third platform coordinate of the motion platform, a first compensation coordinate of the first dispensing valve and a second compensation coordinate of the second dispensing valve based on the first platform coordinate, the second platform coordinate and a preset adjusting algorithm; and controlling the motion platform to move to a third platform coordinate, the first dispensing valve to move to a first compensation coordinate of the compensation area, and the second dispensing valve to move to a second compensation coordinate of the compensation area, so that the first dispensing valve corresponds to a first dispensing point to be dispensed of the dispensing station, and the second dispensing valve corresponds to a second dispensing point to be dispensed of the dispensing station. When the dispensing valves are located at respective initial positions, the camera determines first platform coordinates and second platform coordinates when the dispensing valves correspond to positions to be dispensed, and then third platform coordinates of the motion platform, first compensation coordinates of the first dispensing valves and second compensation coordinates of the second dispensing valves are obtained through calculation according to a preset adjusting algorithm, the first platform coordinates and the second platform coordinates, so that the motion platform and the dispensing valves are controlled to move to corresponding positions, the positions of the dispensing valves correspond to the positions to be dispensed, the position adjusting precision of the double-valve dispensing device is improved, and the technical problem that the position adjusting precision of the double-valve dispensing device in the prior art is low is solved.
Further, a second embodiment of the control method for a dual-valve dispensing device of the present invention is provided, wherein before the step S10, the method further includes a step of determining a preset adjustment algorithm, specifically:
step C11, determining a first included angle between the X axis and the X axis;
step C12, determining a second included angle between the Y axis and the Y axis;
and step C13, determining a preset adjusting algorithm according to the first included angle and the second included angle.
In this embodiment, as shown in fig. 4, the compensation area is provided with an X axis and a Y axis, the dispensing station is provided with an X axis and a Y axis, the first dispensing valve can move along the X axis, the second dispensing valve can move along the Y axis, and the motion platform can move in a coordinate system of the dispensing station formed by the X axis and the Y axis.
In the production or installation process of a product, the compensation area coordinate system may deviate from the dispensing station coordinate system, so that the two coordinate axes of the compensation area coordinate system are not parallel to the two coordinate axes of the dispensing station coordinate system. Specifically, a first included angle between the X axis and the X axis is determined; determining a second included angle between the Y axis and the Y axis; and determining a preset adjustment algorithm according to the first included angle and the second included angle.
Further, the step C11 includes:
step C111, controlling the motion platform to move to a first preset platform coordinate, controlling the first dispensing valve to move to a first preset compensation coordinate along the x axis for dispensing, and controlling the first dispensing valve to move to a second preset compensation coordinate along the x axis for dispensing;
step C112, acquiring a fourth platform coordinate and a fifth platform coordinate when the motion platform moves to enable the camera to correspond to the glue dispensed by the first dispensing valve twice respectively;
and step C113, determining a first included angle between the X axis and the X axis according to the fourth platform coordinate and the fifth platform coordinate.
To aid understanding, an example is now listed: controlling the motion platform to move to a first preset platform coordinate (X1, Y1), controlling the first dispensing valve to move to a first preset compensation coordinate (X1, 0) along the X axis for dispensing, and controlling the first dispensing valve to move to a second preset compensation coordinate (X2, 0) along the X axis for dispensing; acquiring a fourth platform coordinate (X22, Y22) and a fifth platform coordinate (X33, Y33) when the motion platform moves to enable the camera to correspond to the glue dispensed by the first glue dispensing valve twice respectively; and determining a first included angle tx between the X axis and the X axis as arctan [ (Y33-Y22)/(X33-X22) ] according to the fourth platform coordinate and the fifth platform coordinate.
Further, the step C12 includes:
in the step C111, the step of the method is that,
step C121, controlling the motion platform to move to a second preset platform coordinate, controlling the second dispensing valve to move to a third preset compensation coordinate for dispensing along the y axis, and controlling the second dispensing valve to move to a fourth preset compensation coordinate for dispensing along the y axis;
step C122, acquiring a sixth platform coordinate and a seventh platform coordinate when the motion platform moves to enable the camera and the glue dispensed by the second dispensing valve twice to correspond respectively;
and step C123, determining a second included angle between the Y axis and the Y axis according to the sixth platform coordinate and the seventh platform coordinate.
