CN111097660B - Visual positioning deviation rectifying method based on rotary dispensing device - Google Patents
Visual positioning deviation rectifying method based on rotary dispensing device Download PDFInfo
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- CN111097660B CN111097660B CN201911059156.6A CN201911059156A CN111097660B CN 111097660 B CN111097660 B CN 111097660B CN 201911059156 A CN201911059156 A CN 201911059156A CN 111097660 B CN111097660 B CN 111097660B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B5/00—Electrically-operated educational appliances
- G09B5/02—Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
Abstract
The invention relates to a visual positioning deviation rectifying method based on a rotary dispensing device, which comprises the following steps: s1, calibrating the relative position relation between the center of a rotary shaft valve and the center of a camera; s2, converting coordinates of the dispensing points of the camera and the dispensing valve according to the relative position relationship calibrated in the step S1; s3, performing visual positioning and deviation correction according to the position relation between the dispensing valve and the product; the algorithm is suitable for dispensing needle valves and injection valves. The method can realize the angle correction of the injection valve or the dispensing needle valve, improve the teaching precision of the dispensing needle valve and simultaneously realize the teaching of the injection valve.
Description
Technical Field
The invention belongs to the field of machining deviation correction, and particularly relates to a rotary dispensing device and a visual positioning deviation correction method thereof.
Background
The traditional glue dispensing equipment with the rotary needle head is taught through the needle head, so that the efficiency is low, and the operation is inconvenient. Meanwhile, the requirement on precision is higher in more and more occasions, and the injection valve with higher processing speed cannot be taught through a needle.
At present, the needle rotating machines on the market are all taught through needles, an operator needs to stare at equipment and a teaching box for operation at the same time, and the operation is complex and the efficiency is low. Meanwhile, the processing precision of the product is greatly influenced by the jig and the position of the product, the processing precision is low, and if the position deviation of the product is large, the product is likely to be scrapped. Because the requirement on the posture of the product is very high, generally, only one product can be fixed on the jig every time, and the processing efficiency is low.
And compared with the needle head, the injection valve has higher control requirement on the angle, the needle head has deviation during dispensing, as long as the needle head is still aligned with the dispensing point, the actual dispensing result has no difference for one dispensing point, and for the injection valve, when the angle is deviated, the final dispensing position point and the target dispensing point have larger deviation.
Disclosure of Invention
The invention provides a visual positioning deviation rectifying method based on a rotary dispensing device based on the problems that the teaching efficiency and the processing precision of the existing needle head rotary dispensing machine are low and the deviation of an injection valve cannot be rectified, so that the processing efficiency and the processing precision of the needle head rotary dispensing machine are improved, and the visual positioning deviation rectifying method is suitable for teaching and dispensing of the injection valve and the needle head.
The invention is realized by the following contents:
a visual positioning deviation rectifying method based on a rotary dispensing device is realized based on the rotary dispensing device and comprises the following steps:
s1, calibrating the relative position relation between the valve center of a rotary shaft valve and the center of a camera;
s2, converting coordinates of the dispensing points of the camera and the dispensing valve according to the relative position relationship calibrated in the step S1;
s3, performing visual positioning and deviation correction according to the position relation between the dispensing valve and the product;
the rotary dispensing device comprises a body, an X-axis valve, a Y-axis valve, a Z-axis valve, a rotary axis valve, a dispensing valve, an operating platform, a fixed rod, a camera and control equipment; the X-axis valve comprises an X-axis motor and an X-axis screw rod; the Y-axis valve comprises a Y-axis motor and a Y-axis screw rod; the Z-axis valve comprises a Z-axis motor and a Z-axis screw rod; the rotary shaft valve comprises a rotary motor, a rotary shaft and a fixed plate frame; the body comprises a base, a left supporting rod and a right supporting rod; the control device comprises a controller and a display;
the left supporting rod and the right supporting rod are vertically arranged on the horizontally arranged base along the Z axis, and the upper end parts of the left supporting rod and the right supporting rod are respectively connected with two ends of the X-axis valve;
the X-axis valve and the Z-axis valve are connected in a cross manner; the X-axis motor controls the Z-axis valve to move in the X-axis direction through an X-axis lead screw;
the Z-axis valve is vertically connected with the rotating shaft valve along the Z-axis direction; the Z-axis motor controls the movement of the rotary shaft valve in the Z-axis direction through a Z-axis lead screw;
the rotary shaft valve is connected with the dispensing valve through a fixed rod; the rotating motor controls the fixed rod through the rotating shaft to drive the dispensing valve to rotate;
the Y-axis valve is arranged on the base along the Y-axis direction; the operating platform is connected with the base through a Y-axis valve, and the operating platform surface is a horizontal surface; the Y-axis motor controls the operating platform to move along the Y-axis direction through a Y-axis lead screw;
the camera is arranged on a fixed plate frame of the rotating shaft valve, the direction of the camera is parallel to the rotating shaft valve and is vertical to the X axis, and one end of the camera with a camera faces the operating platform in the negative direction of the Z axis;
the control equipment is connected with the X-axis motor, the Y-axis motor, the Z-axis motor, the rotating motor and the camera; the controller controls the X-axis motor, the Y-axis motor, the Z-axis motor, the rotating motor and the camera to perform dispensing teaching and actual dispensing; the display displays a simulation track for dispensing teaching, a real track during actual dispensing and a dispensing finished product object diagram;
a dispensing valve motor and a dispensing valve screw rod are arranged in the dispensing valve; the dispensing valve motor is connected with the control equipment, and the extension and retraction of the dispensing valve head are controlled through a dispensing valve lead screw;
the dispensing valve is a dispensing needle valve or a dispensing injection valve.
