CN111921788A - High-precision dynamic tracking dispensing method and device - Google Patents
High-precision dynamic tracking dispensing method and device Download PDFInfo
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- CN111921788A CN111921788A CN202010786493.1A CN202010786493A CN111921788A CN 111921788 A CN111921788 A CN 111921788A CN 202010786493 A CN202010786493 A CN 202010786493A CN 111921788 A CN111921788 A CN 111921788A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- 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
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Abstract
The invention discloses a high-precision dynamic tracking dispensing method and a device thereof, belonging to the technical field of online dispensing, comprising the following steps of product positioning, process track, track optimization, product tracking pose caching, product coordinate system synthesis and pose compensation, wherein the invention positions a product through a visual identification and positioning module, simultaneously forms process track generation through calculation, is used for dynamically generating a dispensing track, automatically changes the track speed according to the glue output amount and the shape of the glue, automatically controls the distance between a needle head and the surface of the product, automatically controls the included angle between the needle head and the normal vector of the surface of the product, compensates the pose, is used for further improving the dispensing track precision, realizes the gluing operation by tracking dispensing, has simple and reliable mechanism of the whole device, saves redundant actions, only keeps the dispensing action of a core, and saves operation events, greatly increasing the productivity, fitting the core idea of lean production and greatly improving the production efficiency.
Description
Technical Field
The invention belongs to the technical field of online dispensing, and particularly relates to a high-precision dynamic tracking dispensing method and device.
Background
The traditional dispensing mode needs to be positioned firstly, then the dispensing working period is long, the existing industrial robot is used at present, the system is integrated and controlled to follow, and the process track and the control process are not planned in a real-time control system (the maximum synchronization period of 1 ms) in a unified mode. Resulting in a less accurate dispensing system. The application is limited. At present, in the market, a following control system based on an axis group is also available, but the path planning process is complicated, a CNC dynamic planning path is not used, the path is flexible, a general tracking and shearing motion control system is not used, and an additional following axis is required to be added to realize the tracking function.
Disclosure of Invention
The present invention provides a high-precision dynamic tracking dispensing method and device thereof, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: the high-precision dynamic tracking dispensing method is characterized by comprising the following steps of:
product positioning: the visual identification and positioning module is used for monitoring the pose of incoming materials on line, including 4-6 degrees of freedom of space, and converting a visual detection result into a result of a motion control coordinate system according to a conversion matrix calibrated by visual and motion control;
the process track is as follows: dynamically generating a dispensing track, generating the dispensing track according to the obtained space profile including a 2D plane profile and 3D space profile position information, generating the dispensing track by combining with dispensing process requirements, generating dispensing attitude information according to a normal vector and a dispensing track of the profile, and generating the dispensing track by combining with the position and attitude information;
optimizing a track: the method is used for speed planning of the track and smoothing of the path, the technical requirements are met, a glue dispensing amount closed-loop control system can be added for products with particularly strict technical requirements, and the glue dispensing track is controlled according to the information of change output by a PLC (programmable logic controller) system, namely, the deviation between the glue dispensing motion track and the expected technical motion track is compared, and the deviation is eliminated;
product tracking pose caching: recording the product pose, updating in real time according to the position of the product, and caching 1-10 product pose data in an FIFO (first in first out) mode;
and (3) synthesizing a product coordinate system: dynamically updating the generated track data of the currently processed product by a real-time updating and synthesizing coordinate system method;
pose compensation; the precision of the dispensing track is further improved, and the functions of pitch compensation, 2D compensation and 3D space compensation can be included;
dispensing and limiting: and limiting the dispensing area to prevent collision.
Preferably, the product positioning specifically comprises:
the real-time belt position reading module is used for recording and reading the position of the belt in real time;
the product position latching module is used for recording the position of a product, triggering through a sensor, simultaneously recording the position of a belt and triggering an image recognition system, and capturing an image or a 3D point cloud picture;
the incoming material pose detection detects whether incoming materials reach a trigger position through a sensor to trigger a shooting assembly to obtain actions.
Preferably, the dispensing limit comprises a dispensing FIFO area module for limiting dispensing area and preventing collision.