In this embodiment, the second preset platform coordinate may be the same as or different from the first preset platform coordinate.
To aid understanding, an example is now listed: controlling the motion platform to move to a second preset platform coordinate (X1, Y1), controlling the second dispensing valve to move to a third preset compensation coordinate (0, Y1) along the Y axis for dispensing, and controlling the second dispensing valve to move to a fourth preset compensation coordinate (0, Y2) along the Y axis for dispensing; acquiring a sixth platform coordinate (X2, Y2) and a seventh platform coordinate (X3, Y3) when the motion platform moves to enable the camera to correspond to the glue dispensed by the second dispensing valve twice respectively; determining a second angle ty between the Y-axis and the Y-axis (arctan [ (X3-X2)/(Y3-Y2) ], according to the sixth platform coordinate and the seventh platform coordinate.
Further, in the above embodiment, the formula of the preset compensation algorithm is as follows:
wherein the first platform coordinate is (Xx1, Yx 1); the second platform coordinate is (Xx2, Yx 2); the first compensation coordinate is (x, 0); the second compensation coordinate is (0, y); the third platform coordinate is (X, Y); the first included angle is tx; the second included angle is ty.
Therefore, after the first included angle tx between the X axis and the second included angle ty between the Y axis and the Y axis are determined, a formula of a preset compensation algorithm can be obtained, and the first platform coordinate and the second platform coordinate are input into the formula, so that X, Y, X and Y values can be obtained through calculation, and further the third platform coordinate (X, Y), the first compensation coordinate (X, 0) and the second compensation coordinate (0, Y) can be obtained.
In the embodiment, the position adjustment precision of the double-valve dispensing device is further ensured by calibrating the included angle deviation of the two coordinate systems of the compensation area coordinate system and the dispensing station coordinate system.
Further, a third embodiment of the control method for a dual-valve dispensing device of the present invention is provided, wherein the step S10 includes:
step S11, acquiring an eighth platform coordinate of the motion platform when the motion platform moves to a position where the camera corresponds to the first point to be glued of the glue dispensing station;
step S12, acquiring a ninth platform coordinate of the motion platform when the motion platform moves to a position where the camera corresponds to a second point to be dispensed of the dispensing station;
step S13, calculating to obtain a first platform coordinate according to the position deviation of the first dispensing valve and the camera and the eighth platform coordinate;
and step S14, calculating to obtain a second platform coordinate according to the position deviation of the second dispensing valve and the camera and the ninth platform coordinate.
In this embodiment, after the product to be dispensed flows into the dispensing station, the moving platform is controlled to move, the moving platform moves to drive the camera fixedly arranged on the moving platform to move until the camera corresponds to the dispensing point to be dispensed of the product to be dispensed on the dispensing station, the coordinate of the moving platform at this time is obtained, and since the dispensing point to be dispensed of the product to be dispensed on the dispensing station has the first dispensing point to be dispensed and the second dispensing point to be dispensed, the corresponding coordinate of the moving platform is the eighth platform coordinate and the ninth platform coordinate.
Because the position of a camera arranged on the motion platform is deviated from the positions of two dispensing valves, a first initial coordinate of the motion platform when the first dispensing valve is positioned in the compensation area and the first dispensing valve corresponds to a first dispensing point to be dispensed, namely a first platform coordinate, needs to be calculated according to the position deviation of the first dispensing valve and the camera; and calculating a second initial coordinate of the second dispensing valve in the compensation area and a coordinate of the moving platform when the first dispensing valve corresponds to the first dispensing point to be dispensed, namely a second platform coordinate according to the position deviation of the second dispensing valve and the camera.
Further, before step S11, the method further includes:
step S111, controlling the first dispensing valve to move to a first initial coordinate of the compensation area;
step S112, moving the motion platform to a third preset platform coordinate, and controlling the first dispensing valve to dispense;
step S113, acquiring a tenth platform coordinate when the motion platform moves to a position where the camera corresponds to glue dispensed by the first dispensing valve;
and step S114, obtaining the position deviation of the first dispensing valve and the camera according to the third preset platform coordinate and the tenth platform coordinate.