In order to better implement the present invention, further, the step s1 specifically includes the following steps:
s1.1, defining a central point of a camera as a central point C; keeping an X-axis motor, a Y-axis motor and a Z-axis motor out of work, enabling a rotating motor to work, controlling a fixed rod to drive a dispensing valve to rotate 0 degrees to mark a point a, rotate 120 degrees to mark a point b and rotate 240 degrees to mark a point c relative to the initial position of the dispensing valve respectively, and connecting the three points of the point a, the point b and the point c to form a circle with the center of the circle as a point O; recording the coordinate C of the center point C on the XY plane at this moment1（x1，y1）；
S1.2, moving the central point C to align the point a, the point b and the point C respectively,recording the coordinate C when the center point C is aligned with the point a2（x2，y2) Coordinate C when center point C is aligned with point b3（x3，y3) Coordinate C when center point C is aligned with point C4（x4，y4）；
S1.3, defining the valve center of the rotating shaft valve as a central point F; through the coordinate C obtained in the step S1.22（x2，y2) Coordinate C3（x3，y3) And coordinates C4（x4，y4) The coordinates of the center point O in the case of step S1.1, i.e. the coordinates F of the center point F on the XY plane, can be determined5（x5，y5）；
S1.4, defining the deviation component of the central point F of the rotating shaft valve and the central point C of the camera on the X axis as m _ dbValveOffsetX and the deviation component on the Y axis as m _ dbValveOffsetY; according to the coordinate C1（x1，y1) And coordinates F5（x5，y5) M _ dbValveOffsetX and m _ dbValveOffsetY are calculated.
In order to better realize the invention, further, a dispensing point of the dispensing valve is defined as a dispensing point Z, when the dispensing valve rotates by 0 degree, a deviation component of the dispensing point Z and a central point F on an X axis is defined as m _ fOffsetZeroPosW _ X, and when the dispensing valve rotates by 0 degree, a deviation component of the dispensing point Z and the central point F on a Y axis is defined as m _ fOffsetZeroPosW _ Y; according to the coordinate C in the step S1.32（x2，y2) And the coordinate F in step S1.45（x5，y5) Obtaining m _ fOffsetZeroPosW _ X and m _ fOffsetZeroPosW _ Y; and meanwhile, the length L of the rotating radius of the dispensing valve is obtained according to the m _ fOffsetZeroPosW _ X and the m _ fOffsetZeroPosW _ Y.
In order to better implement the present invention, further, the step s2 specifically includes the following steps:
s2.1, performing teaching operation once, selecting a teaching point, and defining the teaching point as a point D;
s2.2, aligning the central point F with the point D, and recording the coordinate of the central point C at the momentC6（x6，y6) And converting the coordinate F of the center point alignment point D at the moment according to the S1.4. the deviation component of the center point F of the rotary shaft valve and the center point C of the camera on the X axis is m _ dbValveOffsetX and the deviation component on the Y axis is m _ dbValveOffsetY which are obtained in the step7（x7，y7）；
S2.3, aligning a dispensing point Z of the dispensing valve with a point D, wherein the coordinate of the dispensing point Z is the coordinate F7（x7，y7) Obtaining the coordinate C of the center point C at the moment8（X8，Y8) Converting the coordinate F of the center point F at the moment according to the m _ fOffsetZeroPosW _ X and the m _ fOffsetZeroPosW _ Y obtained in the step S1.59（x9，y9）；
S2.4, defining the rotation angle of the dispensing valve to be dbAngle _ W; obtaining the coordinate F of the central point F of the rotating shaft valve when the dispensing valve is rotated dbAngle _ W according to mathematical transformation10（x10，y10）；
And S2.5, converting the conversion relation between the camera center point C of the camera and the dispensing point Z.