Preferably, the process trajectory specifically includes:
the PLC control mechanism reads the image captured by the product position latch module, and performs strong positioning operator processing and central and angle calculation to obtain data;
the PLC control mechanism reads a basic coordinate system of the dispensing mechanism, a terminal tool coordinate system of the dispensing mechanism, a pixel coordinate system of the shooting assembly and a product coordinate system to complete hand-eye calibration through rotation, scaling and translation matrix calculation, and dynamically updates generated track data through a real-time updating and synthesizing coordinate system method.
Preferably, the trajectory optimization specifically includes:
the PLC control mechanism obtains the motion trail of the product process, the motion trail comprises the angle of the dispensing trail, the curvature of the dispensing trail and the dispensing trail speed, the PLC automatically calculates the optimized control parameters of the dispensing local block according to the dispensing amount and the glue shape, the speed of the trail is automatically changed, the distance between the needle head and the surface of the product is automatically controlled, and the included angle between the needle head and the normal vector of the surface of the product is automatically controlled.
Preferably, the pose compensation specifically includes:
obtaining a normal vector of a current product under a measurement coordinate system through a product position latch module, establishing a coordinate system of a current dispensing mechanism and a coordinate system of actual dispensing equipment, and establishing a linear relation between a dispensing coordinate system and the measurement coordinate system;
acquiring and processing the current reading of the distance sensor array to obtain a normal vector deflection angle of the current workpiece under a point gluing coordinate system, and respectively calculating a to-be-processed position of the normal vector and a theoretical processing position of the theoretical normal vector according to the normal vector and the theoretical normal vector;
and the PLC control mechanism calculates the machining errors of the position to be machined and the theoretical machining position, and processes the machining errors by utilizing a linear relation to obtain the compensation quantity of the two feeding moving assemblies.
High accuracy dynamic tracking adhesive deposite device, including the organism, its characterized in that: the inside storage of being provided with of organism is glued jar, moving mechanism and is glued the mechanism with the point, moving mechanism includes lateral shifting subassembly and longitudinal movement subassembly, point is glued mechanism and moving mechanism sliding connection, and point is glued the mechanism and is carried out position control through lateral shifting subassembly and longitudinal movement subassembly, and point is glued the mechanism and is carried out online tracking accuracy point to the product of transport mechanism upper end through moving mechanism and glue, organism one side is provided with transport mechanism, transport mechanism one end is provided with the mount, be provided with on the mount and shoot the mechanism, it is provided with the rotating member in the mechanism to shoot, shoot the mechanism through rotating member and mount swivelling joint, shoot the mechanism and trail the shooting through the rotating member to the product of transport mechanism upper end surface, the organism left side is provided with PLC control mechanism.
Preferably, the conveying mechanism makes conveying mechanism level setting through the fixed bolster that the bottom set up, is provided with sensor and belt on the conveying mechanism, detects whether the product arrives trigger position on the conveying mechanism and tracks with shooting mechanism cooperation and take a candid photograph or 3D point cloud picture through the sensor.
Preferably, store up and be provided with manometer and force pump on the jar of gluing, store up and glue the jar and be convenient for the point gum machine through the force pump and construct out gluey, store up and glue jar output and construct the input intercommunication with the point gum machine through the pipeline.
Preferably, the PLC control mechanism is electrically connected with the shooting mechanism, the moving mechanism, the conveying mechanism, the glue dispensing mechanism and the sensor, the sensor and the shooting mechanism are used for acquiring the motion track and the coordinates of a product on the conveying mechanism in real time, and the PLC control mechanism controls the moving mechanism and the glue dispensing mechanism to perform glue dispensing operation on the product.