Since the position deviation of the camera arranged on the moving platform and the two dispensing valves exists, a calibration step for the position deviation of the two dispensing valves and the camera is also included before step S10.
In this embodiment, the position deviation between the first dispensing valve and the camera is calibrated, specifically, the first dispensing valve is controlled to move to a first initial coordinate of the compensation area, then the motion platform is controlled to move to a third preset platform coordinate, the position of the corresponding first dispensing valve relative to the dispensing station also moves, and the first dispensing valve is controlled to dispense at the current position; and then controlling the motion platform to move until a camera on the motion platform corresponds to glue dispensed by the first glue dispensing valve, and acquiring a coordinate of the motion platform at the moment, namely a tenth platform coordinate.
Further, before step S11, the method further includes:
step S115, controlling the second dispensing valve to move to a second initial coordinate of the compensation area;
step S116, moving the motion platform to a fourth preset platform coordinate, and controlling the second dispensing valve to dispense;
step 117, acquiring eleventh platform coordinates when the motion platform moves to a position where the camera corresponds to glue dispensed by the second dispensing valve;
and step S118, obtaining the position deviation of the first dispensing valve and the camera according to the fourth preset platform coordinate and the eleventh platform coordinate.
In this embodiment, the position deviation between the second dispensing valve and the camera is calibrated, specifically, the second dispensing valve is controlled to move to a second initial coordinate of the compensation area, then the motion platform is controlled to move to a fourth preset platform coordinate, the position of the corresponding second dispensing valve relative to the dispensing station also moves, and the second dispensing valve is controlled to dispense at the current position; and then controlling the motion platform to move until a camera on the motion platform corresponds to glue dispensed by the second dispensing valve, and acquiring a coordinate of the motion platform at the moment, namely an eleventh platform coordinate.
It is understood that the present solution does not limit the execution sequence of the above-mentioned embodiment for calibrating the position deviation of the first dispensing valve and the camera and the embodiment for calibrating the position deviation of the second dispensing valve and the camera.
The position deviation of the camera and the two dispensing valves is calibrated, and the position adjustment precision of the double-valve dispensing device is further guaranteed.
The invention also provides control equipment of the double-valve dispensing device.
Referring to fig. 3, fig. 3 is a functional block diagram of a control apparatus of a dual-valve dispensing device according to a first embodiment of the present invention. The bivalve adhesive deposite device includes that first dispensing valve, second dispensing valve and compensation are regional, first dispensing valve is in with the portable setting of second dispensing valve the compensation is regional, bivalve adhesive deposite device is fixed to be set up on motion platform, motion platform is portable to be set up in some station tops, the last camera that is equipped with of motion platform, bivalve adhesive deposite device's controlgear includes:
an obtaining module 10, configured to obtain, by the camera, a first platform coordinate and a second platform coordinate, where the first platform coordinate is a coordinate of a moving platform when the first dispensing valve is located in a first initial coordinate of the compensation area and the first dispensing valve corresponds to a first point to be dispensed at the dispensing station by moving the moving platform, and the second platform coordinate is a coordinate of the moving platform when the second dispensing valve is located in a second initial coordinate of the compensation area and the second dispensing valve corresponds to a second point to be dispensed at the dispensing station by moving the moving platform;
the determining module 20 is configured to determine a third platform coordinate of the moving platform, a first compensation coordinate of the first dispensing valve, and a second compensation coordinate of the second dispensing valve based on the first platform coordinate, the second platform coordinate, and a preset adjusting algorithm;
the adjusting module 30 is configured to control the moving platform to move to a third platform coordinate, the first dispensing valve to move to a first compensation coordinate of the compensation area, and the second dispensing valve to move to a second compensation coordinate of the compensation area, so that the first dispensing valve corresponds to a first point to be dispensed of the dispensing station, and the second dispensing valve corresponds to a second point to be dispensed of the dispensing station.
The specific implementation of the control equipment of the double-valve dispensing device of the invention is basically the same as that of each embodiment of the control method of the double-valve dispensing device, and is not described herein again.
In addition, the embodiment of the invention also provides a storage medium.