In order to better implement the present invention, further, the step s3 specifically includes the following steps:
s3.1, setting a mark dispensing point B on a product needing dispensing, and defining a corresponding position point of the mark dispensing point B in the teaching process as a teaching mark dispensing point B';
s3.2, calculating the deviation CcdOffset _ X of the marked dispensing point B and the teaching marked dispensing point B' on the X axis and the deviation CcdOffset _ Y on the Y axis during actual dispensing;
and S3.3, when the included angle between the dispensing valve and the product is a specific angle in the process of processing, when an angle error theta is generated at the position of the product, and after the position of the dispensing valve is adjusted, the included angle between the dispensing valve and the product is adjusted again.
In order to better realize the invention, further, when the dispensing valve is a dispensing needle valve, the dispensing point Z is a needle head of the dispensing needle valve; when the dispensing valve is a dispensing injection valve, a dispensing point Z is determined by the following steps:
the method comprises the following steps: determining an injection point P of the dispensing injection valve;
step two: defining a fixed distance H, wherein H is the distance between the injection point P and a dispensing point Z of the dispensing injection valve along the ray direction of the injection valve;
step three: determining a dispensing point Z of the dispensing injection valve through the distance H and the injection point P;
meanwhile, when in actual dispensing, the distance H in the actual dispensing process of the dispensing injection valve is adjusted by using a laser altimeter.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1) the teaching and deviation correction of the dispensing injection valve can be realized, and the algorithm can be compatible with the dispensing needle valve and the dispensing injection valve;
2) through the camera teaching, the camera teaching dispensing point is converted into the actual dispensing point, the conversion angle deviation is included, and the teaching efficiency and the processing precision are improved.
Drawings
FIG. 1 is a schematic diagram showing positions of a center point F, a center point C and a point Z;
FIG. 2 is a perspective view of the rotary dispensing device;
FIG. 3 is a front view of the rotary dispensing device;
FIG. 4 is a schematic diagram of steps S1.1-S1.4;
FIG. 5 is a schematic plan view of step S1.5;
FIG. 6 is a schematic view of determining the length L of the radius of rotation;
FIG. 7 is a schematic diagram of steps S2.1-S2.1;
FIG. 8 is a schematic view of step S2.3;
FIG. 9 is a schematic view of step S2.4;
FIG. 10 is a schematic view of step S2.4;
FIG. 11 is a schematic diagram illustrating an angle between a dispensing valve and a dispensing point of a product according to a standard teaching;
FIG. 12 is a schematic diagram illustrating deviation correction of a dispensing valve in real-time processing;
fig. 13 shows the determination of the dispensing point Z of the dispensing injection valve by the distance H.
Wherein: 1. a body; 2. an X-axis valve; 3. a Y-axis valve; 4. a Z-axis valve; 5. a rotary shaft valve; 6. an X-axis motor; 7. a Y-axis motor; 8. a Z-axis motor; 9. a rotating electric machine; 10. an X-axis lead screw; 11. a Y-axis lead screw; 12. a Z-axis lead screw; 13. a rotating shaft; 14. dispensing a glue valve; 15. an operation table; 16. fixing the rod; 17. a base; 18. a left support bar; 19. a right support bar; 20. a camera; 21. a dispensing valve motor; 22. a dispensing valve lead screw; 23. and fixing the plate frame.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, 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 should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and therefore should not be considered as a limitation to the scope of protection. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
a visual positioning deviation rectifying method based on a rotary glue dispensing device is disclosed, as shown in figures 1, 2 and 3, the method is realized based on the rotary glue dispensing device, and comprises the following steps:
s1, calibrating the relative position relation between the valve center of the rotary shaft valve 5 and the center of the camera 20;
s2, converting coordinates of the dispensing points of the camera 20 and the dispensing valve 14 according to the relative position relationship calibrated in the step S1;
s3, performing visual positioning and deviation correction according to the position relation between the dispensing valve 14 and the product;
the rotary dispensing device comprises a body 1, an X-axis valve 2, a Y-axis valve 3, a Z-axis valve 4, a rotary axis valve 5, a dispensing valve 14, an operating platform 15, a fixing rod 16, a camera 20 and control equipment; the X-axis valve 2 comprises an X-axis motor 6 and an X-axis lead screw 10; the Y-axis valve 3 comprises a Y-axis motor 7 and a Y-axis lead screw 11; the Z-axis valve 4 comprises a Z-axis motor 8 and a Z-axis lead screw 12; the rotary shaft valve 5 comprises a rotary motor 9, a rotary shaft 13 and a fixed plate frame 23; the body 1 comprises a base 17, a left support rod 18 and a right support rod; the control device comprises a controller and a display;
