CN111054587B - Cambered surface glue dispensing device and method - Google Patents
Cambered surface glue dispensing device and method Download PDFInfo
- Publication number
- CN111054587B CN111054587B CN201911368881.1A CN201911368881A CN111054587B CN 111054587 B CN111054587 B CN 111054587B CN 201911368881 A CN201911368881 A CN 201911368881A CN 111054587 B CN111054587 B CN 111054587B
- Authority
- CN
- China
- Prior art keywords
- sliding table
- needle head
- dispensing
- axis sliding
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
-
- 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
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
-
- 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
- B05C9/00—Apparatus or plant for applying liquid or other fluent material to surfaces by means not covered by any preceding group, or in which the means of applying the liquid or other fluent material is not important
- B05C9/06—Apparatus or plant for applying liquid or other fluent material to surfaces by means not covered by any preceding group, or in which the means of applying the liquid or other fluent material is not important for applying two different liquids or other fluent materials, or the same liquid or other fluent material twice, to the same side of the work
Abstract
The invention relates to a cambered surface glue dispensing device and method, and belongs to the field of machine vision and precise glue dispensing. The device comprises a mechanical module, an image acquisition module, an image processing module, a dispensing module and a control module. The device uses a camera to collect the images of the circular ring-shaped parts, obtains the coordinates of the circle centers of the parts through an image processing algorithm, and performs position compensation on the material tray; acquiring a needle head image by using a camera and manually finely adjusting the needle head to enable the circle center of the needle head image to be coincident with the calibrated baseline, and performing needle head position compensation; and all parts of the device are subjected to linkage control through a computer, so that automatic dispensing of the cambered surface of the circular ring-shaped part is realized. The device and the method adopt a control program to control the whole system, and have the advantages of realizing four-dimensional linkage, full automation and high-precision dispensing.
Description
Technical Field
The invention relates to a cambered surface dispensing device and method for a small-sized circular ring part based on machine vision, and belongs to the field of machine vision and precise dispensing.
Background
Navigation systems for moving objects such as rockets, missiles, airplanes, naval vessels, etc. must obtain speed and position information. The quartz accelerometer can be arranged in a moving object to directly measure the acceleration of the moving object, and velocity and position information is obtained through integral calculation, so that the measurement precision is high, and the dynamic performance is good. Inertia devices and instruments such as quartz accelerometers and the like are high-precision components which are formed by combining a plurality of precision parts such as small-sized circular ring-shaped parts and the like. The circular ring part dispensing work is the difficulty of the dispensing and assembling of the inertia device, and the precision directly determines the performance of the inertia device and the instrument. Before assembly, the circular ring-shaped part requires two glues to be dotted on the inner arc surface of the circular ring-shaped part, wherein each glue is a symmetrical 90-degree arc (ii): the epoxy glue and the conductive glue are used for realizing the bonding between the assembly parts, the bonding strength is larger than 8Mpa, and the conductive glue is used for realizing the electric signal conduction between the assembly parts.
At present, the cambered surface glue dispensing of the circular ring-shaped part is still manually finished, the glue dispensing efficiency is low, the consistency is poor, and the glue dispensing and assembling precision is difficult to ensure.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, and an automatic cambered surface glue dispensing device and method are provided. The position compensation is realized through a machine vision technology, the assigned steps are controlled by a computer control program to carry out automatic dispensing on the inner cambered surface of the annular part, the dispensing accuracy of the part is improved while the dispensing automation is realized, and the use performance of an inertia device and an inertia instrument is fundamentally improved.
The above purpose of the invention is mainly realized by the following technical scheme:
a cambered surface glue dispensing device comprises a mechanical module, an image acquisition module, an image processing module, a glue dispensing module and a control module, wherein the control module is used for controlling the operation of the device;
the mechanical module includes: the device comprises a marble table, an X-axis sliding table, a Y-axis sliding table, a Z-axis sliding table, a cylinder, a charging tray pressing plate, a charging tray, a small sliding table, a hollow rotary table and a fixing tool, wherein the marble table is used as a running platform for ensuring the overall stability of the device system; the material tray is used for placing parts to be subjected to glue dispensing, the material tray is fixed on the X-axis sliding table through the material tray pressing plate, the cylinder is used for pushing the material tray pressing plate to place or take down the material tray, and the X-axis sliding table is used for driving the parts to be subjected to glue dispensing to move towards positive and negative limiting directions; the Y-axis sliding table and the Z-axis sliding table are used for controlling components in the dispensing module to move in the directions of the Y axis and the Z axis; the central control rotary table is used for controlling components in the dispensing module to move, and the hollow rotary table is fixed on the Z-axis sliding table through the fixing tool; the fixing tool is fixed to the lower part of the central control turntable through a fixing screw; the small sliding table is used for carrying components in the image acquisition module.
In an optional embodiment, the part to be dispensed is a circular ring-shaped part.
In an optional embodiment, the tray is provided with a groove for fixing the parts to be dispensed in the groove.
In an optional embodiment, the image acquisition module comprises a first image acquisition module and a second image acquisition module, the first image acquisition module comprises a CMOS camera, a telecentric lens and an annular light source, the CMOS camera is connected with the telecentric lens and fixed on the small sliding table, and the annular light source is arranged between the telecentric lens and the material tray; the second image acquisition module comprises a CMOS camera, a telecentric lens, a right-angle reflector and a point light source, wherein the CMOS camera, the telecentric lens and the right-angle reflector are connected, the point light source is arranged right above the CMOS camera, the telecentric lens and the right-angle reflector and used for providing a background light source, and the CMOS camera and the telecentric lens are used for carrying out image acquisition on a first inclined 45-degree needle head and a second inclined 45-degree needle head which are arranged on the point light source through the right-angle reflector.
In an optional embodiment, the dispensing module comprises a dispensing machine, a first 45-degree inclined needle head and a second 45-degree inclined needle head, the first 45-degree inclined needle head and the second 45-degree inclined needle head are used for dispensing a part to be dispensed, and the first 45-degree inclined needle head and the second 45-degree inclined needle head are fixed on a fixing tool through a copper hoop; the first inclined 45-degree needle head and the second inclined 45-degree needle head are controlled to move in the directions of the Y axis and the Z axis through the Y axis sliding table and the Z axis sliding table and reach the appointed dispensing position; the central control turntable carries out annular track dispensing by controlling the first inclined 45-degree needle head and the second inclined 45-degree needle head to rotate;
in an optional embodiment, the part to be glued is a circular ring-shaped part, the first 45-degree inclined needle and the second 45-degree inclined needle are used for gluing the inner arc surface of the circular ring-shaped part, and the glue types are two types: preferably, epoxy glue is filled in the first 45-degree inclined needle head, and conductive glue is filled in the second 45-degree inclined needle head.
