CN110918388B - Dispensing device and dispensing method - Google Patents
Dispensing device and dispensing method Download PDFInfo
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- CN110918388B CN110918388B CN201911178899.5A CN201911178899A CN110918388B CN 110918388 B CN110918388 B CN 110918388B CN 201911178899 A CN201911178899 A CN 201911178899A CN 110918388 B CN110918388 B CN 110918388B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
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Abstract
A dispensing apparatus, comprising: the glue dispensing mechanism is used for forming a first glue path; and a correction mechanism coupled to the dispensing mechanism and comprising: a detection unit to: detecting the glue width of the first glue path; detecting the distance difference between the first rubber road and the reference line set; and the glue dispensing mechanism forms a second glue path according to the glue width and the distance difference. The invention also provides a dispensing method of the dispensing device.
Description
Technical Field
The invention relates to a dispensing device and a dispensing method.
Background
In the dispensing process, the needle head of the dispensing needle is easily blocked and the needle firing phenomenon is easily caused, the dispensing needle is frequently required to be replaced, and after the dispensing needle is replaced, the needle head position of the dispensing needle needs to be corrected again, so that the normal dispensing operation is ensured. At present, the correction processing of the dispensing needle mainly adopts three groups of optical fiber sensors to respectively carry out deviation correction on the dispensing needle in three directions, the correction of the optical fiber sensors is indirect, only the position of the dispensing needle can be determined, the dispensing effect of the dispensing needle cannot be confirmed, abnormality can also occur during actual dispensing, and the three groups of optical fiber sensors have higher cost, large occupied space and longer correction time.
Disclosure of Invention
In view of the above, it is desirable to provide a dispensing apparatus and a dispensing method to solve the above problems.
A kind of glue-dropping device, is used for forming the second glue way through correcting after changing the glue-dropping syringe needle; the adhesive dispensing device comprises:
the glue dispensing mechanism is used for forming a first glue path;
the glass slide is used for bearing the first glue path when the glue dispensing mechanism forms the first glue path; and
a correction mechanism coupled to the dispensing mechanism and comprising:
a detection unit to:
detecting the glue width of the first glue path;
detecting the distance difference between the first rubber road and the reference line set;
and the glue dispensing mechanism forms the second glue path according to the glue width and the distance difference.
A glue dispensing method is used for forming a second glue path which passes through correction after a glue dispensing needle head is replaced; the dispensing method comprises the following steps:
forming a first glue path; the first glue path is carried by a glass slide;
detecting the glue width of the first glue path;
detecting the distance difference between the first rubber road and the reference line set;
and forming the second glue path according to the glue width and the distance difference.
The dispensing device and the dispensing method provided by the invention have the advantages that the first direction of the dispensing needle head is corrected by adopting the detection unit, the dispensing effect is detected, the structure is simple, the cost is low, the correction is accurate, the correction time is short, the efficiency is improved, and the correction result of the dispensing needle can be more directly improved.
Drawings
Fig. 1 is a schematic perspective view of a dispensing device according to an embodiment of the invention.
Fig. 2 is a perspective view of a calibration mechanism of the dispensing device shown in fig. 1.
Fig. 3 is a flowchart illustrating third directional correction of a dispensing method according to an embodiment of the invention.
Fig. 4 is a flowchart illustrating a first direction, a first direction calibration, and a dispensing effect determination of a dispensing method according to an embodiment of the invention.
Description of the main elements
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, an embodiment of the invention provides a dispensing device 100. The dispensing device 100 can correct the dispensing needle 200 replaced on the machine. The dispensing device 100 includes a moving mechanism 10, a dispensing mechanism 20, and a calibration mechanism 30. The dispensing mechanism 20 is disposed on the moving mechanism 10. The dispensing mechanism 20 is used for installing the dispensing needle 200 and controlling the dispensing needle 200 to dispense. The moving mechanism 10 is used for controlling the dispensing needle 200 on the dispensing mechanism 20 to move. The calibration mechanism 30 is coupled to the moving mechanism 10 and the dispensing mechanism 20. The calibration mechanism 30 is used to calibrate the dispensing tip 200.