the left supporting rod 18 and the right supporting rod 19 are vertically arranged on the horizontally arranged base 17 along the Z axis, and the upper ends of the left supporting rod 18 and the right supporting rod 19 are respectively connected with two ends of the X-axis valve 2;
the X-axis valve 2 and the Z-axis valve 4 are connected in a cross manner; the X-axis motor 6 controls the Z-axis valve 4 to move in the X-axis direction through an X-axis lead screw 10;
the Z-axis valve 4 is vertically connected with the rotating shaft valve 5 along the Z-axis direction; the Z-axis motor 8 controls the movement of the rotating shaft valve 5 in the Z-axis direction through a Z-axis lead screw 12;
the rotary shaft valve 5 is connected with a dispensing valve 14 through a fixed rod 16; the rotating motor 9 controls a fixing rod 16 through a rotating shaft 13 to drive a dispensing valve 14 to rotate;
the Y-axis valve 3 is arranged on the base 17 along the Y-axis direction; the operating platform 15 is connected with the base 17 through the Y-axis valve 3, and the operating platform surface is a horizontal surface; the Y-axis motor 7 controls the operating platform 15 to move along the Y-axis direction through the Y-axis lead screw 11;
the camera 20 is arranged on a fixed plate frame 23 of the rotary shaft valve 5, the direction of the camera 20 is parallel to the rotary shaft valve 5 and is vertical to the X axis, and one end of the camera 20 with a camera faces to the operating platform 15 in the Z axis negative direction;
the control equipment is connected with an X-axis motor 6, a Y-axis motor 7, a Z-axis motor 8, a rotating motor 9 and a camera 20; the controller controls the X-axis motor 6, the Y-axis motor 7, the Z-axis motor 8, the rotating motor 9 and the camera 20 to perform dispensing teaching and actual dispensing; the display displays a simulation track for dispensing teaching, a real track during actual dispensing and a dispensing finished product object diagram;
a dispensing valve motor 21 and a dispensing valve screw rod 22 are arranged in the dispensing valve 14; the dispensing valve motor 21 is connected with control equipment, and the extension of the dispensing valve head is controlled through a dispensing valve lead screw 22;
the dispensing valve 14 is a dispensing needle valve or a dispensing injection valve.
The working principle is as follows: the X-axis motor 6, the Y-axis motor 7, the Z-axis motor 8, the rotating motor 9 and the camera 20 are connected with a control device, the control device can position the position of the camera, a display and a controller are arranged on the control device, the controller is used for controlling the operation of the X-axis motor 6, the Y-axis motor 7, the Z-axis motor 8, the rotating motor 9 and the camera 20, and the display is used for displaying a track of the camera 20 during teaching and an image during processing; the motors in the XYZ axes can control the corresponding screw rods to move in the XYZ directions during dispensing; the rotating motor 9 controls the rotation of the rotating shaft 13, so that the dispensing valve 14 can rotate for dispensing;
because the center of the camera 20 and the center of the rotary shaft valve are fixed, and the dispensing valve rotates around the Z axis by taking the valve center of the rotary shaft valve as a rotating point, the position relation of the dispensing points of the camera and the dispensing valve can be determined according to the relation, so that the function taught by the camera can be realized; and performing visual positioning and deviation correction according to the position relation between the dispensing valve and the product.
Example 2:
in order to better implement the present invention, as shown in fig. 1, fig. 2, fig. 3, fig. 4, and fig. 5, further, the step s1 specifically includes the following steps:
s1.1, defining a central point of the camera 20 as a central point C; keeping an X-axis motor 6, a Y-axis motor 7 and a Z-axis motor 8 out of work, enabling a rotating motor 9 to work, and controlling a fixed rod 16 to drive a dispensing valve 14 to rotate 0-degree marking point a, 120-degree marking point b and 240-degree marking point c relative to the initial position of the dispensing valve 14 respectively, so that the point a, the point b and the point c are connected to form a circle with the center of the circle as a point O; record the center point C at X at this momentCoordinate C on the Y plane1（x1，y1）；
S1.2, moving the central point C to align the point a, the point b and the point C respectively, and recording a coordinate C when the central point C is aligned with the point a2（x2，y2) Coordinate C when center point C is aligned with point b3（x3，y3) Coordinate C when center point C is aligned with point C4（x4，y4）；
S1.3, defining the valve center of the rotating shaft valve 5 as a central point F; through the coordinate C obtained in the step S1.22（x2，y2) Coordinate C3（x3，y3) And coordinates C4（x4，y4) The coordinates of the center point O in the case of step S1.1, i.e. the coordinates F of the center point F on the XY plane, can be determined5（x5，y5）；
S1.4, defining the deviation component of the central point F of the rotating shaft valve 5 and the central point C of the camera 20 on the X axis as m _ dbValveOffsetX and the deviation component on the Y axis as m _ dbValveOffsetY; according to the coordinate C1（x1，y1) And coordinates F5（x5，y5) M _ dbValveOffsetX and m _ dbValveOffsetY are calculated.
