CN111558502A - Online glue dispensing device and glue dispensing method - Google Patents
Online glue dispensing device and glue dispensing method Download PDFInfo
- Publication number
- CN111558502A CN111558502A CN202010411059.5A CN202010411059A CN111558502A CN 111558502 A CN111558502 A CN 111558502A CN 202010411059 A CN202010411059 A CN 202010411059A CN 111558502 A CN111558502 A CN 111558502A
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- Prior art keywords
- dispensing
- product
- dimensional data
- conveyor belt
- glue
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- 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
- B05C11/1021—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 responsive to presence or shape of target
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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
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
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- Coating Apparatus (AREA)
Abstract
The invention discloses an online glue dispensing device, which comprises: the conveying belt is provided with a limit switch used for determining products to be subjected to glue dispensing; the visual system is arranged above the conveyor belt and used for acquiring the image of the product to be subjected to glue dispensing so as to determine three-dimensional data of a glue dispensing part on the product to be subjected to glue dispensing; the dispensing system is arranged above the conveyor belt and is positioned at the rear end of the vision system along the conveying direction of the conveyor belt, and the dispensing system is used for dispensing the dispensing part; the control system is connected with the limit switch, the vision system and the dispensing system, and can convert the three-dimensional data into a target coordinate of the dispensing system, so that the dispensing system dispenses within the target coordinate. Automatic continuous glue dispensing is realized by using the glue dispensing device, so that the production efficiency is improved, and the labor cost is reduced.
Description
Technical Field
The invention relates to the field of glue dispensing, in particular to an online glue dispensing device.
Background
Dispensing is a process, also called glue applying, glue spreading, glue pouring, glue dripping and the like, and is to apply, fill and seal and drip electronic watering, oil or other liquid on a product, so that the product has the functions of pasting, filling and sealing, insulation, fixation, surface smoothness and the like.
The existing glue dispensing method comprises the following steps: 1. the manual dispensing is carried out, and the manual dispenser is manually used for dispensing on the electronic product, so that the process method is simple, but the manual cost is high and the efficiency is low; 2. the automatic dispensing is realized by pushing out the glue solution within a set time by using air pressure, and controlling the time of each drop injection by using an instrument to ensure that the drop injection amount is the same. The method can easily change the amount of each injection as long as the air pressure and time are adjusted and a proper needle nozzle is selected, which can improve the production efficiency, but in the existing automatic dispensing equipment, the product needs to be moved to a fixed position by a carrier, and the product continues to move after the dispensing equipment finishes dispensing, which does not realize continuous operation and increases the use cost of the carrier.
Disclosure of Invention
The invention aims to provide an online glue dispensing device, which realizes automatic continuous glue dispensing by using the glue dispensing device, improves the production efficiency and reduces the labor cost.
In order to achieve the purpose, the invention adopts the technical scheme that: an on-line dispensing device comprising:
the conveying belt is provided with a limit switch used for determining products to be subjected to glue dispensing;
the visual system is arranged above the conveyor belt and used for acquiring the image of the product to be subjected to glue dispensing so as to determine three-dimensional data of a glue dispensing part on the product to be subjected to glue dispensing;
the dispensing system is arranged above the conveyor belt and is positioned at the rear end of the vision system along the conveying direction of the conveyor belt, and the dispensing system is used for dispensing the dispensing part;
the control system is connected with the limit switch, the vision system and the dispensing system, and can convert the three-dimensional data into a target coordinate of the dispensing system, so that the dispensing system dispenses within the target coordinate.
In the above technical scheme, the dispensing system comprises a mechanical arm arranged on the frame and a dispenser connected with the mechanical arm.
In the above technical solution, a target template matched with the dispensing position is provided in the vision system, so as to be used for matching the dispensing position.
In the technical scheme, the encoder is arranged on the side edge of the conveyor belt and connected with the control system and used for transmitting the running speed of the conveyor belt to the control system.
In the above technical solution, the vision system includes an industrial camera for acquiring an image of a product to be dispensed.