In an optional embodiment, the dispenser passes through the controlThe glue discharging time of the first inclined 45-degree needle head and the second inclined 45-degree needle head is controlled by controlling the on-off of the air passage of the air outlet, and the glue discharging amount of the first inclined 45-degree needle head and the second inclined 45-degree needle head is controlled by controlling the air pressure of the air outlet; the glue discharging track repetition accuracy of the first inclined 45-degree needle head and the second inclined 45-degree needle head is controlled within 0.05mm, and the glue discharging amount repetition accuracy of the first inclined 45-degree needle head and the second inclined 45-degree needle head is controlled within 0.1mm2Within.
In an optional embodiment, the inner diameter of the first inclined 45-degree needle head is 0.25-0.4 mm, and the inner diameter of the second inclined 45-degree needle head is 0.25-0.4 mm.
In an optional embodiment, the control module comprises a three-dimensional sliding table controller, a small sliding table controller, a CMOS light source controller, a spot light source controller and a computer, and the computer controls the three-dimensional sliding table controller, the small sliding table controller, the CMOS light source controller, the spot light source controller and the dispenser through a control program.
In an alternative embodiment, the image processing module includes a computer, the computer employs an image processing algorithm, and the image processing algorithm is divided into three parts: a circle center detection algorithm of a circular part of the cambered surface dispensing device, a displacement compensation algorithm of the cambered surface dispensing device and a baseline calibration algorithm of the cambered surface dispensing device.
In an optional embodiment, the arc dispensing device circle center detection algorithm is used for performing circle center detection on a CMOS camera in the first image acquisition module, and specifically includes the steps of:
carrying out Hough circle detection on an image acquired by a CMOS camera to obtain the following specified parameters: the edge detection canny value, the accumulator value and the designated radius range value are used, the center coordinates of the circular ring part are obtained by using a Hough circle detection algorithm, and displacement compensation is carried out by using the obtained center coordinates.
In an optional embodiment, the displacement compensation algorithm of the arc dispensing device is used for performing displacement compensation on an X-axis sliding table and a Y-axis sliding table in a mechanical module, and the specific method includes:
calibrating a reference value: controlling X-axis sliding table and Y-axis slidingThe table, the Z-axis sliding table and the hollow rotary table move, arc-surface dispensing of the circular parts is completed by matching with the dispensing module, and the movement distances (X) of the X-axis sliding table and the Y-axis sliding table relative to the original point are recorded0,y0) Continuously controlling the X-axis sliding table and the Y-axis sliding table to move, and completing circle center coordinate detection of the circular ring-shaped part by matching with the first image acquisition unit to obtain a circle center coordinate (circle _ X)0,circle_y0). Through the above steps, the reference value (x) for motion compensation can be obtained0,y0，circle_x0,circle_y0)；
And (3) displacement compensation: after changing the ring part, control X axle slip table, Y axle slip table move, the centre of a circle coordinate that the ring part was described is accomplished to the first image acquisition unit of cooperation detects, obtains centre of a circle coordinate (circle _ X, circle _ Y), calculates the difference of this centre of a circle coordinate and benchmark centre of a circle coordinate to obtain X axle slip table, the distance that Y axle slip table needs displacement compensation, the actual movement distance (X, Y) of final definite X axle slip table, Y axle slip table is:
in an optional embodiment, the baseline calibration method for the arc dispensing device is used for performing baseline calibration on a first 45-degree inclined needle head and a second 45-degree inclined needle head in a dispensing module, and the specific method includes:
controlling the X-axis sliding table, the Y-axis sliding table, the Z-axis sliding table and the hollow rotating table to move, completing dispensing of the first 45-degree-inclined needle head on the arc surface of the circular ring-shaped part by matching with the dispensing module, controlling the Y-axis sliding table and the Z-axis sliding table to move to enable the first 45-degree-inclined needle head to move to the imaging range of a CMOS camera and a telecentric lens in the second image acquisition module after the dispensing result is verified to be correct, enabling the image of the first 45-degree-inclined needle head to be a white ellipse, and determining the base line of the first 45-degree-inclined needle head to be a straight line penetrating;
and controlling the X-axis sliding table, the Y-axis sliding table, the Z-axis sliding table and the hollow rotating table to move, completing dispensing of the second inclined 45-degree needle head on the arc surface of the circular ring-shaped part by matching with the dispensing module, and after the dispensing result is verified to be correct, controlling the Y-axis sliding table and the Z-axis sliding table to move to enable the second inclined 45-degree needle head to move to the imaging range of a CMOS camera and a telecentric lens in the second image acquisition module, wherein the image of the second inclined 45-degree needle head is a white ellipse, and determining the baseline of the second inclined 45-degree needle head as a straight line passing through the center of.
In an optional embodiment, the method for calibrating the baseline of the arc dispensing device further includes: after the needle head of the device is replaced, the needle head is manually rotated to adjust the position of the needle head, the circle center of the first inclined 45-degree needle head is enabled to coincide with the calibrated baseline of the first inclined 45-degree needle head, and the circle center of the second inclined 45-degree needle head is enabled to coincide with the calibrated baseline of the second inclined 45-degree needle head, so that the position compensation of the needle head is realized.