Compared with the prior art, the invention provides a high-precision dynamic tracking dispensing method and a device thereof, which have the following beneficial effects:
the invention can realize dynamic dispensing on the online products; the automatic glue dispensing machine has the advantages that the working efficiency is improved, unnecessary secondary clamping is reduced, a product is positioned through the visual recognition and positioning module, meanwhile, the process track generation is formed through operation, the glue dispensing track is dynamically generated, the track optimization is according to the glue dispensing amount and the shape of glue, the track speed is automatically changed, the distance between the needle head and the surface of the product is automatically controlled, the included angle of the needle head and the normal vector of the surface of the product is automatically controlled, pose compensation is realized, the precision of the glue dispensing track is further improved, for high-precision rigid products, the CNC track can be written in advance, glue dispensing is tracked to realize glue dispensing operation, the mechanism of the whole machine is simple and reliable, redundant actions are omitted, only the core glue dispensing action is reserved, operation events are saved, the capacity is greatly increased, the core idea of lean production is also agreed, and the.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:
FIG. 1 is a flow chart of a high-precision dispensing control device according to the present invention;
FIG. 2 is a schematic structural diagram of a high-precision dynamic tracking dispensing device according to the present invention;
in the figure: 1. a transport mechanism; 2. a placing frame; 3. a shooting mechanism; 4. a PLC control mechanism; 5. a body; 6. a moving mechanism; 7. a glue storage tank; 8. and a glue dispensing mechanism.
Detailed Description
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As an embodiment of the present invention, the present invention provides a high-precision dynamic tracking dispensing method: comprises that
Positioning a product;
a process trajectory;
optimizing a track;
caching the tracking pose of the product;
synthesizing a product coordinate system;
pose compensation;
the dispensing area setting module is used for limiting dispensing areas and preventing collision.
The product is positioned through the visual identification and positioning module, meanwhile, the process track generation is formed through operation and is used for dynamically generating the dispensing track, the track optimization automatically changes the track speed according to the glue discharging amount and the shape of glue, the distance between the needle head and the surface of the product is automatically controlled, the included angle between the needle head and the normal vector of the surface of the product is automatically controlled, the pose compensation is performed, and the precision of the dispensing track is further improved.
The following describes the high-precision dynamic tracking dispensing method with reference to the preferred embodiment of the present invention:
the method comprises the following steps:
s1) product positioning: the visual identification and positioning module is used for monitoring the pose (which can comprise 4-6 degrees of freedom of a space) of incoming materials on line and converting a visual detection result into a result of a motion control coordinate system according to a conversion matrix calibrated by visual and motion control;
s2) process trajectory: the method is used for dynamically generating dispensing tracks, CNC tracks can be written in advance for high-precision rigid products, for other products, dispensing tracks are generated according to the position information of obtained space outlines (including 2D plane outlines and 3D space outlines) and the requirements of a dispensing process, dispensing posture information is generated according to normal vectors and dispensing tracks of the outlines, and dispensing tracks are generated according to the position information and the posture information;
s3) trajectory optimization: the PLC control mechanism obtains the process movement track of the product, the movement track comprises the angle of the dispensing track, the curvature of the dispensing track and the dispensing track speed, the PLC automatically calculates the optimized control parameters of the dispensing local block according to the dispensing amount and the shape of glue, automatically changes the speed of the track, automatically controls the distance between a needle head and the surface of the product, and automatically controls the included angle of the needle head and the normal vector of the surface of the product;
s4) product tracking pose caching: the system is used for recording product poses, updating in real time according to positions of a belt and products, and caching 1-10 product pose data in an FIFO (first in first out) mode;
s5) product coordinate system and synthesis: the system is used for dynamically updating the generated new track data of the currently processed product by a real-time updating and synthesizing coordinate system method;
s6) pose compensation: the method comprises the steps of obtaining a normal vector of a current product under a measurement coordinate system through a product position latch module, establishing a coordinate system of a current dispensing mechanism and a coordinate system of actual dispensing equipment, establishing a linear relation between the dispensing coordinate system and the measurement coordinate system, obtaining and processing a current reading of a distance sensor array, obtaining a normal vector deflection angle of a current workpiece under the dispensing coordinate system, respectively calculating a to-be-processed position of the normal vector and a theoretical processing position of the theoretical normal vector according to the normal vector and the theoretical normal vector, calculating a processing error of the to-be-processed position and the theoretical processing position through a PLC control mechanism, and processing the processing error by utilizing the linear relation to obtain compensation quantities of two feeding moving components;
s7) dispensing limit: and a dispensing FIF area module is arranged for limiting a dispensing area and preventing the dispensing mechanism from colliding.