A method of dispensing, comprising:
triggering a working signal by the dispensing product;
after receiving the working signal, acquiring three-dimensional data of a dispensing part on a dispensing product;
converting the three-dimensional data into a target coordinate of the dispensing system;
and dispensing is finished by the dispensing system according to the target coordinates.
In the above technical solution, the step of triggering the working signal by the dispensing product includes that the dispensing product conveyed along with the conveyor belt contacts the limit switch arranged on the conveyor belt, and the limit switch sends the working signal to the control system.
In the above technical solution, the step of obtaining three-dimensional data of a dispensing part on a dispensing product after receiving a working signal includes:
the control system receives the working signal and triggers the vision system to acquire an image of the product to be dispensed;
obtaining a dispensing part matched with a built-in target module from an image of a product to be dispensed;
and obtaining the three-dimensional data of the spot gluing part.
In the above technical solution, the step of converting the three-dimensional data into the target coordinates of the dispensing system includes:
the control system receives three-dimensional data obtained by the vision system;
calculating the center coordinate of the three-dimensional data;
and transforming the central coordinate into a target coordinate of the movement of the dispensing system through reflection.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1. according to the invention, the visual system and the dispensing system are arranged above the conveyor belt, the three-dimensional data of the dispensing position on the product to be dispensed is determined through the visual system, and then the three-dimensional data is converted into the target coordinate of the dispensing system through the control system according to the conveying speed of the conveyor belt, the distance between the dispensing system and the visual system and other factors, so that the dispensing system automatically dispenses the product to be dispensed in conveying, the molds for fixing the product are reduced, the production cost is reduced, meanwhile, as continuous and automatic dispensing is realized, the time for the product to pause and wait for dispensing is reduced, and the production efficiency is improved.
2. The dispensing system comprises a mechanical arm and a dispensing machine connected with the mechanical arm, and the dispensing machine is driven to move by the mechanical arm, so that the dispensing requirements of products positioned at different positions of the conveying belt are met, and the dispensing system is not limited by the positions of the products.
3. The target template matched with the dispensing position is arranged in the vision system, so that the vision system can judge the position needing dispensing, and the accuracy is improved.
4. Set up on the conveyer belt and keep off the cover, in the industry camera was fixed in the through-hole on keeping off the cover, was provided with the light source in keeping off the cover, avoided the influence of external light, made vision system can obtain more clear product image of waiting to glue.
Drawings
Fig. 1 is a schematic structural diagram of an on-line dispensing device of the present invention.
Wherein: 1. a conveyor belt; 2. a limit switch; 3. a mechanical arm; 4. a glue dispenser; 5. an encoder; 6. An industrial camera; 7. a shield; 8. and (5) dispensing the product.
Detailed Description
The invention is further described with reference to the following figures and examples:
the first embodiment is as follows: referring to fig. 1, an online glue dispensing device includes:
the dispensing device comprises a conveyor belt 1, wherein a limit switch 2 used for determining a product 8 to be dispensed is arranged on the conveyor belt 1;
the vision system is arranged above the conveyor belt 1 and is used for acquiring the image of the product 8 to be subjected to glue dispensing so as to determine three-dimensional data of a glue dispensing part on the product 8 to be subjected to glue dispensing;
the dispensing system is arranged above the conveyor belt 1 and is positioned at the rear end of the vision system along the conveying direction of the conveyor belt 1, and the dispensing system is used for dispensing the dispensing part;
and the control system is connected with the limit switch 2, the visual system and the dispensing system, and can convert the three-dimensional data into a target coordinate of the dispensing system, so that the dispensing system dispenses within the target coordinate.
The visual system and the dispensing system are arranged above the conveyor belt 1, the three-dimensional data of the dispensing position on the product 8 to be dispensed is determined through the visual system, and the three-dimensional data is converted into target coordinates of the dispensing system through the control system according to the conveying speed of the conveyor belt 1, the distance between the dispensing system and the visual system and the like, so that the product 8 to be dispensed in conveying is automatically dispensed through the dispensing system.