A cambered surface dispensing method comprises the following steps:
after the pinheads of the first 45-degree-inclined pinhead and the second 45-degree-inclined pinhead are replaced, manually adjusting the positions of the two pinheads respectively according to the image positions of the pinheads in the CMOS camera and the telecentric lens of the second image acquisition module and the calibrated baseline position, so that the circle center positions of the two pinheads are consistent with the baseline position, and completing the position compensation of the pinheads;
sequentially moving the three circular ring-shaped parts on the material tray to the position below the CMOS camera, respectively acquiring images of the three circular ring-shaped parts by controlling the movement of the small sliding table, and respectively obtaining circle center coordinates (circle _ x) of the three circular ring-shaped parts by calculation according to an image processing algorithm1,circle_y1)、(circle_x2,circle_y2)、(circle_x3,circle_y3) The reference value of motion compensation corresponding to the known first inclined 45-degree needle is (x)0,y0，circle_x0,circle_y0) The motion compensation reference value corresponding to the second inclined 45-degree needle head is (x'0,y′0，circle_x′0,circle_y′0)；
And (3) calculating actual movement distances (X, Y) of the X-axis sliding table and the Y-axis sliding table according to the circle center coordinate of the first annular part obtained by image processing and the calibrated reference value of the movement compensation of the first needle head inclined by 45 degrees:
step (4), controlling the X-axis sliding table and the Y-axis sliding table to move the material tray to the position below a first 45-degree-inclined needle head, controlling the hollow rotary table to rotate anticlockwise by 135 degrees, controlling the Z-axis sliding table to move downwards until the first 45-degree-inclined needle head is aligned to the middle position of the inner side arc surface of the circular ring-shaped part, controlling the hollow rotary table to rotate clockwise by 90 degrees for dispensing, controlling the Z-axis sliding table to lift the first 45-degree-inclined needle head to the original position after dispensing is finished, controlling the hollow rotary table to rotate clockwise by 90 degrees to move to the next dispensing position, controlling the Z-axis sliding table to move downwards until the first 45-degree-inclined needle head is aligned to the middle position of the inner side arc surface of the circular ring-shaped part, controlling;
step (5), calculating actual movement distances (X, Y) of the X-axis sliding table and the Y-axis sliding table from the movement to the position of the second part according to the circle center coordinate of the second circular ring-shaped part obtained by image processing and the calibrated reference value of the movement compensation of the first needle head inclined by 45 degrees:
step (6), completing epoxy glue dispensing of the second part according to the method in the step (4);
step (7), completing epoxy glue dispensing of the third part according to the methods in the steps (4) and (5);
step (8), calculating actual movement distances (X, Y) of the X-axis sliding table and the Y-axis sliding table according to the circle center coordinate of the first annular part obtained through image processing and the calibrated reference value of the movement compensation of the second needle head inclined by 45 degrees:
step (9), controlling an X-axis sliding table, a Y-axis sliding table and a movement to move a material tray to the position below a second inclined 45-degree needle head, controlling a hollow rotary table to rotate 45 degrees anticlockwise, controlling a Z-axis sliding table to move downwards until the second inclined 45-degree needle head is aligned with the middle position of the inner side arc surface of the circular ring-shaped part, controlling the hollow rotary table to rotate 90 degrees clockwise for dispensing, controlling the Z-axis sliding table to lift the second inclined 45-degree needle head to the original position after dispensing is completed, controlling the hollow rotary table to rotate 90 degrees clockwise to move to the next dispensing position, controlling the Z-axis sliding table to move downwards until the second inclined 45-degree needle head is aligned with the middle position of the inner side arc surface of the circular ring-shaped part, controlling the hollow rotary table to rotate 90;
and (10) sequentially finishing the conductive adhesive dispensing of the second part and the third part according to the methods in the steps (4), (5), (6) and (7).
And (11) finishing the dispensing of the epoxy glue and the 360-degree arc surface of the conductive glue of the three circular ring-shaped parts according to the steps (1) to (10).
The invention has the advantages that:
at present, the manual glue dispensing of the inner cambered surface of the circular ring-shaped part is low in efficiency and poor in consistency, and the glue dispensing precision is difficult to guarantee. The invention is controlled by a computer, and the positions of all components in the cambered surface glue dispensing device are effectively adjusted; recognizing the circle center coordinates of the circular ring-shaped part by using a machine vision method, and compensating the position of the material tray; acquiring a needle head image, manually fine-tuning to enable the circle center of the needle head image to coincide with a calibrated baseline, and performing needle head position compensation; and finally, automatic dispensing of the inner cambered surface of the circular ring-shaped part is realized by combining the compensation result. The dispensing device and the dispensing method can realize the cambered surface dispensing of the small-sized circular ring-shaped part, and have high dispensing efficiency, consistency and automation degree. The device and the method can be expanded to the precise dispensing of other cambered surfaces and curved surfaces.
Drawings
Fig. 1 is a schematic structural diagram of a circular part inside arc surface dispensing device of the invention:
in fig. 1: 1-a marble table; 2-X axis slide; 3-Y axis slipways; 4-Z axis slipways; 5-air cylinder; 6-material tray pressing plate; 7-material tray; 8-small slipway; 9-a hollow turntable; 10-fixing a tool; 11-a CMOS camera; 12-a telecentric lens; 13-a ring light source; 14-CMOS camera and telecentric lens; 15-a right angle mirror; 16-point light source; 17-a dispenser; 18-a first 45 ° angled needle; 19-a second 45 ° angled needle; 20-a three-dimensional slipway controller; 21-small slipway controller; 22-a CMOS light source controller; 23-point light source controller; 24-a computer;
FIG. 2 is a schematic diagram of a circular part in a material tray in the arc surface glue dispensing device at the inner side of the circular part of the invention:
i-is a structural schematic diagram of a circular ring part; ii-is a dispensing schematic diagram of the circular ring-shaped part.
Detailed Description
The invention is further illustrated with reference to the following examples and figures, without thereby limiting the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a circular part arc surface dispensing device of the present invention, which includes a mechanical module, an image acquisition module, an image processing module, a dispensing module, and a control module. The control module is used for controlling the operation of the device, the mechanical module is used for conveying parts to be subjected to glue dispensing to the image acquisition module for photographing and then to the glue dispensing module for annular glue dispensing, the image acquisition module is used for photographing the parts to be subjected to glue dispensing and transmitting images to the image processing module for processing, and the glue dispensing module is used for completing glue dispensing.
The mechanical module comprises a marble table (1), an X-axis sliding table (2), a Y-axis sliding table (3), a Z-axis sliding table (4), a cylinder (5), a material tray pressing plate (6), a material tray (7), a small sliding table (8), a hollow rotary table (9) and a fixing tool (10).