The moving mechanism 10 includes a first driving member 11, a second driving member 12, and a third driving member 13. The second driving member 12 is disposed on the first driving member 11. The first driver 11 is adapted to drive the second driver 12 in a first direction. The third driving member 13 is disposed on the second driving member 12. The second driver 12 is used to drive the third driver 13 to move in the second direction. The glue dispensing mechanism 20 is disposed on the third driving member 13. The third driving member 13 is used for driving the dispensing mechanism 20 to move in the third direction. The third direction is a height direction. The first direction, the second direction and the third direction are mutually perpendicular.
The dispensing mechanism 20 includes a mounting base 21 and a dispensing valve 22. The mount 21 is used to mount the adhesive needle 200. The dispensing valve 22 is used for controlling the dispensing needle 200 mounted on the mounting base 21 to dispense.
Referring to fig. 2, the calibration mechanism 30 includes a fixing base 31, a control unit 32, a placing plate 33, a slide 34, a detecting unit 35 and a processor (not shown). The control unit 32 is disposed on a surface of the fixing base 31 close to the dispensing mechanism 20. The control unit 32 is configured to detect a position difference between the dispensing needle 200 and the reference coordinate in the third direction. The placing plate 33 is disposed on the fixing base 31 and beside the control unit 32. The slide glass 34 is placed on the placing plate 33. The slide 34 is used for dispensing the glue from the glue dispensing needle 200 in the first direction and the second direction to form a glue path. The slide 34 also has a set of fiducial lines (not shown) disposed thereon. The reference line set is a reference coordinate of the first direction and the second direction. The detection unit 35 is disposed on the fixing base 31 with the image pickup end facing the slide glass 34. The detecting unit 35 cooperates with the slide 34 to detect the dispensing paths of the dispensing needle 200 in the first direction and the second direction. The processor controls the moving mechanism 10 to adjust the dispensing needle 200 according to the detection results of the control unit 32 and the detection unit 35.
Specifically, the control unit 32 includes a controller and a first switch. The controller is configured to control the third driving element 13 of the moving mechanism 10, so that the dispensing needle 200 moves in a third direction. The first switch obtains detection information according to contact with the dispensing needle 200. The detection information is a third direction coordinate, and the first switch is a microswitch.
The processor is used for controlling the dispensing needle head 200 to contact the microswitch to obtain the third direction coordinate; and detecting the average deviation of the dispensing needle head in the third direction according to the third direction coordinate to form a position difference between the dispensing needle head 200 and the reference coordinate in the third direction.
Specifically, the processor obtains the position difference by:
firstly, the dispensing needle head 200 contacting with the first switch is controlled to be away from the first switch for any distance in a third direction;
then, controlling the dispensing needle 200 to contact the first switch again to obtain the third directional coordinate;
then, obtaining the third direction coordinate again;
finally, whether the difference value between the two third-direction coordinates is within an allowable tolerance is judged:
if so, obtaining a mean value of the third-direction coordinate set formed by the two third-direction coordinates to obtain the position difference;
and if not, judging that the obtained third-direction coordinate deviation is overlarge, obtaining the third-direction coordinate again, and judging again.
If the multiple determinations are not within the tolerance, an alarm unit (not shown) is controlled to give an alarm to the operator.
The detection unit 35 includes a detector 351, a lens 352, and a light source 353. The detector 351 is disposed on the holder 31 and faces the slide 34. The lens 352 is disposed on the detector 351. The light source 353 is disposed on the lens 352 and faces the slide 34. The detector 351 captures the glue path carried by the slide 34 and the reference line set to obtain detection information. The detection information is an image. The processor is used for detecting the glue width of the glue path according to the image; and detecting the distance difference between the rubber road and the reference line set.