The working principle is as follows: firstly, as shown in fig. 1, determining a central point F of the rotating shaft valve 5, a central point of the camera 20 and a dispensing point Z of the dispensing valve; using a dispensing valve 14 of a dispensing device to perform a first point a, a second point b after rotating 120 degrees, and a third point c after rotating 240 degrees; firstly, recording the coordinate position of a camera center point C when the camera is in three points, then aligning the camera center to three points a, b and C in sequence, recording the coordinate positions of the three points, and determining the coordinate position of the circle center through the coordinate positions of the three points, namely, when the dispensing valve 14 is in three points, the coordinate of the center point F in the X-axis and Y-axis directions, so as to calculate the relationship between the center point C and the center point F;
example 3:
to better implement the present invention, the above-mentioned embodiments 1-2 are combined with FIGS. 5 and 6It is further defined that the dispensing point of the dispensing valve 14 is a dispensing point Z, a deviation component of the dispensing point Z and the central point F on the X axis is m _ ffsetzeroposw _ X when the dispensing valve 14 rotates by 0 °, and a deviation component of the dispensing point Z and the central point F on the Y axis is m _ ffsetzeroposw _ Y when the dispensing valve 14 rotates by 0 °; according to the coordinate C in the step S1.32（x2，y2) And the coordinate F in step S1.45（x5，y5) Obtaining m _ fOffsetZeroPosW _ X and m _ fOffsetZeroPosW _ Y; and the length L of the rotation radius of the dispensing valve 14 is obtained according to the m _ fOffsetZeroPosW _ X and the m _ fOffsetZeroPosW _ Y.
The working principle is as follows: as shown in fig. 5 and 6, when the dispensing valve 14 rotates by 0 °, the length L of the radius of rotation of the dispensing valve 14 can be obtained from the deviation between the dispensing point Z and the center point on the X axis and the Y axis.
The other parts of this embodiment are the same as those of the above embodiments 1-2, and thus are not described again.
Example 4:
in order to better implement the present invention, as shown in fig. 7, fig. 8, fig. 9, and fig. 10, further, the step s2 specifically includes the following steps:
s2.1, performing teaching operation once, selecting a teaching point, and defining the teaching point as a point D;
s2.2, aligning the central point F with the point D, and recording the coordinate C of the central point C at the moment6（x6，y6) And converting the coordinate F of the center point alignment point D at this time into the coordinate F of the center point alignment point D according to the S1.4. the deviation component of the center point F of the rotary shaft valve 5 and the center point C of the camera 20 on the X axis is m _ dbValveOffsetX and the deviation component on the Y axis is m _ dbValveOffsetY7（x7，y7）；
S2.3, aligning the dispensing point Z of the dispensing valve 14 with a point D, wherein the coordinate of the dispensing point Z is the coordinate F7（x7，y7) Obtaining the coordinate C of the center point C at the moment8（X8，Y8) According to the deviation component m _ fOffsetZeroPosW _ X of the dispensing point Z and the central point F on the X axis and the deviation component of the dispensing point Z and the central point F on the Y axisFor m _ fOffsetZeroPosW _ Y, the coordinate F of the center point F at that time is calculated9（x9，y9）；
S2.4, defining the rotating angle of the dispensing valve 14 as dbAngle _ W; according to the mathematical transformation, the coordinate F of the central point F of the dispensing valve 14 is obtained when the dispensing valve 14 rotates dbAngle _ W around the dispensing point Z10（x10，y10）；
And S2.5, converting the conversion relation between the camera center point C of the camera 20 and the dispensing point Z.
The working principle is as follows: during dispensing teaching, the positions of a teaching point D, a center point F, a center point C and a dispensing point Z are shown in fig. 7, because the center point F is aligned with the teaching point D in fig. 7, but the dispensing point Z is aligned with the teaching point during actual dispensing, as shown in fig. 8, after the dispensing point Z is aligned with the teaching point D, the center point F is aligned with a point O', and at this time, the relationship between the dispensing point Z and the center point C when the dispensing point Z is rotated by 0 ° can be obtained; when the rotary shaft valve 5 drives the dispensing valve 14 to rotate by a certain angle, such as dbAngle _ W angle, as shown in fig. 9, after the dispensing valve 14 rotates by dbAngle _ W angle, the coordinate of the central point F of the rotary shaft valve 5 is F10（x10，y10) The position transformation relationship between the center point C of the camera 20 and the dispensing point Z can be obtained through calculation, which is specifically as follows:
x7 = x6 - m_dbValveOffsetX;
y7 = y6 - m_dbValveOffsetY;
x9 = x7- m_fOffsetZeroPosW_X;
y9 = y7 - m_fOffsetZeroPosW_Y;
#define PPI 3.1415926535897932384626433832795;
#define PI_AG (PPI/180);
# define rotate _ X (X, Y, A, X1, Y1) ((X1-X) # cos (A. PI _ AG) - (Y1-Y). sin (A. PI _ AG) + X)// coordinate rotation
#define rotate_y(X,Y,A,X1,Y1) ((Y1-Y)*cos(A*PI_AG)+(X1-X)*sin(A*PI_AG)+Y);
x10 = rotate_x(x7,y7, dbAngle_W,x9,y9);
y10 = rotate_y(x7,y7, dbAngle_W,x9,y9);
In summary, the coordinate points taught by the camera can be converted into coordinate points taught by the needle by the offset between the center point C of the camera 20 and the center point F of the rotary shaft valve 5 and the offset between the center point F of the rotary shaft valve 5 and the dispensing point Z, and normal processing can be performed.