Specifically, the marble table (1) is used as an operation platform of the whole system, so that the overall stability of the system is ensured; charging tray (7) on place three ring shape part (i) of treating the point gum, in ring shape part (i) was fixed in the recess on charging tray (7), the standard position of three ring shape part was: in the X-axis direction, the circle centers of every two adjacent circular ring-shaped parts are spaced by 28mm, and the Y-axis coordinates are consistent; the material tray (7) is fixed on the X-axis sliding table (2) through a material tray pressing plate (6), and the X-axis sliding table (2) drives the annular part (i) to move towards positive and negative limiting directions; the cylinder (5) realizes the placement or the removal of the charging tray (7) by pushing the charging tray pressing plate (6); the hollow rotary table (9) is fixed on the Z-axis sliding table (4); the fixed tool (10) is fixed to the lower part of the central control turntable (9) through a fixing screw; the small sliding table (8) is used for carrying components in the image acquisition module; first slope 45 syringe needle (18) and second slope 45 syringe needle (19) fix on fixed frock (10) through the copper hoop, CMOS camera (11) link to each other with telecentric mirror (14) to fix on small-size slip table (8), telecentric mirror (12) and charging tray (7) are placed in to annular light source (13), CMOS camera (11) and telecentric mirror (12) and right angle reflector (15) link together, point light source (16) place CMOS camera (11) and telecentric mirror (12) and right-angle reflector (15) directly over for providing background light source, computer (24) can control each part of the whole device of this invention.
The image acquisition module comprises a first image acquisition module and a second image acquisition module, wherein the first image acquisition module comprises a CMOS camera (11), a telecentric lens (12) and an annular light source (13); the second image acquisition module comprises a CMOS camera, a telecentric lens (14), a right-angle reflector (15) and a point light source (16).
Specifically speaking, CMOS camera (11) link to each other with telecentric mirror head (12) to fix on small-size slip table (8), annular light source (13) are arranged in between telecentric mirror head (12) and charging tray (7). Before image acquisition, the annular part (i) is illuminated by an annular light source (13), and the relative distances among the telecentric lens (12), the annular light source (13) and the material tray (7) are adjusted to determine the optimal position.
Specifically, the CMOS camera (11) is placed at a position which satisfies the minimum distortion of the image edge; the CMOS camera (11) has high resolution (more than 1 million pixels) and is used for collecting images of the circular ring-shaped part (i) on the material tray (7).
Specifically, the small sliding table (8) can move up and down, left and right, so that the CMOS camera (11) reaches an accurate position; the CMOS camera is connected with the telecentric lens (14) and the right-angle reflector (15); the point light source (16) is arranged right above the CMOS camera, the telecentric lens (14) and the right-angle reflector (15) and is used for providing a background light source; the CMOS camera and the telecentric lens (14) acquire images of a first 45-degree-inclined needle head (18) and a second 45-degree-inclined needle head (19) which are arranged on the CMOS camera and the telecentric lens through a right-angle reflector (15).
The dispensing module comprises: the glue dispenser comprises a glue dispenser (17), a first 45-degree inclined needle head (18) and a second 45-degree inclined needle head (19).
Specifically, the first inclined 45-degree needle head (18) and the second inclined 45-degree needle head (19) are fixed on the fixing tool (10) through copper hoops; the inner diameter of the first inclined 45-degree needle head (18) is 0.31mm, and the inner diameter of the second inclined 45-degree needle head (18) is 0.25 mm.
The first inclined 45-degree needle head (18) and the second inclined 45-degree needle head (19) are controlled to move in the directions of the Y axis and the Z axis through the Y axis sliding table (3) and the Z axis sliding table (4) to reach a specified dispensing position; the central control rotary table (9) performs circular track dispensing by controlling the rotation of a first inclined 45-degree needle head (18) and a second inclined 45-degree needle head (19); first slope 45 syringe needle (18) and second slope 45 syringe needle (19) be used for carrying out some glue to the inboard cambered surface of ring shape part (i), the kind of gluing has two kinds: epoxy glue is filled in the first inclined 45-degree needle head (18), and conductive glue is filled in the second inclined 45-degree needle head (19).
The glue dispenser (17) controls glue discharging time of the first inclined 45-degree needle head (18) and the second inclined 45-degree needle head (19) by controlling on-off of an air passage of the air outlet, and controls glue discharging amount of the first inclined 45-degree needle head (18) and the second inclined 45-degree needle head (19) by controlling air pressure of the air outlet. The repeated precision of the glue discharging track is controlled within 0.05mm, and the repeated precision of the glue discharging amount is controlled within 0.1mm3Within.
The control module comprises a three-dimensional sliding table controller (20), a small sliding table controller (21), a CMOS light source controller (22), a spot light source controller (23) and a computer (24), wherein the computer (24) controls the three-dimensional sliding table controller (20), the small sliding table controller (21), the CMOS light source controller (22), the spot light source controller (23) and a spot gluing machine (17) through a control program and the controller.
Specifically, the image processing module comprises a computer (24), and an image processing algorithm is adopted in the computer (24). The image processing algorithm is divided into three parts: circle center detection, displacement compensation and baseline calibration of the circular ring-shaped part.
More specifically, the specific method for detecting the center of a circle of the CMOS camera (11) in the first image capturing unit is as follows:
the image acquired by a CMOS camera (11) is subjected to Hough circle detection, a candidate region is found based on the gradient of a gray image, and then detection is realized based on the candidate region, wherein the Hough circle detection mainly comprises the following specified parameters:
The center coordinates of the circular ring part (i) can be obtained by using a Hough circle detection algorithm, and displacement compensation is performed by using the obtained center coordinates.
More specifically, the specific method for performing displacement compensation on the X-axis sliding table (2) and the Y-axis sliding table (3) in the mechanical module is as follows:
more specifically, the specific method for calibrating the baseline of the first 45-degree inclined needle (18) and the second 45-degree inclined needle (19) in the dispensing module is as follows:
the method comprises the steps of controlling an X-axis sliding table (2), a Y-axis sliding table (3), a Z-axis sliding table (4) and a hollow rotating table (9) to move, completing arc-surface dispensing of a first inclined 45-degree needle head (18) to a circular ring-shaped part (i) by matching with a dispensing module, and controlling the Y-axis sliding table (3) and the Z-axis sliding table (4) to move to enable the first inclined 45-degree needle head (18) to move to an imaging range of a CMOS camera and a telecentric lens (14) in a second image acquisition module after the dispensing result is verified to be correct, wherein an image of the first inclined 45-degree needle head (18) is a white ellipse, and a base line of the first inclined 45-degree needle head (18) is determined to be.
The X-axis sliding table (2), the Y-axis sliding table (3), the Z-axis sliding table (4) and the hollow rotary table (9) are controlled to move, the dispensing module is matched to dispense the cambered surface of the circular ring-shaped part (i) by a second inclined 45-degree needle head (19), after the dispensing result is verified to be correct, the Y-axis sliding table (3) and the Z-axis sliding table (4) are controlled to move to enable the second inclined 45-degree needle head (19) to move to the imaging range of a CMOS camera and a telecentric lens (14) in the second image acquisition module, the image of the second inclined 45-degree needle head (19) is a white ellipse, and the base line of the second inclined 45-degree needle head (19) is determined to be a straight line penetrating through the center.