Specifically, the processor obtains the glue width and distance difference by the following method:
firstly, controlling the dispensing valve 22 and the moving mechanism 10 to form a section of glue path on the slide 34;
then, controlling the detector to shoot the glue path and the reference line set to obtain detection information;
then, according to the detection information, selecting any point on the glue path, forming a first vector by taking the point as a base point and taking the extension direction of the glue path as a direction, obtaining the width of the glue path on the first vector, and obtaining a line segment of the glue path on the first vector, wherein the midpoint of the line segment is the midpoint of the glue path at the point;
thirdly, obtaining the widths of the points to form a width set, calculating the mean value of the width set to obtain the glue width of the glue road, obtaining a plurality of midpoint sets to form a midpoint set, calculating the mean value of the midpoint set to obtain the center point of the glue road, and calculating the distance from the center point to the datum line set to form the distance difference;
finally, the dispensing valve 22 and the moving mechanism 10 are controlled to adjust the dispensing needle 200 according to the glue width and the distance difference, so as to form a section of corrected glue path on the slide 34.
The placing plate 33 is also provided with a cross-shaped correction reticle 331, so that visual auxiliary debugging is facilitated.
In one embodiment, the detector 351 is a CCD camera.
Referring to fig. 1 to 4, an embodiment of the present invention further provides a method for dispensing a dispensing needle, including the following steps:
referring to fig. 3, the third direction calibration:
step S1, the dispensing needle 200 is moved to above the micro switch.
Specifically, the first driving member 11 and the second driving member 12 of the moving mechanism 10 control the dispensing needle 200 disposed on the dispensing mechanism 20 to move in the first direction and the second direction, so that the dispensing needle 200 moves above the micro switch.
Step S2, the dispensing needle 200 is rapidly moved downward to a distance H from the micro switch.
Specifically, the dispensing needle 200 is driven by the third driving member 13 to move down rapidly in the third direction to a position about 5mm away from the microswitch.
In step S3, the dispensing needle 200 is slowly moved downward to the micro switch.
Specifically, the dispensing needle 200 is driven by the third driving member 13 to move downward slowly in the third direction until contacting the micro switch, and the micro switch is triggered to stop the dispensing needle 200 from moving.
Step S4, after moving the dispensing needle 200 upward by a distance H1, moving downward by a distance H each time in an inching manner to reach the micro switch, and recording the third direction coordinate as Z1. H is more than H1 and less than H.
Specifically, the dispensing needle 200 is moved upward by 0.5mm by the third driving member 13, and then the dispensing needle 200 is controlled to move downward by 0.01mm (the same distance for each movement) until contacting the micro switch, and the micro switch is triggered to stop the dispensing needle 200 from moving, and the coordinate of the third direction at this time is recorded as Z1.
Step S5, after moving the dispensing needle 200 upward by a distance H2, moving the dispensing needle downward by a distance H each time in an inching manner to reach the micro switch, and recording the third direction coordinate as Z2. H < H2 < H1.
Specifically, the dispensing needle 200 is moved upward by 0.1mm by the third driving member 13, and then the dispensing needle 200 is controlled to move downward by 0.01mm each time until contacting the micro switch, the micro switch is triggered to stop moving the dispensing needle 200, and the coordinate of the third direction at this time is recorded as Z2.
Step S6, determining whether | Z1-Z2| is less than or equal to a set value a:
step S61, if the value is less than or equal to A, the third direction correction is completed, and the point Z of the dispensing needle is (Z1+ Z2)/2;
step S62, if the value is larger than A, recording the repetition times N, and if the repetition times N is smaller than a preset value N, defining the original Z2 as Z1, repeating the step 5, and judging in the step S6;
and step S63, if the value is larger than A and the repetition number N is larger than a preset value N, an alarm is given.
Specifically, it is determined whether the size of | Z1-Z2| is 0.04mm or less: if the distance is less than or equal to 0.04mm, the third direction correction is completed, and the needle point position Z of the dispensing needle is (Z1+ Z2)/2; if the size is larger than 0.04mm, the original Z2 is defined as Z1, the step 5 is repeated, and the judgment of | Z1-Z2| is carried out. And recording the repetition times N, and if the repetition times N are more than 3, giving an alarm and manually checking.
Referring to fig. 4, the first direction calibration and glue width confirmation:
step S7, the dispensing needle 200 is moved to above the slide 34, and the tip of the dispensing needle 200 is moved to the first direction coordinate X1.