The other parts of this embodiment are the same as those of embodiments 1 to 3, and thus are not described again.
Example 5:
in order to better implement the present invention, as shown in fig. 11 and 12, further, the step s3 specifically includes the following steps:
s3.1, defining a mark dispensing point B arranged on a product for teaching dispensing, and defining a position point on the product corresponding to the mark dispensing point B during actual dispensing as a mark dispensing point B' during teaching;
s3.2, calculating the deviation CcdOffset _ X of the marked dispensing point B' during actual dispensing and the deviation CcdOffset _ Y on the X axis and the Y axis of the marked dispensing point B during teaching;
and S3.3, when the included angle between the dispensing valve 14 and the product is a specific angle in the process of processing, when an angle error theta is generated at the position of the product, and after the position of the dispensing valve 14 is adjusted, the included angle between the dispensing valve 14 and the product is adjusted again.
The working principle is as follows: as shown in fig. 11, in the ideal machining state, the dispensing valve 14 is perpendicular to the machining surface of the product to be machined; as shown in fig. 12, in the actual dispensing process, the product is likely to have position and angle offsets, when only the position offset occurs, the dispensing valve 14 may only be translated by the same offset amount, but the offset of the general product is accompanied by the angle offset, and the number of the marked dispensing points set on the product is more than three and does not overlap, so that the actual offset angle and distance of the product can be determined by teaching the difference between the marked dispensing points and the actual dispensing points; after the product is angularly offset, as shown in fig. 12, the offset angle θ of the dispensing valve 14 needs to be corrected to correctly dispense:
POINT-3D ptTeaccPos// teaching POINT mark POINT initial coordinate
Doule dbTechPosw/taught rotation axis angle
POINT _3D ptTechPos _ Work// teaching POINT coordinate after deviation rectification
Doule dbTechPosw _ Work// angle of rotation axis after correction
POINT _3D ptModePos _// template center coordinate;
the method comprises the following steps that (1) as in a conventional machine type, a MARK point on a product is positioned through a vision module, and x and y deviations CcdOffset _ x and CcdOffset _ y and an Angle deviation CcdOffset _ Angle of the MARK point during machining and teaching modeling are calculated; the x, y deviation and the angle deviation are the deviation values relative to the center of the template, and the vision algorithm is used more on the conventional three-axis equipment and is not described in detail; the taught rotary offset of the dispensing mark point is consistent with the actual rotary offset of the dispensing mark point
ptTeachPos_Work.x = rotate_x(ptModePos.x, ptModePos.y, CcdOffset_Angle, ptTeachPos.x, ptTeachPos.y);
ptTeachPos _ work.y = rotate _ y (ptmodepos.x, ptmodepos.y, CcdOffset _ Angle, ptteachpos.x, ptteachpos.y);/first rotation// first rotation
ptTeachPos_Work.x = ptTeachPos_Work.x + CcdOffset_x；
ptTeachPos _ work.y = ptTeachPos _ work.y + CcdOffset _ y; // Re-offset
Finally, the deviation correction of the dispensing valve 14 is realized.
The other parts of this embodiment are the same as those of embodiments 1 to 4, and therefore, the description thereof is omitted.
Example 6:
in order to better implement the present invention, further, when the dispensing valve 14 is a dispensing needle valve, the dispensing point Z is a needle of the dispensing needle valve; when the dispensing valve 14 is a dispensing injection valve, the dispensing point Z is determined by the following steps:
the method comprises the following steps: determining an injection point P of the dispensing injection valve;
step two: defining a fixed distance H, wherein H is the distance between the injection point P and a dispensing point Z of the dispensing injection valve along the ray direction of the injection valve;
step three: determining a dispensing point Z of the dispensing injection valve through the distance H and the injection point P;
meanwhile, when in actual dispensing, the distance H in the actual dispensing process of the dispensing injection valve is adjusted by using a laser altimeter.