After the needle head of the device is replaced, the position of the needle head is adjusted by manually rotating the needle head, the circle center of the first inclined 45-degree needle head (18) is ensured to be superposed with the base line of the calibrated first inclined 45-degree needle head (18), and the circle center of the second inclined 45-degree needle head (19) is ensured to be superposed with the base line of the calibrated second inclined 45-degree needle head (19), so that the position compensation of the needle head is realized.
The cambered surface dispensing method provided by the embodiment of the invention comprises the following specific steps:
1) after the pinheads of the first inclined 45-degree pinhead (18) and the second inclined 45-degree pinhead (19) are replaced, the positions of the two pinheads are manually adjusted respectively according to the pinhead image positions in the second image acquisition module CMOS camera and the telecentric lens (14) and the calibrated baseline position, so that the circle center positions of the two pinheads are consistent with the baseline position, and the position compensation of the pinheads is completed.
2) Sequentially moving three circular ring-shaped parts (i) on a material tray (7) to the lower part of a CMOS camera (11), respectively acquiring images of the three circular ring-shaped parts (i) by controlling the movement of a small sliding table (8), and respectively obtaining circle center coordinates (circle _ x) of the three circular ring-shaped parts (i) by calculation according to an image processing algorithm1,circle_y1)、(circle_x2,circle_y2)、(circle_x3,circle_y3) The reference value of motion compensation corresponding to the known first inclined 45 DEG needle (18) is (x)0,y0，circle_x0,circle_y0) The motion compensation reference corresponding to the second inclined 45-degree needle (19)Value is (x'0,y′0，circle_x′0,circle_y′0)；
3) According to the circle center coordinate of the first annular part obtained by image processing and the calibrated reference value of the motion compensation of the first inclined 45-degree needle head (18), the actual motion distances (X, Y) of the X-axis sliding table (2) and the Y-axis sliding table (3) are calculated and obtained as follows:
4) controlling the X-axis sliding table (2), the Y-axis sliding table (3) moves to move the material tray (7) to the position below a first inclined 45-degree needle head (18), the hollow rotary table (9) is controlled to rotate 135 degrees anticlockwise, the Z-axis sliding table (4) is controlled to move downwards until the first inclined 45-degree needle head (18) is aligned to the middle position of the inner side arc surface of the circular ring-shaped part (i), the hollow rotary table (9) is controlled to rotate 90 degrees clockwise for dispensing, after dispensing is completed, the Z-axis sliding table (4) is controlled to lift the first inclined 45-degree needle head (18) to the original position, the hollow rotary table (9) is controlled to rotate 90 degrees clockwise to move to the next dispensing position, the Z-axis sliding table (4) is controlled to move downwards until the first inclined 45-degree needle head (18) is aligned to the middle position of the inner side arc surface of the circular ring-shaped part (i), the hollow rotary table (9) is controlled to rotate 90 degrees clockwise;
5) according to the circle center coordinate of the second circular ring-shaped part obtained by image processing and the calibrated reference value of the motion compensation of the first inclined 45-degree needle head (18), the actual motion distance (X, Y) from the X-axis sliding table (2) and the Y-axis sliding table (3) to the position of the second part is calculated and obtained as follows:
6) the epoxy glue dispensing of the second part is completed according to the method in 4);
7) completing epoxy glue dispensing of the third part according to the methods in 4) and 5);
8) according to the circle center coordinate of the first circular ring-shaped part obtained through image processing and the calibrated reference value of the motion compensation of the second inclined 45-degree needle head (19), the actual motion distances (X, Y) of the X-axis sliding table (2) and the Y-axis sliding table (3) are calculated and obtained as follows:
9) controlling the X-axis sliding table (2), the Y-axis sliding table (3) moves to move the material tray (7) to the position below a second inclined 45-degree needle head (19), the hollow rotary table (9) is controlled to rotate 45 degrees anticlockwise, the Z-axis sliding table (4) is controlled to move downwards until the second inclined 45-degree needle head (19) is aligned to the middle position of the inner side arc surface of the circular ring-shaped part (i), the hollow rotary table (9) is controlled to rotate 90 degrees clockwise to perform glue dispensing, after glue dispensing is completed, the Z-axis sliding table (4) is controlled to lift the second inclined 45-degree needle head (19) to the original point position, the hollow rotary table (9) is controlled to rotate 90 degrees clockwise to move to the next glue dispensing position, the Z-axis sliding table (4) is controlled to move downwards until the second inclined 45-degree needle head (19) is aligned to the middle position of the inner side arc surface of the circular ring-shaped part (i), and the hollow rotary table (9) is controlled to rotate;
10) and sequentially finishing the conductive adhesive dispensing of the second part and the third part according to the methods in 4), 5), 6) and 7).
And (3) finishing the dispensing of the epoxy glue and the 360-degree arc surface of the conductive glue of the three circular ring-shaped parts (i) according to the steps 1) to 10).