Specifically, the center of the set of reference lines on the slide 34 is defined as an origin, and the first direction coordinates and the second direction coordinates passing through the origin are defined as X0 and Y0, the first driving element 11, the second driving element 12 and the third driving element 13 of the moving mechanism 10 are used to control the dispensing needle 200 to move in the first direction, the second direction and the third direction, so that the tip of the dispensing needle 200 moves to the first direction coordinate X1, the X1 is X0+2mm, and the distance from the tip of the dispensing needle 200 to the surface of the slide 34 is the dispensing gap.
At step S8, a first glue line is dispensed on the slide 34 in a second direction.
Specifically, the dispensing needle 200 is controlled by the second driving member 12 to move in the second direction, and the dispensing needle 200 is controlled by the dispensing valve 22 to dispense, so as to obtain a first glue path with a length of 10mm in the second direction.
Step S9, measure the center point and width of the first glue path.
Specifically, the detector 351 captures the first glue line and the reference line set to obtain detection information. And removing a section of the glue path influenced by the glue dispensing switch, such as 2mm, from the front and back of the first glue path, uniformly dispensing in the second direction of the rest glue paths by the processor, and measuring the glue width XH1 and the glue path midpoint XM1 of the rest glue paths. The glue width XH1 is the difference between the coordinates of the boundary on the two sides of the glue line at the selected point in the first direction, and the glue line midpoint XM1 is the average value of the coordinates of the boundary on the two sides of the glue line at the selected point in the first direction. Then, the average value of the tape width XH1 and the tape path center XM1 is calculated as the tape width XH and the tape path center XM of the first tape path.
In step S10, the first direction is corrected.
The glue width is an important parameter of the glue dispensing effect, and under the condition that the glue dispensing technological parameters are consistent, the glue width, the glue thickness and the glue weight have corresponding relations, so that the glue dispensing effect can be judged only by detecting the glue width.
Specifically, the glue width of the first glue way is compared with a standard glue width, if the glue width is within an error range, the requirement is judged to be met, and if the glue width exceeds the error range, an alarm is given. The distance difference of the needle head of the dispensing needle head 200 in the first direction is XM-X1, and the first direction of the needle tip is corrected and compensated according to the magnitude and the positive and negative of the distance difference.
Step S11, forming a second glue path after correction in the first direction according to the correction result.
Specifically, according to the glue width XH and the distance difference of the first glue path, a corrected second glue path is formed in the first direction by the glue dispensing needle 200.
And correcting in a second direction:
step S12, the dispensing needle 200 is moved to a position above the slide 34, and the tip of the dispensing needle 200 is moved to the second direction coordinate Y1.
Specifically, the first driving member 11, the second driving member 12 and the third driving member 13 of the moving mechanism 10 control the dispensing needle 200 to move in the first direction, the second direction and the third direction, so that the tip of the dispensing needle 200 moves to the second direction coordinate Y1, Y1 is Y0+2mm, and the distance from the tip of the dispensing needle 200 to the surface of the slide 34 is the dispensing gap.
At step S13, a third glue line is dispensed on the slide 34 in the first direction.
Specifically, the dispensing needle 200 is controlled by the first driving member 11 to move in the first direction, and the dispensing needle 200 is controlled by the dispensing valve 22 to dispense, so as to obtain a third glue path with a length of 10mm in the first direction.
Step S14, measure the center point and width of the third glue path.
Specifically, the detector 351 captures the third glue line and the reference line set to obtain detection information. And removing a distance, such as 2mm, affected by the glue dispensing switch before and after the third glue path, uniformly dispensing the glue on the residual glue paths in the first direction by using the processor, and measuring the respective glue width YH1 and the glue path midpoint YM 1. The glue width YH1 is the difference between the coordinates of the two sides of the glue line at the selected point in the second direction, and the glue line midpoint YM1 is the average value of the coordinates of the two sides of the glue line at the selected point in the second direction. Then, the average values of the glue width YH1 and the glue path center point YM1 are calculated, which are the glue width YH and the glue path center point YM of the third glue path.
In step S15, the second direction is corrected.
Specifically, the second distance difference of the needle of the dispensing needle 200 in the second direction is YM-Y1, and the correction and compensation are performed on the second direction of the needle tip according to the magnitude and the positive and negative of the second distance difference.