The glue dispensing system comprises a mechanical arm 3 arranged on the rack, wherein the mechanical arm 3 faces towards one end of the glue dispenser 4 is provided with an L-shaped connecting piece, the glue dispenser 4 is arranged on the L-shaped connecting piece and is driven by the mechanical arm 3, the glue dispenser 4 is rotated, lifted and the like, and therefore glue dispensing can be achieved on the glue dispensing part in a long, wide and high mode. The accessible is adjusted point gum machine 4 is in setting up the angle on the L type connecting piece realizes point gum machine 4 and treats a little relative point of gluing product 8 and glue the angle.
In order to enable the vision system to accurately obtain the dispensing position needing dispensing on the product 8 to be dispensed, a target template matched with the dispensing position is arranged in the vision system. When the product 8 to be glued is conveyed to contact the limit switch 2 along with the conveyor belt 1, a working signal is triggered, the vision system shoots and collects an image of the product to be glued, the characteristics in the image are matched with a target template in the vision system, and three-dimensional data of a glue dispensing part meeting the similarity requirement with the target template in the image of the product to be glued is extracted, wherein the three-dimensional data comprises the length, the width and the height of the glue dispensing part.
And an encoder 5 is arranged on the side edge of the conveyor belt 1, and the encoder 5 is connected with the control system and used for transmitting the running speed of the conveyor belt 1 to the control system. Therefore, when the control system transforms the three-dimensional data into the target coordinate of the dispensing system through simulation, the distance between the visual system and the dispensing system, the running speed of the conveyor belt 1 and other factors can be considered, and the accuracy of the target coordinate is guaranteed. A junction box for setting the control system is provided below the conveyor belt 1.
Specifically, the vision system includes an industrial camera 6 for acquiring an image of the product to be dispensed. In order to avoid the influence of external light, the vision system can obtain a clearer image of the product to be glued. The industrial camera is characterized in that a blocking cover 7 is erected on the conveyor belt 1, the industrial camera 6 is fixed in a through hole in the blocking cover 7, and a light source is arranged in the blocking cover 7.
A method of dispensing, comprising:
triggering a working signal by the dispensing product;
after receiving the working signal, acquiring three-dimensional data of a dispensing part on a dispensing product;
converting the three-dimensional data into a target coordinate of the dispensing system;
and dispensing is finished by the dispensing system according to the target coordinates.
The step of triggering the working signal by the dispensing product comprises the step of contacting the dispensing product conveyed by the conveyor belt 1 with a limit switch 2 arranged on the conveyor belt 1, wherein the limit switch 2 sends the working signal to the control system.
Wherein, the step of obtaining the three-dimensional data of the dispensing part on the dispensing product after receiving the working signal comprises the following steps:
the control system receives the working signal and triggers the vision system to acquire an image of the product to be dispensed;
acquiring a dispensing part matched with a built-in target module from an image of a product to be dispensed;
and obtaining the three-dimensional data of the spot gluing part.
The step of converting the three-dimensional data into the target coordinate of the dispensing system comprises the following steps:
the control system receives three-dimensional data obtained by the vision system;
calculating the center coordinate of the three-dimensional data;
and transforming the central coordinate into a target coordinate of the movement of the dispensing system through reflection.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. An online adhesive deposite device which characterized in that includes:
the conveying belt is provided with a limit switch used for determining products to be subjected to glue dispensing;
the visual system is arranged above the conveyor belt and used for acquiring the image of the product to be subjected to glue dispensing so as to determine three-dimensional data of a glue dispensing part on the product to be subjected to glue dispensing;
the dispensing system is arranged above the conveyor belt and is positioned at the rear end of the vision system along the conveying direction of the conveyor belt, and the dispensing system is used for dispensing the dispensing part;
the control system is connected with the limit switch, the vision system and the dispensing system, and can convert the three-dimensional data into a target coordinate of the dispensing system, so that the dispensing system dispenses within the target coordinate.
2. The on-line dispensing device of claim 1, wherein: the dispensing system comprises a mechanical arm arranged on the rack and a dispenser connected with the mechanical arm.
3. The on-line dispensing device of claim 1, wherein: and a target template matched with the dispensing position is arranged in the visual system, so that the visual system is used for matching the dispensing position.