In view of the above, the automatic dispensing device for the inner arc surface of the circular part based on machine vision and program control provided by the embodiment of the invention uses the camera to collect the image of the circular part and obtains the circle center coordinate of the part through the image processing algorithm to perform the position compensation of the material tray; acquiring a needle head image by using a camera and manually finely adjusting the needle head to enable the circle center of the needle head image to be coincident with the calibrated baseline, and performing needle head position compensation; and all parts of the device are subjected to linkage control through a computer, so that automatic dispensing of the cambered surface of the circular ring-shaped part is realized. The dispensing method provided by the embodiment of the invention can realize automatic dispensing of the cambered surface of the small-sized circular ring part, has higher efficiency, consistency and automation degree, and can be widely applied to accurate dispensing of other cambered surfaces or curved surfaces in the future.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (10)
1. A cambered surface glue dispensing device is characterized by comprising a mechanical module, an image acquisition module, an image processing module, a glue dispensing module and a control module, wherein the control module is used for controlling the operation of the device;
the mechanical module includes: the device comprises a marble table (1), an X-axis sliding table (2), a Y-axis sliding table (3), a Z-axis sliding table (4), a cylinder (5), a charging tray pressing plate (6), a charging tray (7), a small sliding table (8), a central control rotary table (9) and a fixing tool (10), wherein the marble table (1) is used as a running platform for ensuring the integral stability of the device system; the material tray (7) is used for placing parts to be subjected to glue dispensing, the material tray (7) is fixed on the X-axis sliding table (2) through the material tray pressing plate (6), the air cylinder (5) is used for pushing the material tray pressing plate (6) to place or take down the material tray (7), and the X-axis sliding table (2) is used for driving the parts to be subjected to glue dispensing to move towards the positive and negative limiting directions; the Y-axis sliding table (3) and the Z-axis sliding table (4) are used for controlling components in the dispensing module to move in the directions of the Y axis and the Z axis; the central control rotary table (9) is used for controlling components in the dispensing module to move, and the central control rotary table (9) is fixed on the Z-axis sliding table (4) through the fixing tool (10); the fixing tool (10) is fixed to the lower part of the central control turntable (9) through a fixing screw; the small sliding table (8) is used for carrying components in the image acquisition module;
the image acquisition module comprises a first image acquisition module and a second image acquisition module, the first image acquisition module comprises a CMOS camera (11), a telecentric lens (12) and an annular light source (13), the CMOS camera (11) is connected with the telecentric lens (12) and fixed on the small sliding table (8), and the annular light source (13) is arranged between the telecentric lens (12) and the material tray (7); the second image acquisition module comprises a CMOS camera (11), a telecentric lens (14), a right-angle reflector (15) and a point light source (16), the CMOS camera (11), the telecentric lens (14) and the right-angle reflector (15) are connected, the point light source (16) is arranged right above the CMOS camera (11), the telecentric lens (14) and the right-angle reflector (15) and is used for providing a background light source, and the CMOS camera (11) and the telecentric lens (14) are used for acquiring images through the right-angle reflector (15) for a first needle head (18) inclined at 45 degrees and a second needle head (19) inclined at 45 degrees;
the dispensing module comprises a dispensing machine (17), a first 45-degree inclined needle head (18) and a second 45-degree inclined needle head (19), the first 45-degree inclined needle head (18) and the second 45-degree inclined needle head (19) are used for dispensing parts to be dispensed, and the first 45-degree inclined needle head (18) and the second 45-degree inclined needle head (19) are fixed on the fixing tool (10) through copper hoops; the first inclined 45-degree needle head (18) and the second inclined 45-degree needle head (19) are controlled to move in the directions of the Y axis and the Z axis through the Y axis sliding table (3) and the Z axis sliding table (4) to reach a specified dispensing position; the central control rotary table (9) performs circular track dispensing by controlling the rotation of a first inclined 45-degree needle head (18) and a second inclined 45-degree needle head (19);
the part to be subjected to glue dispensing is a circular ring-shaped part (i);
first slope 45 syringe needle (18) and second slope 45 syringe needle (19) are used for carrying out some glue to the inboard cambered surface of this ring shape part (i), and the kind of gluing has two kinds: epoxy glue is filled in the first inclined 45-degree needle head (18), and conductive glue is filled in the second inclined 45-degree needle head (19);
the image processing module comprises a computer (24), the computer (24) adopts an image processing algorithm, and the image processing algorithm is divided into three parts: a circle center detection algorithm of a circular part of the cambered surface dispensing device, a displacement compensation algorithm of the cambered surface dispensing device and a baseline calibration algorithm of the cambered surface dispensing device.
2. The arc dispensing device according to claim 1, wherein the tray (7) is provided with a groove for fixing the parts to be dispensed in the groove.
3. The arc dispensing device according to claim 2, wherein the dispensing machine (17) controls the dispensing time of the first 45 ° inclined needle (18) and the second 45 ° inclined needle (19) by controlling the on/off of the air passage of the air outlet, and controls the dispensing amount of the first 45 ° inclined needle (18) and the second 45 ° inclined needle (19) by controlling the air pressure of the air outlet; the glue discharging track repetition precision of the first inclined 45-degree needle head (18) and the second inclined 45-degree needle head (19) is controlled within 0.05mm, and the glue discharging quantity repetition precision of the first inclined 45-degree needle head (18) and the second inclined 45-degree needle head (19) is controlled within 0.1mm2Within.
4. The arc dispensing device of claim 3, wherein the first 45 ° inclined needle (18) has an inner diameter of 0.25 to 0.4mm, and the second 45 ° inclined needle (19) has an inner diameter of 0.25 to 0.4 mm.
5. The arc dispensing device according to claim 1, wherein the control module comprises a three-dimensional sliding table controller (20), a small sliding table controller (21), a CMOS light source controller (22), a spot light source controller (23) and a computer (24), and the computer (24) controls the three-dimensional sliding table controller (20), the small sliding table controller (21), the CMOS light source controller (22), the spot light source controller (23) and the dispensing machine (17) through a control program.
6. The arc dispensing device according to claim 1, wherein the arc dispensing device circle center detection algorithm is used for circle center detection of a CMOS camera (11) in the first image acquisition module, and comprises the following specific steps:
carrying out Hough circle detection on an image acquired by a CMOS camera (11) to obtain the following specified parameters: and (3) obtaining the center coordinates of the annular part (i) by using the Hough circle detection algorithm according to the edge detection canny value, the accumulator value and the designated radius range value, and performing displacement compensation by using the obtained center coordinates.