And step S16, forming a fourth corrected glue path in the second direction according to the correction result.
Specifically, according to the glue width YH of the third path and the second distance difference, a fourth glue path after correction is formed in the second direction by the glue dispensing needle 200.
According to the dispensing device and the dispensing method provided by the invention, the third direction correction is carried out on the dispensing needle head by adopting the control unit, then the first direction and the second direction of the dispensing needle head are corrected by the detection unit, and the dispensing effect is detected.
In addition, other modifications within the spirit of the invention may occur to those skilled in the art, and such modifications are, of course, included within the scope of the invention as claimed.
Claims (20)
1. A kind of glue-dropping device, is used for forming the second glue way through correcting after changing the glue-dropping syringe needle; the adhesive dispensing device comprises:
the glue dispensing mechanism is used for forming a first glue path;
the glass slide is used for bearing the first glue path when the glue dispensing mechanism forms the first glue path; and
a correction mechanism coupled to the dispensing mechanism and comprising:
a detection unit to:
detecting the glue width of the first glue path;
detecting the distance difference between the first rubber road and the reference line set;
and the glue dispensing mechanism forms the second glue path according to the glue width and the distance difference.
2. The dispensing apparatus of claim 1, wherein:
the glue dispensing mechanism is further used for:
forming a third glue path, wherein the third glue path is vertical to the second glue path;
the detection unit is further configured to:
detecting a second distance difference between the third glue path and a second datum line;
and the glue dispensing mechanism forms a fourth glue path according to the second distance difference.
3. The dispensing apparatus of claim 1, wherein:
the detection unit includes:
the detector is used for detecting the first glue path to obtain detection information; and
and the processor is used for calculating the glue width of the first glue path according to the detection information.
4. The dispensing apparatus of claim 3, wherein:
the detector is a camera facing the glass slide, and the detection information is an image;
the processor is further configured to:
controlling the camera to shoot the first glue path and the reference line set carried by the glass slide to form the image;
and detecting the average width of the first glue path according to the image to form the glue width of the first glue path.
5. The dispensing apparatus of claim 3, wherein:
the processor is further configured to:
according to the detection information, any point is selected on the first glue path, a first vector is formed by taking the point as a base point and taking a first direction as a direction, and the width of the first glue path on the first vector is obtained;
obtaining the widths of the points to form a width set, and calculating the average value of the width set to obtain the glue width of the first glue path;
the first glue path is perpendicular to the first direction.
6. The dispensing apparatus of claim 1, wherein:
the correction mechanism further includes:
the glass slide is used for bearing the first glue path when the glue dispensing mechanism forms the first glue path; and
the detection unit includes:
the detector is used for detecting the first glue path to obtain detection information; and
a processor to:
calculating the central point of the first glue path according to the detection information and the reference line set;
calculating the difference in distance of the center point to the set of reference lines.
7. The dispensing apparatus of claim 6, wherein:
the detector is a camera facing the glass slide, and the detection information is an image;
the processor is further configured to:
controlling the camera to shoot the first glue path and the reference line set carried by the glass slide to form the image;
detecting the central point of the first glue path according to the image;
and calculating the distance from the central point to the reference line set to form the distance difference.
8. The dispensing apparatus of claim 6, wherein:
the processor is further configured to:
according to the detection information, any point is selected on the first glue path, a first vector is formed by taking the point as a base point and a first direction as a direction, a line segment of the first glue path on the first vector is obtained, and the midpoint of the line segment is the midpoint of the first glue path at the point;
obtaining a plurality of middle points to form a middle point set, and calculating the mean value of the middle point set to obtain the central point of the first glue path;
the first glue path is perpendicular to the first direction.
9. The dispensing apparatus of claim 1, wherein:
the glue dispensing mechanism is further used for adjusting the glue dispensing needle head according to the glue width so as to form the second glue path.
10. The dispensing apparatus of claim 1, wherein:
the glue dispensing mechanism is further used for adjusting the glue dispensing direction according to the distance difference so as to form the second glue path.