4. The on-line dispensing device of claim 1, wherein: and the encoder is arranged on the side edge of the conveyor belt, is connected with the control system and is used for transmitting the running speed of the conveyor belt to the control system.
5. The on-line dispensing device of claim 1, wherein: the vision system comprises an industrial camera for acquiring images of the products to be dispensed.
6. The on-line dispensing device of claim 5, wherein: the industrial camera is fixed in a through hole in the blocking cover, and a light source is arranged in the blocking cover.
7. A dispensing method, comprising:
triggering a working signal by the dispensing product;
after receiving the working signal, acquiring three-dimensional data of a dispensing part on a dispensing product;
converting the three-dimensional data into a target coordinate of the dispensing system;
and dispensing is finished by the dispensing system according to the target coordinates.
8. The dispensing method of claim 7, wherein: the step of triggering the working signal by the dispensing product comprises the step of contacting the dispensing product conveyed along with the conveying belt with a limit switch arranged on the conveying belt, and the limit switch sends the working signal to the control system.
9. The dispensing method of claim 7, wherein: the step of obtaining three-dimensional data of a dispensing part on a dispensing product after receiving a working signal comprises the following steps:
the control system receives the working signal and triggers the vision system to acquire an image of the product to be dispensed;
acquiring a dispensing part matched with a built-in target module from a dispensing product image;
and obtaining the three-dimensional data of the spot gluing part.
10. The dispensing method of claim 7, wherein: the step of converting the three-dimensional data into the target coordinate of the dispensing system comprises the following steps:
the control system receives three-dimensional data obtained by the vision system;
calculating the center coordinate of the three-dimensional data;
and transforming the central coordinate into a target coordinate of the movement of the dispensing system through reflection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010411059.5A CN111558502A (en) | 2020-05-15 | 2020-05-15 | Online glue dispensing device and glue dispensing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010411059.5A CN111558502A (en) | 2020-05-15 | 2020-05-15 | Online glue dispensing device and glue dispensing method |
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| Publication Number | Publication Date |
|---|---|
| CN111558502A true CN111558502A (en) | 2020-08-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010411059.5A Pending CN111558502A (en) | 2020-05-15 | 2020-05-15 | Online glue dispensing device and glue dispensing method |
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| Country | Link |
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| CN (1) | CN111558502A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112221843A (en) * | 2020-09-22 | 2021-01-15 | 青岛智动精工电子有限公司 | Full-automatic glue dispensing equipment for PCBA (printed circuit board assembly) and control method of full-automatic glue dispensing equipment |
| CN112604901A (en) * | 2020-10-30 | 2021-04-06 | 江苏天艾美自动化科技有限公司 | Subway shielding door gluing robot and gluing method thereof |
| CN113210217A (en) * | 2021-04-26 | 2021-08-06 | 深圳市世宗自动化设备有限公司 | Assembly line dispensing curing control method, device and equipment and storage medium thereof |
| CN114950868A (en) * | 2022-07-05 | 2022-08-30 | 广东猛犸象智能机器人制造有限公司 | 3D vision-guided intelligent glue dispensing and splicing product system and method |
-
2020
- 2020-05-15 CN CN202010411059.5A patent/CN111558502A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112221843A (en) * | 2020-09-22 | 2021-01-15 | 青岛智动精工电子有限公司 | Full-automatic glue dispensing equipment for PCBA (printed circuit board assembly) and control method of full-automatic glue dispensing equipment |
| CN112604901A (en) * | 2020-10-30 | 2021-04-06 | 江苏天艾美自动化科技有限公司 | Subway shielding door gluing robot and gluing method thereof |
| CN112604901B (en) * | 2020-10-30 | 2022-04-01 | 江苏天艾美自动化科技有限公司 | Subway shielding door gluing robot and gluing method thereof |
| CN113210217A (en) * | 2021-04-26 | 2021-08-06 | 深圳市世宗自动化设备有限公司 | Assembly line dispensing curing control method, device and equipment and storage medium thereof |
| CN114950868A (en) * | 2022-07-05 | 2022-08-30 | 广东猛犸象智能机器人制造有限公司 | 3D vision-guided intelligent glue dispensing and splicing product system and method |
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