7. The arc dispensing device according to claim 1, wherein the arc dispensing device displacement compensation algorithm is used for performing displacement compensation on an X-axis sliding table (2) and a Y-axis sliding table (3) in the mechanical module, and the specific method comprises:
calibrating a reference value: the X-axis sliding table (2), the Y-axis sliding table (3), the Z-axis sliding table (4) and the central control rotary table (9) are controlled to move, arc-surface dispensing of the circular ring-shaped part (i) is completed by matching with a dispensing module, and the movement distance (X) of the X-axis sliding table (2) and the Y-axis sliding table (3) relative to the original point is recorded0,y0) Continuously controlling the X-axis sliding table (2) and the Y-axis sliding table (3) to move, and completing circle center coordinate detection of the circular ring-shaped part (i) by matching with the first image acquisition unit to obtain a circle center coordinate (circle _ X)0,circle_y0) (ii) a Through the above steps, the reference value (x) for motion compensation can be obtained0,y0，circle_x0,circle_y0)；
And (3) displacement compensation: when changing ring part (i) back, control X axle slip table (2), Y axle slip table (3) move, the centre of a circle coordinate that the ring part (i) was accomplished to cooperation first image acquisition unit detects, obtain centre of a circle coordinate (circle _ X, circle _ Y), calculate the difference of this centre of a circle coordinate and benchmark centre of a circle coordinate, thereby obtain X axle slip table (2), the distance that Y axle slip table (3) need displacement compensation, finally confirm X axle slip table (2), the actual movement distance (X of Y axle slip table (3), Y) is:
8. the arc dispensing device of claim 1, wherein the arc dispensing device baseline calibration method is used for baseline calibration of a first 45 ° inclined needle (18) and a second 45 ° inclined needle (19) in a dispensing module, and the method comprises:
controlling an X-axis sliding table (2), a Y-axis sliding table (3), a Z-axis sliding table (4) and a central control rotary table (9) to move, completing the dispensing of the cambered surface of the circular ring-shaped part (i) by a first inclined 45-degree needle head (18) by matching with a dispensing module, and controlling the Y-axis sliding table (3) and the Z-axis sliding table (4) to move the first inclined 45-degree needle head (18) to the imaging range of a CMOS camera (11) and a telecentric lens (14) in a second image acquisition module after the dispensing result is verified to be correct, wherein the image of the first inclined 45-degree needle head (18) is a white ellipse, and the base line of the first inclined 45-degree needle head (18) is determined to be a straight line passing through the center of;
the X-axis sliding table (2), the Y-axis sliding table (3), the Z-axis sliding table (4) and the central control rotary table (9) are controlled to move, the dispensing module is matched to dispense glue on the cambered surface of the circular ring-shaped part (i) by a second inclined 45-degree needle head (19), after the dispensing result is verified to be correct, the Y-axis sliding table (3) and the Z-axis sliding table (4) are controlled to move to enable the second inclined 45-degree needle head (19) to move into the imaging range of a CMOS camera (11) and a telecentric lens (14) in the second image acquisition module, the image of the second inclined 45-degree needle head (19) is a white ellipse, and the base line of the second inclined 45-degree needle head (19) is determined to be a straight line penetrating through.
9. The arc dispensing device of claim 8, wherein the arc dispensing device baseline calibration method further comprises: after the needle head of the device is replaced, the position of the needle head is adjusted by manually rotating the needle head, the circle center of the first inclined 45-degree needle head (18) is ensured to be superposed with the base line of the calibrated first inclined 45-degree needle head (18), and the circle center of the second inclined 45-degree needle head (19) is ensured to be superposed with the base line of the calibrated second inclined 45-degree needle head (19), so that the position compensation of the needle head is realized.
10. A cambered surface dispensing method is characterized by comprising the following steps:
after the pinheads are replaced by the first 45-degree-inclined pinhead (18) and the second 45-degree-inclined pinhead (19), manually adjusting the positions of the two pinheads respectively according to the pinhead image positions in the second image acquisition module CMOS camera (11) and the telecentric lens (14) and the calibrated baseline position, so that the circle center positions of the two pinheads are consistent with the baseline position, and completing the position compensation of the pinheads;
sequentially moving the three circular ring-shaped parts (i) on the material tray (7) to the lower part of the CMOS camera (11), respectively acquiring images of the three circular ring-shaped parts (i) by controlling the small sliding table (8) to move, and respectively obtaining circle center coordinates (circle _ x) of the three circular ring-shaped parts (i) by calculation according to an image processing algorithm1,circle_y1)、(circle_x2,circle_y2)、(circle_x3,circle_y3) The reference value of motion compensation corresponding to the known first inclined 45 DEG needle (18) is (x)0,y0，circle_x0,circle_y0) The motion compensation reference value corresponding to the second inclined 45 DEG needle head (19) is (x'0,y′0，circle_x′0,circle_y′0)；
Step (3), calculating actual movement distances (X, Y) of the X-axis sliding table (2) and the Y-axis sliding table (3) according to the circle center coordinate of the first circular ring-shaped part obtained through image processing and a calibrated reference value of the movement compensation of the first inclined 45-degree needle head (18), wherein the actual movement distances (X, Y) are as follows:
step (4) controlling the X-axis sliding table (2) and the Y-axis sliding table (3) to move the material tray (7) to the position below a first inclined 45-degree needle head (18), controlling the central control rotary table (9) to rotate 135 degrees anticlockwise, controlling the Z-axis sliding table (4) to move downwards until the first inclined 45-degree needle head (18) is aligned with the middle position of the inner side arc surface of the circular ring-shaped part (i), controlling the central control rotary table (9) to rotate 90 degrees clockwise to perform glue dispensing, controlling the Z-axis sliding table (4) to lift the first inclined 45-degree needle head (18) to the original position after the glue dispensing is completed, controlling the central control rotary table (9) to rotate 90 degrees clockwise to move to the next glue dispensing position, controlling the Z-axis sliding table (4) to move downwards until the first inclined 45-degree needle head (18) is aligned with the middle position of the inner side arc surface of the circular ring-shaped part (i), and, completing epoxy glue dispensing of the circular ring-shaped part (i);
step (5), calculating the actual movement distance (X, Y) of the X-axis sliding table (2) and the Y-axis sliding table (3) to the second part according to the circle center coordinate of the second circular ring-shaped part obtained by image processing and the calibrated reference value of the movement compensation of the first inclined 45-degree needle head (18), wherein the actual movement distance (X, Y) is as follows:
step (6), completing epoxy glue dispensing of the second part according to the method in the step (4);
step (7), completing epoxy glue dispensing of the third part according to the methods in the steps (4) and (5);