The working principle is as follows: when the dispensing valve 14 is a dispensing injection valve, since the nozzle of the dispensing injection valve, i.e., the injection point P, does not directly contact the surface of the product to be dispensed, the dispensing point Z of the dispensing injection valve cannot be directly determined, and thus the dispensing point Z of the dispensing injection valve can be determined by setting a fixed distance between the nozzle of the dispensing injection valve and the dispensing point on the product to be dispensed.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (4)
1. A visual positioning deviation rectifying method based on a rotary dispensing device is characterized by being realized based on the rotary dispensing device and comprising the following steps of:
s1, calibrating the relative position relation between the valve center of the rotary shaft valve (5) and the center of the camera (20);
s2, converting coordinates of the dispensing points of the camera (20) and the dispensing valve (14) according to the relative position relationship calibrated in the step S1;
s3, performing visual positioning and deviation correction according to the position relation between the dispensing valve (14) and the product;
the rotary dispensing device comprises a body (1), an X-axis valve (2), a Y-axis valve (3), a Z-axis valve (4), a rotary axis valve (5), a dispensing valve (14), an operating table (15), a fixing rod (16), a camera (20) and control equipment; the X-axis valve (2) comprises an X-axis motor (6) and an X-axis screw rod (10); the Y-axis valve (3) comprises a Y-axis motor (7) and a Y-axis screw rod (11); the Z-axis valve (4) comprises a Z-axis motor (8) and a Z-axis screw rod (12); the rotary shaft valve (5) comprises a rotary motor (9), a rotary shaft (13) and a fixed plate frame (23); the body (1) comprises a base (17), a left support rod (18) and a right support rod (19); the control device comprises a controller and a display;
the left supporting rod (18) and the right supporting rod (19) are vertically arranged on the horizontally arranged base (17) along the Z axis, and the upper ends of the left supporting rod (18) and the right supporting rod (19) are respectively connected with two ends of the X-axis valve (2);
the X-axis valve (2) and the Z-axis valve (4) are connected in a cross manner; the X-axis motor (6) controls the Z-axis valve (4) to move in the X-axis direction through an X-axis lead screw (10);
the Z-axis valve (4) is vertically connected with the rotating shaft valve (5) along the Z-axis direction; the Z-axis motor (8) controls the movement of the rotary shaft valve (5) in the Z-axis direction through a Z-axis lead screw (12);
the rotary shaft valve (5) is connected with the dispensing valve (14) through a fixed rod (16); the rotating motor (9) controls the fixed rod (16) through the rotating shaft (13) to drive the dispensing valve (14) to rotate;
the Y-axis valve (3) is arranged on the base (17) along the Y-axis direction; the operating platform (15) is connected with the base (17) through the Y-axis valve (3), and the operating platform surface is a horizontal surface; the Y-axis motor (7) controls the operating platform (15) to move along the Y-axis direction through a Y-axis screw rod (11);
the camera (20) is arranged on a fixed plate frame (23) of the rotating shaft valve (5), the direction of the camera is parallel to the rotating shaft valve (5) and is vertical to the X axis, and one end, provided with a camera, of the camera (20) faces the operating platform (15) in the Z axis negative direction;
the control equipment is connected with an X-axis motor (6), a Y-axis motor (7), a Z-axis motor (8), a rotating motor (9) and a camera (20); the controller controls the X-axis motor (6), the Y-axis motor (7), the Z-axis motor (8), the rotating motor (9) and the camera (20) to perform dispensing teaching and actual dispensing; the display displays a simulation track for dispensing teaching, a real track during actual dispensing and a dispensing finished product object diagram;
a dispensing valve motor (21) and a dispensing valve screw rod (22) are arranged in the dispensing valve (14); the dispensing valve motor (21) is connected with control equipment, and the expansion of the dispensing valve head is controlled through a dispensing valve lead screw (22);
the dispensing valve (14) is a dispensing needle valve or a dispensing injection valve;
the step S1 specifically comprises the following steps:
s1.1, defining a central point of a camera (20) as a central point C; keeping an X-axis motor (6), a Y-axis motor (7) and a Z-axis motor (8) out of work, working by a rotating motor (9), controlling a fixed rod (16) to drive a dispensing valve (14) to rotate 0-degree marking point a, 120-degree marking point b and 240-degree marking point c respectively relative to the initial position of the dispensing valve (14), and connecting the three points a, b and c to form a circle with the center of the circle as a point O; recording the coordinate C of the center point C on the XY plane at this moment1(x1，y1)；
S1.2, moving the central point C to align the point a, the point b and the point C respectively, and recording a coordinate C when the central point C is aligned with the point a2(x2，y2) Coordinate C when center point C is aligned with point b3(x3，y3) Coordinate C when center point C is aligned with point C4(x4，y4)；