The storage medium stores a control program of the double-valve dispensing device, and the control program of the double-valve dispensing device realizes the steps of the control method of the double-valve dispensing device when being executed by the processor.
The specific implementation of the storage medium of the present invention is substantially the same as the embodiments of the control method of the dual-valve dispensing device, and is not described herein again.
The present invention is described in connection with the accompanying drawings, but the present invention is not limited to the above embodiments, which are only illustrative and not restrictive, and those skilled in the art can make various changes without departing from the spirit and scope of the invention as defined by the appended claims, and all changes that come within the meaning and range of equivalency of the specification and drawings that are obvious from the description and the attached claims are intended to be embraced therein.
Claims (10)
1. The control method of the double-valve dispensing device is characterized in that the double-valve dispensing device comprises a first dispensing valve, a second dispensing valve and a compensation area, the first dispensing valve and the second dispensing valve are movably arranged in the compensation area, the double-valve dispensing device is fixedly arranged on a motion platform, the motion platform is movably arranged above a dispensing station, a camera is arranged on the motion platform, and the control method of the double-valve dispensing device comprises the following steps:
acquiring a first platform coordinate and a second platform coordinate of the motion platform through the camera, wherein the first platform coordinate is the coordinate of the motion platform when the first dispensing valve is located at a first initial coordinate of the compensation area and the first dispensing valve corresponds to a first point to be dispensed of the dispensing station by moving the motion platform, and the second platform coordinate is the coordinate of the motion platform when the second dispensing valve is located at a second initial coordinate of the compensation area and the second dispensing valve corresponds to a second point to be dispensed of the dispensing station by moving the motion platform;
determining a third platform coordinate of the motion platform, a first compensation coordinate of the first dispensing valve and a second compensation coordinate of the second dispensing valve based on the first platform coordinate, the second platform coordinate and a preset adjusting algorithm;
and controlling the motion platform to move to a third platform coordinate, the first dispensing valve to move to a first compensation coordinate of the compensation area, and the second dispensing valve to move to a second compensation coordinate of the compensation area, so that the first dispensing valve corresponds to a first dispensing point to be dispensed of the dispensing station, and the second dispensing valve corresponds to a second dispensing point to be dispensed of the dispensing station.
2. The method as claimed in claim 1, wherein the compensation area has an X-axis and a Y-axis, the dispensing station has an X-axis and a Y-axis, the first dispensing valve is movable along the X-axis, the second dispensing valve is movable along the Y-axis, and the step of obtaining the first platform coordinates and the second platform coordinates of the motion platform by the camera further comprises:
determining a first included angle between the X axis and the X axis;
determining a second included angle between the Y axis and the Y axis;
and determining a preset adjustment algorithm according to the first included angle and the second included angle.
3. The method of claim 2, wherein the step of determining the first angle between the X-axis and the X-axis comprises:
controlling the motion platform to move to a first preset platform coordinate, controlling the first dispensing valve to move to a first preset compensation coordinate along the x axis for dispensing, and controlling the first dispensing valve to move to a second preset compensation coordinate along the x axis for dispensing;
acquiring a fourth platform coordinate and a fifth platform coordinate when the motion platform moves to enable the camera to correspond to the glue dispensed by the first dispensing valve twice respectively;
and determining a first included angle between the X axis and the X axis according to the fourth platform coordinate and the fifth platform coordinate.
4. The method of claim 2, wherein the step of determining the second angle between the Y-axis and the Y-axis comprises:
controlling the motion platform to move to a second preset platform coordinate, controlling the second dispensing valve to move to a third preset compensation coordinate along the y axis for dispensing, and controlling the second dispensing valve to move to a fourth preset compensation coordinate along the y axis for dispensing;
acquiring a sixth platform coordinate and a seventh platform coordinate when the motion platform moves to enable the camera to correspond to the glue dispensed by the second dispensing valve twice respectively;
and determining a second included angle between the Y axis and the Y axis according to the sixth platform coordinate and the seventh platform coordinate.
5. The control method of the dual-valve dispensing device of claim 2, wherein the predetermined compensation algorithm is:
the first platform coordinate is (Xx1, Yx 1);
the second platform coordinate is (Xx2, Yx 2);
the first compensation coordinate is (x, 0);
the second compensation coordinate is (0, y);
the third platform coordinate is (X, Y);
the first included angle is tx;
the second included angle is ty.