11. A glue dispensing method is used for forming a second glue path which passes through correction after a glue dispensing needle head is replaced; the dispensing method comprises the following steps:
forming a first glue path through a glue dispenser; the first glue path is carried by a glass slide;
detecting the glue width of the first glue path through a detection unit;
detecting the distance difference between the first rubber road and the reference line set through the detection unit;
and forming the second glue path by the glue dispensing mechanism according to the glue width and the distance difference.
12. The dispensing method of claim 11, further comprising:
forming a third glue path, wherein the third glue path is vertical to the second glue path;
detecting a second distance difference between the third glue path and a second datum line;
and forming a fourth glue path according to the second distance difference.
13. The dispensing method of claim 11, wherein:
the step of detecting the glue width of the first glue path comprises the following steps:
detecting the first glue path to obtain detection information;
and calculating the glue width of the first glue way according to the detection information.
14. The dispensing method of claim 13, wherein:
the step of detecting the first glue line to obtain detection information includes:
shooting the first glue path and the reference line set to form an image;
the step of calculating the glue width according to the detection information comprises
And detecting the average width of the first glue path according to the image to form the glue width of the first glue path.
15. The dispensing method of claim 13, wherein:
the step of calculating the glue width of the first glue road according to the detection information further includes:
according to the detection information, any point is selected on the first glue path, a first vector is formed by taking the point as a base point and taking a first direction as a direction, and the width of the first glue path on the first vector is obtained;
obtaining the widths of the points to form a width set, and calculating the average value of the width set to obtain the glue width of the first glue path;
the first glue path is perpendicular to the first direction.
16. The dispensing method of claim 11, wherein:
the step of detecting the distance difference between the first rubber road and the reference line set comprises:
detecting the first glue path to obtain detection information;
calculating the central point of the first glue path according to the detection information and the reference line set;
calculating the difference in distance of the center point to the set of reference lines.
17. The dispensing method of claim 16, wherein:
the step of detecting the first glue line to obtain detection information includes:
shooting the first glue path and the reference line set to form an image;
detecting the central point of the first glue path according to the image;
and calculating the distance from the central point to the reference line set to form the distance difference.
18. The dispensing method of claim 16, wherein:
the step of calculating the center point of the first glue line according to the detection information and the reference line set further includes:
according to the detection information, any point is selected on the first glue path, a first vector is formed by taking the point as a base point and a first direction as a direction, a line segment of the first glue path on the first vector is obtained, and the midpoint of the line segment is the midpoint of the first glue path at the point;
obtaining a plurality of middle points to form a middle point set, and calculating the mean value of the middle point set to obtain the central point of the first glue path;
the first glue path is perpendicular to the first direction.
19. The dispensing method of claim 11, wherein:
and adjusting the dispensing needle head according to the glue width to form the second glue path.
20. The dispensing method of claim 11, wherein:
and adjusting the dispensing direction according to the distance difference to form the second glue path.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911178899.5A CN110918388B (en) | 2019-11-27 | 2019-11-27 | Dispensing device and dispensing method |
| US17/017,463 US11786928B2 (en) | 2019-11-27 | 2020-09-10 | Dispensing device and dispensing method |
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| CN201911178899.5A CN110918388B (en) | 2019-11-27 | 2019-11-27 | Dispensing device and dispensing method |
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| CN110918388B true CN110918388B (en) | 2021-11-05 |
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| CN113042327A (en) * | 2021-03-16 | 2021-06-29 | 苏州小蜂视觉科技有限公司 | Glue dispensing amount detection method and device and glue dispensing equipment |
| CN113304971B (en) * | 2021-04-26 | 2022-12-13 | 深圳市世宗自动化设备有限公司 | 3D dynamic guiding dispensing compensation method, device and equipment and storage medium thereof |
| CN113487539B (en) * | 2021-06-08 | 2024-07-16 | 深圳市格灵精睿视觉有限公司 | Gel path quality analysis method, device, system and storage medium |
| CN117644007B (en) * | 2024-01-29 | 2024-04-09 | 湖南和锐镭射科技有限公司 | Supervision method and system for gluing compound procedure of transfer paper |
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