Specifically, the method comprises the following steps: referring to fig. 1, a product is driven by a belt to move on a product conveying mechanism at a high speed, the product detects whether incoming materials reach a trigger position through a sensor to trigger a shooting component to obtain actions, the product reaches a preset position to trigger the sensor, at the moment, a belt position real-time reading module is used for recording and reading the position of the belt in real time, a product position latching module is used for recording the position and a coordinate system of the product, the belt position and the image recognition system are recorded through triggering of the sensor, an image or a 3D dot cloud picture is captured, the product position coordinate system in the picture is calculated, a product pose is synthesized through a PLC (programmable logic controller) control mechanism, the product continues to run into an FIFO (first in first out) area after the product arrives at the shooting position to shoot, the data are synchronously updated according to the position of the product on the belt until the product arrives, Generating product processing pose track data according to pose contours and dispensing process requirements, taking out a group of data at the forefront to process a product from a working position of a dispensing mechanism, synchronously generating a motion track of an equipment platform in real time according to a real-time pose and a real-time track of the product by a conveyor belt, wherein in actual control, a shooting component knows pixel coordinates, and the dispensing mechanism is a space coordinate system, so that the coordinate conversion relation between a pixel coordinate system and the space dispensing mechanism coordinate system is obtained by hand-eye calibration, after the shooting component detects the pixel position of a target in an image, the pixel coordinates of the shooting component are converted into the space coordinate system of the dispensing mechanism through a calibrated coordinate conversion matrix, a normal vector of the current product under a measurement coordinate system is obtained through a product position latch module, a coordinate system of the current dispensing mechanism and a coordinate system of actual dispensing equipment are established, and a linear relation between the dispensing coordinate system and the measurement coordinate system is established, the method comprises the steps of obtaining and processing a current reading of a distance sensor array to obtain a normal vector deflection angle of a current workpiece under a dispensing coordinate system, respectively calculating a position to be processed of a normal vector and a theoretical processing position of the theoretical normal vector according to the normal vector and the theoretical normal vector, calculating processing errors of the position to be processed and the theoretical processing position by a PLC control mechanism, processing the processing errors by utilizing a linear relation to obtain compensation quantities of two feeding moving assemblies, calculating how a transverse moving assembly and a longitudinal moving assembly move according to the dispensing mechanism coordinate system by the PLC control mechanism, controlling a dispensing mechanism to reach a specified position, controlling dispensing equipment to complete product processing, detecting a product processing structure and screening, and continuously moving a product to a next station after dispensing is completed.
In this embodiment, the high-precision dynamic tracking dispensing device comprises a body 5, a glue storage tank 7, a moving mechanism 6 and a dispensing mechanism 8 are arranged inside the body 5, the moving mechanism 6 comprises a transverse moving component and a longitudinal moving component, the dispensing mechanism 8 is slidably connected with the moving mechanism 6, the dispensing mechanism 8 performs position adjustment through the transverse moving component and the longitudinal moving component, the dispensing mechanism 8 performs online tracking accurate dispensing on products on the upper end of a conveying mechanism 1 through the moving mechanism 6, the conveying mechanism 1 is arranged on one side of the body 5, a mounting frame 2 is arranged at one end of the conveying mechanism 1, a shooting mechanism 3 is arranged on the mounting frame 2, a rotating member is arranged on the shooting mechanism 3, the shooting mechanism 3 is rotatably connected with the mounting frame 2 through the rotating member, and the shooting mechanism 3 performs tracking shooting on products on the upper end surface of the conveying mechanism 1 through the rotating member, and a PLC control mechanism 4 is arranged on the left side of the machine body 5.
In this embodiment, the PLC control mechanism 4 is electrically connected to the shooting mechanism 3, the moving mechanism 6, the conveying mechanism 1, the dispensing mechanism 8 and the sensor, the conveying mechanism 1 horizontally sets the conveying mechanism 1 through a fixed bracket provided at the bottom end, the conveying mechanism 1 is provided with the sensor and the belt, the sensor detects whether the product on the conveying mechanism 1 reaches the trigger position and tracks the product in cooperation with the shooting mechanism 3 to perform tracking shooting grab picture or 3D dispensing cloud picture, the PLC control mechanism 4 reads the image grabbed by the product position latch module, performs strong positioning operator processing and center and angle calculation to obtain data, the PLC control mechanism 4 reads the basic coordinate system of the dispensing mechanism 8, the end tool coordinate system of the dispensing mechanism 8, the pixel coordinate system of the shooting component and the product coordinate system to complete hand-eye calibration through rotation scaling translation matrix calculation, and dynamically updating the generated track data by a real-time updating and synthesizing coordinate system method.