6. The method of controlling a dual-valve dispensing apparatus of any of claims 1 to 5, wherein the step of acquiring the first platform coordinates and the second platform coordinates of the motion platform by the camera comprises:
acquiring an eighth platform coordinate of the motion platform when the motion platform moves to enable the camera to correspond to the first point to be dispensed of the dispensing station;
acquiring a ninth platform coordinate of the motion platform when the motion platform moves to a position where the camera corresponds to a second point to be dispensed of the dispensing station;
calculating to obtain a first platform coordinate according to the position deviation of the first dispensing valve and the camera and the eighth platform coordinate;
and calculating to obtain a second platform coordinate according to the position deviation of the second dispensing valve and the camera and the ninth platform coordinate.
7. The method of claim 6, wherein the step of obtaining eighth stage coordinates of the moving stage when the camera is moved to correspond to the first point to be dispensed of the dispensing station further comprises:
controlling the first dispensing valve to move to a first initial coordinate of the compensation area;
moving the motion platform to a third preset platform coordinate, and controlling the first dispensing valve to dispense;
acquiring a tenth platform coordinate when the motion platform moves to a position where the camera corresponds to glue dispensed by the first glue dispensing valve;
and obtaining the position deviation of the first dispensing valve and the camera according to the third preset platform coordinate and the tenth platform coordinate.
8. The method of claim 6, wherein the step of obtaining eighth stage coordinates of the moving stage when the camera is moved to correspond to the first point to be dispensed of the dispensing station further comprises:
controlling the second dispensing valve to move to a second initial coordinate of the compensation area;
moving the motion platform to a fourth preset platform coordinate, and controlling the second dispensing valve to dispense;
acquiring eleventh platform coordinates when the motion platform moves to enable the camera to correspond to glue dispensed by the second dispensing valve;
and obtaining the position deviation of the first dispensing valve and the camera according to the fourth preset platform coordinate and the eleventh platform coordinate.
9. The utility model provides a bivalve adhesive deposite device's controlgear, its characterized in that, bivalve adhesive deposite device includes that first dispensing valve, second dispensing valve and compensation are regional, first dispensing valve is in with the portable setting of second dispensing valve the compensation is regional, bivalve adhesive deposite device is fixed to be set up on motion platform, motion platform is portable to be set up in the station top of dispensing, the last camera that is equipped with of motion platform, bivalve adhesive deposite device's controlgear includes:
the obtaining module is used for obtaining a first platform coordinate and a second platform coordinate through the camera, the first platform coordinate is the coordinate of the moving platform when the moving platform is moved to enable the first dispensing valve to correspond to a first dispensing point to be dispensed of the dispensing station when the first dispensing valve is located in a first initial coordinate of the compensation area, and the second platform coordinate is the coordinate of the moving platform when the moving platform is moved to enable the second dispensing valve to correspond to a second dispensing point to be dispensed of the dispensing station when the second dispensing valve is located in a second initial coordinate of the compensation area;
the determining module is used for determining a third platform coordinate of the moving platform, a first compensation coordinate of the first dispensing valve and a second compensation coordinate of the second dispensing valve based on the first platform coordinate, the second platform coordinate and a preset adjusting algorithm;
and the adjusting module is used for controlling the motion platform to move to a third platform coordinate, the first dispensing valve to move to a first compensation coordinate of the compensation area, and the second dispensing valve to move to a second compensation coordinate of the compensation area, so that the first dispensing valve corresponds to a first point to be dispensed of the dispensing station, and the second dispensing valve corresponds to a second point to be dispensed of the dispensing station.
10. A storage medium having stored thereon a control program for a two-valve dispensing apparatus, the control program for the two-valve dispensing apparatus, when executed by a processor, implementing the steps of the method for controlling a two-valve dispensing apparatus according to any one of claims 1 to 8.
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| CN113282056A (en) * | 2021-03-30 | 2021-08-20 | 深圳市世宗自动化设备有限公司 | Motion control compensation method, motion control compensation device, computer equipment and storage medium |
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