S1.3, defining the valve center of the rotating shaft valve (5) as a central point F; through the coordinate C obtained in the step S1.22(x2，y2) Coordinate C3(x3，y3) And coordinates C4(x4，y4) The coordinates of the center point O in the case of step S1.1, i.e. the coordinates F of the center point F on the XY plane, can be determined5(x5，y5)；
S1.4, defining the deviation component of the central point F of the rotating shaft valve (5) and the central point C of the camera (20) on the X axis as m _ dbValveOffsetX and the deviation component on the Y axis as m _ dbValveOffsetY; according to the coordinate C1(x1，y1) And coordinates F5(x5，y5) Calculating m _ dbValveOffsetX and m _ dbValveOffsetY;
further defining the dispensing point of the dispensing valve (14) as a dispensing point Z, defining the deviation component of the dispensing point Z and the central point F on the X axis as m _ fOffsetZeroPosW _ X when the dispensing valve (14) rotates by 0 DEG, and defining the dispensing point Z and the central point Z when the dispensing valve (14) rotates by 0 DEGThe deviation component of the center point F on the Y axis is m _ fOffsetZeroPosW _ Y; according to the coordinate C in the step S1.32(x2，y2) And the coordinate F in step S1.45(x5，y5) Obtaining m _ fOffsetZeroPosW _ X and m _ fOffsetZeroPosW _ Y; simultaneously, the length L of the rotating radius of the dispensing valve (14) is obtained according to the m _ fOffsetZeroPosW _ X and the m _ fOffsetZeroPosW _ Y;
the step S2 specifically comprises the following steps:
s2.1, performing teaching operation once, selecting a teaching point, and defining the teaching point as a point D;
s2.2, aligning the central point F with the point D, and recording the coordinate C of the central point C at the moment6(x6，y6) And converting the coordinate F of the center point alignment point D at this time into the coordinate F of the center point alignment point D according to the S1.4. the deviation component of the center point F of the rotary shaft valve (5) and the center point C of the camera (20) on the X axis is m _ dbValveOffsetX and the deviation component on the Y axis is m _ dbValveOffsetY7(x7，y7)；
S2.3, aligning a dispensing point Z of the dispensing valve (14) with a point D, wherein the coordinate of the dispensing point Z is the coordinate F7(x7，y7) Obtaining the coordinate C of the center point C at the moment8(X8，Y8) Converting the coordinate F of the center point F at the moment according to the m _ fOffsetZeroPosW _ X and the m _ fOffsetZeroPosW _ Y obtained in the step S1.59(x9，y9)；
S2.4, defining the rotation angle of the glue dispensing valve (14) to be dbAngle _ W; according to the mathematical transformation, the coordinate F of the central point F of the rotating shaft valve (5) when the dispensing valve (14) is rotated dbAngle _ W is obtained10(x10，y10)；
And S2.5, converting the conversion relation between the camera center point C of the camera (20) and the dispensing point Z.
2. The visual positioning deviation rectifying method based on the rotary glue dispensing device as claimed in claim 1, wherein said step s3. specifically comprises the steps of:
s3.1, setting a mark dispensing point B on a product needing dispensing, and defining a corresponding position point of the mark dispensing point B in the teaching process as a teaching mark dispensing point B';
s3.2, calculating the deviation CcdOffset _ X of the marked dispensing point B and the teaching marked dispensing point B' on the X axis and the deviation CcdOffset _ Y on the Y axis during actual dispensing;
and S3.3, when the included angle between the dispensing valve (14) and the product is a specific angle in the process of processing, when an angle error is generated in the position of the product, and after the position of the dispensing valve (14) is adjusted, the included angle between the dispensing valve (14) and the product is adjusted again.
3. The visual positioning deviation rectifying method based on the rotary glue dispensing device as claimed in claim 2, wherein when the glue dispensing valve (14) is a needle dispensing valve, the glue dispensing point Z is a needle of the needle dispensing valve; when the dispensing valve (14) is a dispensing injection valve, a dispensing point Z is determined by the following steps:
the method comprises the following steps: determining an injection point P of the dispensing injection valve;
step two: defining a fixed distance H, wherein H is the distance between the injection point P and a dispensing point Z of the dispensing injection valve along the ray direction of the injection valve;
step three: and determining a dispensing point Z of the dispensing injection valve through the distance H and the injection point P.
4. The visual positioning deviation rectifying method based on the rotary glue dispensing device as claimed in claim 3, wherein a laser altimeter is used to adjust the distance H during the actual glue dispensing process of the glue dispensing injection valve.
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| CN112221858A (en) * | 2020-10-18 | 2021-01-15 | 上海博哈寿生物科技有限公司 | Three-valve injection point enzyme machine |
| CN112767495B (en) * | 2021-01-21 | 2024-02-27 | 易视智瞳科技（深圳）有限公司 | Camera and valve angle calibration method, system, electronic equipment and storage medium |
| CN113578699B (en) * | 2021-09-28 | 2022-11-18 | 常州铭赛机器人科技股份有限公司 | Track path teaching method for space dispensing and dispensing system |
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