The glue storage tank 7 is provided with a pressure gauge and a pressure pump, the glue storage tank 7 is convenient for the glue dispensing mechanism 8 to discharge glue through the pressure pump, the output end of the glue storage tank 7 is communicated with the input end of the glue dispensing mechanism 8 through a pipeline, the sensor and the shooting mechanism 3 are used for acquiring the motion trail and the coordinates of the product on the conveying mechanism 1 in real time, the PLC control mechanism 4 controls the moving mechanism 6 and the glue dispensing mechanism 8 to perform glue dispensing work on the product, the PLC control mechanism 4 obtains the process motion trail of the product, the motion trail comprises the angle of the glue dispensing trail, the curvature of the glue dispensing trail and the speed of the glue dispensing trail, according to the glue output amount and the glue shape, a PLC control mechanism 4 automatically calculates the optimized control parameters of the glue dispensing local area block, the speed of the motion track of the automatic product, the distance between the glue head of the glue dispensing mechanism 1 and the surface of the product and the included angle between the glue head and the normal vector of the surface of the product.
The invention positions the product through the visual identification and positioning module, and simultaneously forms the process track generation through the operation for dynamically generating the dispensing track, the track optimization controls the dispensing track according to the changed information output by the PLC control system, namely, the deviation between the dispensing motion track and the expected process motion track is compared, the deviation is eliminated, the track speed is automatically changed according to the dispensing amount and the shape of the glue, the distance between the needle head and the surface of the product is automatically controlled, the included angle between the needle head and the normal vector of the surface of the product is automatically controlled, the pose compensation is carried out, the processing error is processed by utilizing the linear relation, the compensation amount of two feeding moving components is obtained, the dispensing track precision is further improved, and the dynamic dispensing of the online product can be realized; the work efficiency is improved, unnecessary secondary clamping is reduced, operation events are saved, the productivity is greatly increased, the core idea of lean production is conformed, and the production efficiency is greatly improved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The high-precision dynamic tracking dispensing method is characterized by comprising the following steps of:
product positioning: the visual identification and positioning module is used for monitoring the pose of incoming materials on line, including 4-6 degrees of freedom of space, and converting a visual detection result into a result of a motion control coordinate system according to a conversion matrix calibrated by visual and motion control;
the process track is as follows: dynamically generating a dispensing track, generating the dispensing track according to the obtained space profile including a 2D plane profile and 3D space profile position information, generating the dispensing track by combining with dispensing process requirements, generating dispensing attitude information according to a normal vector and a dispensing track of the profile, and generating the dispensing track by combining with the position and attitude information;
optimizing a track: the method is used for speed planning of the track and smoothing of the path, the technical requirements are met, a glue dispensing amount closed-loop control system can be added for products with particularly strict technical requirements, and the glue dispensing track is controlled according to the information of change output by a PLC (programmable logic controller) system, namely, the deviation between the glue dispensing motion track and the expected technical motion track is compared, and the deviation is eliminated;
product tracking pose caching: recording the product pose, updating in real time according to the position of the product, and caching 1-10 product pose data in an FIFO (first in first out) mode;
and (3) synthesizing a product coordinate system: dynamically updating the generated track data of the currently processed product by a real-time updating and synthesizing coordinate system method;
pose compensation: the precision of the dispensing track is further improved, and the functions of pitch compensation, 2D compensation and 3D space compensation can be included;
dispensing and limiting: and the dispensing area is limited, and collision is prevented.
2. The high-precision dynamic tracking dispensing method according to claim 1, characterized in that: the product positioning specifically comprises:
the real-time belt position reading module is used for recording and reading the position of the belt in real time;
the product position latching module is used for recording the position of a product, triggering through a sensor, simultaneously recording the position of a belt and triggering an image recognition system, and capturing an image or a 3D point cloud picture;
the incoming material pose detection detects whether incoming materials reach a trigger position through a sensor to trigger a shooting assembly to obtain actions.
3. The high-precision dynamic tracking dispensing method according to claim 1, characterized in that: the dispensing limit comprises a dispensing FIFO area module which is used for limiting dispensing areas and preventing collision.
4. The high-precision dynamic tracking dispensing method according to claim 1, wherein the process trajectory specifically comprises:
the PLC control mechanism reads the image captured by the product position latch module, and performs strong positioning operator processing and central and angle calculation to obtain data;
the PLC control mechanism reads a basic coordinate system of the dispensing mechanism, a terminal tool coordinate system of the dispensing mechanism, a pixel coordinate system of the shooting assembly and a product coordinate system to complete hand-eye calibration through rotation, scaling and translation matrix calculation, and dynamically updates generated track data through a real-time updating and synthesizing coordinate system method.
5. The high-precision dynamic tracking dispensing method according to claim 1, wherein the trajectory optimization specifically comprises:
the PLC control mechanism obtains the motion trail of the product process, the motion trail comprises the angle of the dispensing trail, the curvature of the dispensing trail and the dispensing trail speed, the PLC automatically calculates the optimized control parameters of the dispensing local block according to the dispensing amount and the glue shape, the speed of the trail is automatically changed, the distance between the needle head and the surface of the product is automatically controlled, and the included angle between the needle head and the normal vector of the surface of the product is automatically controlled.
6. The high-precision dynamic tracking dispensing method according to claim 1, wherein the pose compensation specifically comprises:
obtaining a normal vector of a current product under a measurement coordinate system through a product position latch module, establishing a coordinate system of a current dispensing mechanism and a coordinate system of actual dispensing equipment, and establishing a linear relation between a dispensing coordinate system and the measurement coordinate system;
acquiring and processing the current reading of the distance sensor array to obtain a normal vector deflection angle of the current workpiece under a point gluing coordinate system, and respectively calculating a to-be-processed position of the normal vector and a theoretical processing position of the theoretical normal vector according to the normal vector and the theoretical normal vector;
and the PLC control mechanism calculates the machining errors of the position to be machined and the theoretical machining position, and processes the machining errors by utilizing a linear relation to obtain the compensation quantity of the two feeding moving assemblies.
7. High accuracy dynamic tracking adhesive deposite device, including organism (5), its characterized in that: organism (5) inside is provided with stores up and glues jar (7), moving mechanism (6) and point gum machine and construct (8), moving mechanism (6) include lateral shifting subassembly and longitudinal movement subassembly, point gum machine constructs (8) and moving mechanism (6) sliding connection, and point gum machine constructs (8) and carries out position control through lateral shifting subassembly and longitudinal movement subassembly, and point gum machine constructs (8) and carries out online tracking accurate point gum to the product of transport mechanism (1) upper end through moving mechanism (6) and puts, organism (5) one side is provided with transport mechanism (1), transport mechanism (1) one end is provided with mount (2), be provided with on mount (2) and shoot mechanism (3), be provided with the rotating member on shooting mechanism (3), shoot mechanism (3) through rotating member and mount (2) swivelling joint, shoot mechanism (3) through the rotating member to the product of transport mechanism (1) upper end surface track shoot And a PLC control mechanism (4) is arranged on the left side of the machine body (5).
8. The high-precision dynamic tracking dispensing device of claim 7, wherein: conveying mechanism (1) makes conveying mechanism (1) level setting through the fixed bolster that the bottom set up, is provided with sensor and belt on conveying mechanism (1), detects whether the product arrives trigger position and tracks with shooting mechanism cooperation and shoot the grapple or 3D point cloud picture through the sensor.
9. The high-precision dynamic tracking dispensing device of claim 7, wherein: store up and be provided with manometer and force pump on gluey jar (7), store up gluey jar (7) and be convenient for point gum machine structure (8) through the force pump and go out gluey, store up gluey jar (7) output and pass through pipeline and point gum machine structure (8) input intercommunication.
10. The high-precision dynamic tracking dispensing device of claim 7, wherein: PLC control mechanism (4) and shooting mechanism (3), moving mechanism (6), transport mechanism (1), point gum machine construct (8) and sensor electric connection, the sensor is used for acquireing the movement track and the coordinate of product on transport mechanism (1) in real time with shooting mechanism (3), and PLC control mechanism (4) control moving mechanism (6) and point gum machine construct (8) and carry out some work of gluing to the product.
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| CN112495700A (en) * | 2020-11-25 | 2021-03-16 | 厦门特盈自动化科技股份有限公司 | Full-automatic glue dispensing intelligent control system and control method thereof |
| CN112589793A (en) * | 2020-11-16 | 2021-04-02 | 北京配天技术有限公司 | Workpiece tracking method, robot, workpiece tracking system, and storage device |
| CN113019842A (en) * | 2021-03-16 | 2021-06-25 | 苏州小蜂视觉科技有限公司 | Method and device for tracking dispensing position in real time and dispensing equipment |
| CN113019844A (en) * | 2021-03-18 | 2021-06-25 | 苏州小蜂视觉科技有限公司 | Method and device for planning dispensing track and dispensing equipment |
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| CN113976400A (en) * | 2021-09-30 | 2022-01-28 | 歌尔股份有限公司 | Gluing method, device, equipment and system |
| CN113976390A (en) * | 2021-09-18 | 2022-01-28 | 物华能源科技有限公司 | Flexible intelligent dispensing system and method based on machine learning |
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| CN116899832A (en) * | 2023-09-13 | 2023-10-20 | 广东全丰智能装备有限公司 | Dispensing manipulator control system and dispensing device |
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| CN112495700A (en) * | 2020-11-25 | 2021-03-16 | 厦门特盈自动化科技股份有限公司 | Full-automatic glue dispensing intelligent control system and control method thereof |
| CN113019842A (en) * | 2021-03-16 | 2021-06-25 | 苏州小蜂视觉科技有限公司 | Method and device for tracking dispensing position in real time and dispensing equipment |
| CN113019844A (en) * | 2021-03-18 | 2021-06-25 | 苏州小蜂视觉科技有限公司 | Method and device for planning dispensing track and dispensing equipment |
| CN113059579A (en) * | 2021-04-30 | 2021-07-02 | 中国铁建重工集团股份有限公司 | Flexible operation device |
| CN113311784A (en) * | 2021-05-14 | 2021-08-27 | 江苏科瑞恩自动化科技有限公司 | Trajectory compensation method in XYZR 3D continuous motion |
| CN113198691A (en) * | 2021-05-19 | 2021-08-03 | 飓蜂科技(苏州)有限公司 | High-precision large-view-field dispensing method and device based on 3D line laser and CCD |
| CN113198691B (en) * | 2021-05-19 | 2022-06-17 | 飓蜂科技(苏州)有限公司 | High-precision large-view-field dispensing method and device based on 3D line laser and CCD |
| CN113522657A (en) * | 2021-09-14 | 2021-10-22 | 常州铭赛机器人科技股份有限公司 | Dispensing programming method |
| CN113522657B (en) * | 2021-09-14 | 2021-12-07 | 常州铭赛机器人科技股份有限公司 | Dispensing programming method |
| CN113976390A (en) * | 2021-09-18 | 2022-01-28 | 物华能源科技有限公司 | Flexible intelligent dispensing system and method based on machine learning |
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| CN116213198A (en) * | 2023-05-04 | 2023-06-06 | 合肥同晶电子有限公司 | Automatic dispensing system of crystal resonator |
| CN117032068A (en) * | 2023-07-24 | 2023-11-10 | 苏州福斯特万电子科技有限公司 | Control method, device and equipment of dispensing machine and storage medium |
| CN117032068B (en) * | 2023-07-24 | 2024-02-27 | 苏州福斯特万电子科技有限公司 | Control method, device and equipment of dispensing machine and storage medium |
| CN116899832A (en) * | 2023-09-13 | 2023-10-20 | 广东全丰智能装备有限公司 | Dispensing manipulator control system and dispensing device |
| CN116899832B (en) * | 2023-09-13 | 2023-12-29 | 广东全丰智能装备有限公司 | Dispensing manipulator control system and dispensing device |
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Application publication date: 20201113 |