step (8), calculating actual movement distances (X, Y) of the X-axis sliding table (2) and the Y-axis sliding table (3) according to the circle center coordinate of the first circular ring-shaped part obtained through image processing and a calibrated reference value of the movement compensation of the second inclined 45-degree needle head (19), wherein the actual movement distances (X, Y) are as follows:
step (9), controlling the X-axis sliding table (2) and the Y-axis sliding table (3) to move the material tray (7) to the position below a second inclined 45-degree needle head (19), controlling the central control rotating table (9) to rotate 45 degrees anticlockwise, controlling the Z-axis sliding table (4) to move downwards until the second inclined 45-degree needle head (19) is aligned with the middle position of the inner side cambered surface of the circular ring-shaped part (i), controlling the central control rotating table (9) to rotate 90 degrees clockwise for dispensing, controlling the Z-axis sliding table (4) to lift the second inclined 45-degree needle head (19) to the original point position after dispensing is completed, controlling the central control rotating table (9) to rotate 90 degrees clockwise to move to the next dispensing position, controlling the Z-axis sliding table (4) to move downwards until the second inclined 45-degree needle head (19) is aligned with the middle position of the inner side cambered surface of the circular ring-shaped part (i), controlling the central control rotating table (9, completing the conductive adhesive dispensing of the circular ring-shaped part (i);
step (10), conducting adhesive dispensing of the second part and the third part is sequentially completed according to the methods in the steps (4), (5), (6) and (7);
and (11) finishing the dispensing of the epoxy glue and the 360-degree arc surface of the conductive glue of the three circular ring-shaped parts (i) according to the steps (1) to (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911368881.1A CN111054587B (en) | 2019-12-26 | 2019-12-26 | Cambered surface glue dispensing device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911368881.1A CN111054587B (en) | 2019-12-26 | 2019-12-26 | Cambered surface glue dispensing device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111054587A CN111054587A (en) | 2020-04-24 |
| CN111054587B true CN111054587B (en) | 2021-07-13 |
Family
ID=70303965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911368881.1A Active CN111054587B (en) | 2019-12-26 | 2019-12-26 | Cambered surface glue dispensing device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111054587B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111804520B (en) * | 2020-09-08 | 2020-12-22 | 歌尔光学科技有限公司 | Gluing system and gluing method thereof |
| CN113304959A (en) * | 2021-04-30 | 2021-08-27 | 深圳市世宗自动化设备有限公司 | Circular hole side surface dispensing method and device, computer equipment and storage medium thereof |
| CN113235384B (en) * | 2021-06-02 | 2022-11-08 | 山西省交通新技术发展有限公司 | Road bridge is with road surface marking device with quick drying structure |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103682930A (en) * | 2012-09-03 | 2014-03-26 | 北京慧感嘉联科技有限公司 | Lead wire connecting method and radio frequency antenna |
| CN204523408U (en) * | 2015-01-20 | 2015-08-05 | 北京派和科技股份有限公司 | Based on injection valve and the point glue equipment of Piezoelectric Ceramic and flexible amplification mechanism |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6123268A (en) * | 1999-05-04 | 2000-09-26 | Nordson Corporation | Angularly adjustable nozzle |
| EP1630514A1 (en) * | 2004-08-16 | 2006-03-01 | Isocoll Chemie GmbH | Process for attachment of a tube to a plate |
| CN202516745U (en) * | 2012-03-20 | 2012-11-07 | 珠海天威技术开发有限公司 | Adhesive dispenser |
| CN102615028B (en) * | 2012-04-09 | 2014-03-26 | 青岛海信移动通信技术股份有限公司 | Dispensing method and portable mobile terminal |
| CN205403706U (en) * | 2016-02-22 | 2016-07-27 | 青岛德林科姆电子科技有限公司 | Position compensating system of robot based on vision |
| CN105750156B (en) * | 2016-04-22 | 2019-02-01 | 大连理工大学 | A kind of precise automatic point glue equipment and method |
| CN205833506U (en) * | 2016-07-05 | 2016-12-28 | 成都联超工业自动化有限公司 | The point glue equipment being easy to use |
| CN208466346U (en) * | 2018-05-21 | 2019-02-05 | 中山市联申达科技有限公司 | A kind of light-receiving transmitting chip dispensing coupling device |
| CN109433517B (en) * | 2018-11-22 | 2023-10-27 | 成都网动光电子技术股份有限公司 | Monitoring device of automatic dispensing device for optical device slide and pattern recognition self-checking method |
| CN110560331B (en) * | 2019-08-15 | 2020-09-18 | 北京航天控制仪器研究所 | Coaxial part assembling device and method |
-
2019
- 2019-12-26 CN CN201911368881.1A patent/CN111054587B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103682930A (en) * | 2012-09-03 | 2014-03-26 | 北京慧感嘉联科技有限公司 | Lead wire connecting method and radio frequency antenna |
| CN204523408U (en) * | 2015-01-20 | 2015-08-05 | 北京派和科技股份有限公司 | Based on injection valve and the point glue equipment of Piezoelectric Ceramic and flexible amplification mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111054587A (en) | 2020-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111054587B (en) | Cambered surface glue dispensing device and method | |
| CN110560331B (en) | Coaxial part assembling device and method | |
| CN106990776B (en) | Robot homing positioning method and system | |
| US9927594B2 (en) | Image pickup module manufacturing method and image pickup module manufacturing device | |
| CN105964486A (en) | Automatic gluing system and gluing method thereof | |
| CN1996194A (en) | Moving body positioning and rectifying system and its motion tracking method | |
| CN106441278A (en) | Unmanned aerial vehicle indoor positioning system and method | |
| CN107505120B (en) | Camera module optical center location measurement method and measuring device | |
| TW201713587A (en) | Die precision pick and place apparatus and method using the same and suction module | |
| CN114326130B (en) | Active alignment assembling equipment for VR lens module and active alignment method for VR lens module | |
| CN107084671B (en) | A kind of recessed bulb diameter measuring system and measurement method based on three wire configuration light | |
| TWI575645B (en) | Method for aligning object on alignment platform by utilizing two cameras, method for aligning and gluing substrate of display panel, and method for aligning upper and lower substrates of display panel | |
| CN112082480A (en) | Method and system for measuring spatial orientation of chip, electronic device and storage medium | |
| TWI757897B (en) | Methods of positioning components in desired positions on a board | |
| CN205664784U (en) | Need not three -dimensional scanning system at object surface paste mark point | |
| CN115866383B (en) | Side chip active alignment assembly method and device, electronic equipment and medium | |
| US11460713B2 (en) | System and method for aligning multiple lens elements | |
| TW201537309A (en) | Displacement detection method, displacement detection apparatus, drawing apparatus and substrate inspection apparatus | |
| WO2015194396A1 (en) | Lens element transfer mechanism, lens drive device, optical axis adjustment device, and equipment and method for manufacturing optical module | |
| JP2015179246A (en) | optical axis adjustment device | |
| CN112405620B (en) | Five-target ball calibration tool for service machine humanization detection | |
| KR102287441B1 (en) | Stage alignment device, coating device including the same and method of aligning stage using the same | |
| TW201008661A (en) | Glue dispensing method and glue dispensing machine with tolerance correction function | |
| CN205482791U (en) | Plug -in components component stitch vision positioning device based on binocular vision | |
| CN113419348A (en) | Equipment of VR glasses module |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |