CN112221848B - Dispensing method and dispensing equipment - Google Patents
Dispensing method and dispensing equipment Download PDFInfo
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- CN112221848B CN112221848B CN202011043442.6A CN202011043442A CN112221848B CN 112221848 B CN112221848 B CN 112221848B CN 202011043442 A CN202011043442 A CN 202011043442A CN 112221848 B CN112221848 B CN 112221848B
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- dispensing
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- positioning mechanism
- laser
- boss structure
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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
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
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Abstract
The invention discloses a glue dispensing method and glue dispensing equipment, belonging to the technical field of glue dispensing, wherein the glue dispensing method comprises the following steps: mounting a calibration block on a carrier, wherein a boss structure is arranged on the calibration block; moving the horizontal positioning mechanism to enable the measuring position of the horizontal positioning mechanism to coincide with the calibration position of the boss structure, and recording a first moving route of the horizontal positioning mechanism; moving the laser mechanism to enable the laser mechanism to be located right above the boss structure, and recording a second moving route of the laser mechanism; determining the relative position deviation of the horizontal positioning mechanism and the laser mechanism according to the first moving route and the second moving route; the horizontal positioning mechanism determines the horizontal position of the dispensing position of a product to be dispensed; determining the vertical coordinate of the dispensing position according to the horizontal position and the relative position deviation; and dispensing the products to be dispensed according to the horizontal position and the vertical coordinate. The invention can be used for dispensing products and has higher accuracy and better dispensing effect.
Description
Technical Field
The invention relates to the technical field of dispensing, in particular to a dispensing method and dispensing equipment.
Background
Currently, electronic products generally need to be subjected to dispensing treatment during the assembly process, wherein dispensing refers to a process of applying, potting or dripping electronic glue, oil or other liquid onto the products, so that the products can be potted, insulated, fixed or have smooth surfaces.
In the prior art, the dispensing position of a product is usually determined by dispensing laser, and the position is transmitted to a controller, so that the controller controls a dispensing needle to move to the dispensing position for dispensing. However, the spot laser only has a function of detecting coordinates in the Z direction of the dispensing position, only the height of one spot can be determined, the horizontal position coordinates of one spot cannot be determined, the error of manually determining the horizontal position coordinates is large, the dispensing accuracy is low, and the effect is poor.
Disclosure of Invention
The invention aims to provide a dispensing method and dispensing equipment, which can be used for dispensing products and have higher accuracy and better dispensing effect.
As the conception, the technical scheme adopted by the invention is as follows:
a glue dispensing method comprises the following steps:
s1, mounting a calibration block on the carrier, wherein the calibration block is provided with a boss structure;
s2, moving the horizontal positioning mechanism to enable the measuring position of the horizontal positioning mechanism to coincide with the calibration position of the boss structure, and recording a first moving route of the horizontal positioning mechanism;
s3, moving the laser mechanism to enable the laser mechanism to be located right above the boss structure, and recording a second moving route of the laser mechanism;
s4, determining the relative position deviation of the horizontal positioning mechanism and the laser mechanism according to the first moving route and the second moving route;
s5, the horizontal positioning mechanism determines the horizontal position of the dispensing position of the product to be dispensed;
s6, determining the vertical coordinate of the dispensing position according to the horizontal position and the relative position deviation;
and S7, dispensing the product to be dispensed according to the horizontal position and the vertical coordinate.
Optionally, step S6 includes:
s61, determining a third moving route of the laser mechanism according to the horizontal position and the relative position deviation;
and S62, controlling the laser mechanism to move to the horizontal position according to the third moving route, and measuring the vertical coordinate of the dispensing position at the horizontal position.
Optionally, after step S2, the dispensing method further includes controlling the horizontal positioning mechanism to move to a first original position;
after step S3, the dispensing method further includes controlling the laser mechanism to move to a second home position.
Optionally, the relative position deviation includes an X-direction deviation, and in step S61, a first moving distance of the third moving route in the X direction is determined according to the horizontal position and the X-direction deviation.
Optionally, the relative position deviation further includes a Y-direction deviation, and in step S61, a second moving distance of the third moving path in the Y direction is determined according to the horizontal position and the Y-direction deviation.
Optionally, after step S4, the dispensing method further includes removing the calibration block from the carrier, and fixing the product to be dispensed on the carrier.
A dispensing apparatus, comprising:
a carrier;
the glue dispensing mechanism is positioned above the carrier and is used for dispensing the products to be dispensed;
a horizontal positioning mechanism movable relative to the carrier;
the laser mechanism can move relative to the carrier and is used for measuring the vertical coordinate of the dispensing position;
the calibration block is detachably connected to the carrier, and a boss structure is arranged on the calibration block;
the control assembly is used for controlling the horizontal positioning mechanism to move, recording a first moving route of the horizontal positioning mechanism when the measuring position of the horizontal positioning mechanism is coincident with the calibration position of the boss structure, controlling the laser mechanism to move, recording a second moving route of the laser mechanism when the laser mechanism is positioned right above the boss structure, determining the relative position deviation of the horizontal positioning mechanism and the laser mechanism according to the first moving route and the second moving route, and determining the vertical coordinate of the dispensing position according to the horizontal position of the dispensing position and the relative position deviation.
Optionally, the surface of the calibration block provided with the boss structure is further provided with a positioning groove.
Optionally, two positioning grooves are formed in the calibration block, wherein the depth of one positioning groove is greater than that of the other positioning groove, and the boss structure is located between the two positioning grooves.
Optionally, the boss structure is cylindrical, and the calibration position of the boss structure is a position coordinate of an axis of the boss structure.
The glue dispensing method and the glue dispensing equipment provided by the invention at least have the following beneficial effects:
the method comprises the steps of calibrating the positions of a horizontal positioning mechanism and a laser mechanism by adopting a calibration block before dispensing, determining the relative position deviation of the horizontal positioning mechanism and the laser mechanism according to a first moving route of the horizontal positioning mechanism and a second moving route of the laser mechanism, then determining the horizontal position of a dispensing position of a product to be dispensed by the horizontal positioning mechanism, determining the vertical coordinate of the dispensing position according to the horizontal position and the relative position deviation, and finally determining the accurate coordinate of the dispensing position in three directions, so that the dispensing of the dispensing mechanism to the dispensing position can be accurately controlled.
Drawings
Fig. 1 is a flowchart of a dispensing method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a calibration block according to a second embodiment of the present invention;
FIG. 3 is an enlarged schematic view of the invention at position A shown in FIG. 2;
FIG. 4 is a top view of a calibration block provided in accordance with a second embodiment of the present invention;
fig. 5 is a cross-sectional view B-B of the present invention as shown in fig. 4.
In the figure:
1. calibrating the block; 11. positioning a groove; 12. mounting grooves; 2. and (4) a boss structure.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; 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 one
The embodiment provides a dispensing method, which can be used for dispensing products and has high accuracy and good dispensing effect.
The dispensing method can be performed by a dispensing apparatus, wherein the dispensing apparatus can include a carrier, a horizontal positioning mechanism, a laser mechanism, a calibration block 1, a control assembly and a support assembly. Horizontal positioning mechanism and radium-shine mechanism are fixed respectively on supporting component, and can move on supporting component respectively. The horizontal positioning mechanism can be a structure capable of determining horizontal coordinates, such as a camera, and the laser mechanism is a structure capable of emitting laser.
As shown in fig. 1, the dispensing method includes the following steps:
and S1, mounting the calibration block 1 on the carrier, wherein the calibration block 1 is provided with a boss structure 2.
In this embodiment, the calibration block 1 may be screwed or clamped on the carrier, so as to facilitate the installation and the detachment of the calibration block 1, it should be noted that the calibration block 1 is used for calibrating the original positions of the horizontal positioning mechanism and the laser mechanism, and can be detached from the carrier in the dispensing process. The boss structure 2 is fixed to the upper surface of the calibration block 1, and the boss structure 2 may be fixed to a central position of the calibration block 1, for example. In step S1, the calibration block 1 may be manually attached to the carrier by a human hand, or the calibration block 1 may be attached to the carrier by a robot or the like.
And S2, moving the horizontal positioning mechanism to enable the measuring position of the horizontal positioning mechanism to coincide with the calibration position of the boss structure 2, and recording a first moving route of the horizontal positioning mechanism.
After the calibration block 1 is installed, the horizontal positioning mechanism can be controlled to move, so that the measuring position of the horizontal positioning mechanism can coincide with the calibration position of the boss structure 2. The measurement position may be a focusing position of the horizontal positioning mechanism, and when the focusing position coincides with the calibration position of the boss structure 2, it can be determined that the horizontal positioning mechanism moves to a position directly above the boss structure 2. The first movement path may include a movement direction and a movement distance of the horizontal positioning mechanism, and the movement direction includes a movement direction of the horizontal positioning mechanism in the X direction (e.g., positive direction of the X axis or negative direction of the X axis) and a movement direction in the Y direction (e.g., positive direction of the Y axis or negative direction of the Y axis), and the movement distance includes a movement distance of the horizontal positioning mechanism in the X direction and a movement distance in the Y direction.
Alternatively, after the first movement route is determined, the relative position relationship between the first home position of the horizontal fixing mechanism and the position of the boss structure 2 may be determined according to the first movement route, and when the position of the boss structure 2 is determined as the origin coordinate, the coordinate of the first home position may be determined according to the first movement route.
Optionally, in this embodiment, after the step S2 is completed, the method may further include controlling the horizontal positioning mechanism to move to the first original position, that is, controlling the horizontal positioning mechanism to reset, so as to control and prevent the horizontal positioning mechanism from interfering with the placement of the product to be dispensed.
And S3, moving the laser mechanism to enable the laser mechanism to be positioned right above the boss structure 2, and recording a second moving route of the laser mechanism.
Similar to the movement of the horizontal positioning mechanism, the laser mechanism can be controlled to move, and is positioned right above the boss structure 2, specifically, a port which emits laser in the laser mechanism is positioned right above the boss structure 2, and the laser emitted by the laser mechanism and the boss structure 2 are positioned on the same vertical line. The second moving route comprises the moving direction and the moving distance of the laser mechanism, the moving direction comprises the moving direction of the laser mechanism in the X direction and the moving direction in the Y direction, and the moving distance comprises the moving distance of the laser mechanism in the X direction and the moving distance in the Y direction.
Optionally, after the second moving route is determined, the relative position relationship between the second original position of the laser mechanism and the position of the boss structure 2 may be determined according to the second moving route, and when the position of the boss structure 2 is determined as the origin coordinate, the coordinate of the second original position may be determined according to the second moving route.
It should be noted that the sequence of step S2 and step S3 may be adjusted to each other, for example, the laser mechanism is moved first, and then the horizontal positioning mechanism is moved. Or, under the condition that the horizontal positioning mechanism and the laser mechanism are not mutually influenced, the horizontal positioning mechanism and the laser mechanism can move simultaneously.
Optionally, in this embodiment, after the step S3 is completed, the method may further include controlling the laser mechanism to move to the second home position, that is, controlling the laser mechanism to reset, so as to control and prevent the laser mechanism from interfering with the placement of the product to be dispensed.
And S4, determining the relative position deviation of the horizontal positioning mechanism and the laser mechanism according to the first moving route and the second moving route.
The relative position deviation refers to the position deviation of the horizontal positioning mechanism and the laser mechanism in the horizontal direction, and includes the X-direction deviation in the X direction and the Y-direction deviation in the Y direction. Illustratively, the first movement path comprises movement in the X direction by a first distance and movement in the Y direction by a second distance, the second movement path comprises movement in the X direction by a third distance and movement in the Y direction by a fourth distance, and if the movement direction of the horizontal positioning mechanism and the movement direction of the laser mechanism in the X direction are consistent, the X direction deviation of the horizontal positioning mechanism and the laser mechanism is the first distance minus the third distance or the third distance minus the first distance; if the moving directions of the two are opposite in the X direction, the X direction deviation of the two is the first distance plus the third distance. Similarly, if the moving directions of the horizontal positioning mechanism and the laser mechanism in the Y direction are consistent, the Y direction deviation of the horizontal positioning mechanism and the laser mechanism is the second distance minus the fourth distance or the fourth distance minus the second distance; if the moving directions of the two are opposite in the Y direction, and the Y direction deviation of the two is the second distance plus the fourth distance.
Optionally, in this embodiment, after the step S4 is completed, the method further includes removing the calibration block 1 from the carrier, and fixing the product to be dispensed on the carrier, so as to prevent the calibration block 1 from occupying the position of the product to be dispensed.
S5, the horizontal positioning mechanism determines the horizontal position of the dispensing position of the product to be dispensed.
After the relative position deviation between the horizontal positioning mechanism and the laser mechanism is determined, the horizontal position of the dispensing position can be determined through the horizontal positioning mechanism, wherein the horizontal position is the coordinate of the dispensing position on the horizontal plane.
And S6, determining the vertical coordinate of the dispensing position according to the horizontal position and the relative position deviation.
After the horizontal coordinate of the dispensing position is determined, the vertical coordinate of the dispensing position needs to be determined by the laser mechanism, so that the dispensing position can be accurately positioned. In this embodiment, before measuring the vertical coordinate, the laser mechanism needs to be controlled to move to the horizontal position according to the horizontal position and the relative position deviation between the laser mechanism and the horizontal positioning mechanism, so as to improve the accuracy of the laser mechanism in measuring the vertical coordinate of the dispensing position.
Alternatively, step S6 may include:
and S61, determining a third moving route of the laser mechanism according to the horizontal position and the relative position deviation.
Before step S61, a fourth moving route of the horizontal positioning mechanism may be determined according to the horizontal position and the first original position of the horizontal positioning mechanism, and then a third moving route of the laser mechanism may be determined according to the fourth moving route and the relative position deviation, where the third moving route includes a first moving distance in the X direction and a second moving distance in the Y direction. The first moving distance may be determined according to a fourth moving line and the X-direction deviation, and the second moving distance may be determined according to the fourth moving line and the Y-direction deviation.
For example, if the X-direction deviation of the horizontal positioning mechanism and the laser mechanism is a first deviation distance, the Y-direction deviation is a second deviation distance, and the horizontal position is located between the horizontal positioning mechanism and the laser mechanism in both the X-direction and the Y-direction, the fourth moving route of the horizontal positioning mechanism is to move the first preset distance in the X-positive direction, and move the second preset distance in the Y-negative direction, the third moving route of the laser mechanism is to move the first deviation distance minus the first preset distance in the X-negative direction, and move the second deviation distance minus the second preset distance in the Y-positive direction, so as to ensure that the laser mechanism can be located directly above the horizontal position.
And S62, controlling the laser mechanism to move to the horizontal position according to the third moving route, and measuring the vertical coordinate of the dispensing position at the horizontal position.
After the third moving route is determined, the laser mechanism can be controlled to move according to the third moving route, and after the laser mechanism moves to the horizontal position, the vertical coordinate of the dispensing position can be measured.
And S7, dispensing the products to be dispensed according to the horizontal position and the vertical coordinate.
After the horizontal position and the vertical coordinate of the dispensing position are obtained, the product to be dispensed can be dispensed through the dispensing equipment.
In the dispensing method provided by this embodiment, before dispensing, the calibration block 1 is used to calibrate the positions of the horizontal positioning mechanism and the laser mechanism, the relative position deviation between the horizontal positioning mechanism and the laser mechanism is determined according to the first moving route of the horizontal positioning mechanism and the second moving route of the laser mechanism, then the horizontal position of the dispensing position of the product to be dispensed is determined through the horizontal positioning mechanism, the vertical coordinate of the dispensing position is determined according to the horizontal position and the relative position deviation, and finally the accurate coordinates of the dispensing position in three directions are determined, so that the dispensing of the dispensing position by the dispensing mechanism is accurately controlled, and the calibration block 1 is used to calibrate the horizontal positioning mechanism and the laser mechanism, so that the mutual cooperation between the horizontal positioning mechanism and the laser mechanism can improve the dispensing accuracy, and the dispensing effect is good.
Example two
The embodiment provides a dispensing device, which comprises a carrier, a dispensing mechanism, a horizontal positioning mechanism, a laser mechanism, a calibration block 1 and a control assembly. Fig. 2 to 5 are schematic structural diagrams of the calibration block 1.
Specifically, the glue dispensing mechanism is located above the carrier and is used for dispensing glue at a glue dispensing position of the product to be dispensed. The horizontal positioning mechanism can move relative to the carrier under the control of the control assembly, and the horizontal positioning mechanism is provided with a measuring position. The laser mechanism can move relative to the carrier under the control of the control assembly and is used for measuring the vertical coordinate of the dispensing position. The calibration block 1 is detachably connected to the carrier, and as shown in fig. 3, a boss structure 2 is arranged on the calibration block 1. Optionally, the dispensing apparatus may further include a support assembly, and the horizontal positioning mechanism and the laser mechanism are respectively fixed on the support assembly and are capable of moving on the support assembly. The horizontal positioning mechanism can be a structure capable of determining horizontal coordinates, such as a camera, and the laser mechanism is a structure capable of emitting laser.
The control assembly is used for controlling the horizontal positioning mechanism to move, recording a first moving route of the horizontal positioning mechanism when the measuring position of the horizontal positioning mechanism is overlapped with the boss structure 2, controlling the laser mechanism to move, recording a second moving route of the laser mechanism when the laser mechanism is positioned right above the boss structure 2, determining the relative position deviation of the horizontal positioning mechanism and the laser mechanism according to the first moving route and the second moving route, and determining the vertical coordinate of the dispensing position according to the horizontal position and the relative position deviation.
The glue dispensing equipment provided by the embodiment adopts the calibration block 1 to calibrate the positions of the horizontal positioning mechanism and the laser mechanism before dispensing, determines the relative position deviation of the horizontal positioning mechanism and the laser mechanism according to the first moving route of the horizontal positioning mechanism and the second moving route of the laser mechanism, determines the horizontal position of the dispensing position of a product to be dispensed through the horizontal positioning mechanism, determines the vertical coordinate of the dispensing position according to the horizontal position and the relative position deviation, finally determines the accurate coordinate of the dispensing position in three directions, is convenient for accurately controlling the dispensing of the dispensing mechanism to the dispensing position, calibrates the horizontal positioning mechanism and the laser mechanism through the calibration block 1, enables the mutual matching of the horizontal positioning mechanism and the laser mechanism to improve the dispensing accuracy, and has a better dispensing effect.
Optionally, as shown in fig. 4, the surface of the calibration block 1 provided with the boss structure 2 is further provided with a positioning groove 11, and the positioning groove 11 may be used for the calibration block 1 to be installed in cooperation with other structures (such as a support assembly) in the dispensing apparatus.
Illustratively, the calibration block 1 is provided with two positioning grooves 11, wherein the depth of one positioning groove 11 is greater than that of the other positioning groove 11, and the boss structure 2 is located between the two positioning grooves 11.
In this embodiment, the boss structure 2 may be cylindrical, circular truncated cone-shaped, or the like, and the calibration position of the boss structure 2 is a position coordinate of the axis of the boss structure 2. The coincidence of the measuring position of the horizontal positioning mechanism and the boss structure 2 means that the measuring position of the horizontal positioning mechanism coincides with the axis of the boss structure 2 to further reduce the error. The laser mechanism is located right above the boss structure 2, which means that laser emitted by the laser mechanism can coincide with the axis of the boss structure 2.
Optionally, as shown in fig. 5, a mounting groove 12 is further disposed at the bottom of the calibration block 1, and the mounting groove 12 is used for inserting a positioning column on the supporting component to fix the calibration block 1.
The foregoing embodiments are merely illustrative of the principles and features of this invention, which is not limited to the above-described embodiments, but rather is susceptible to various changes and modifications without departing from the spirit and scope of the invention, which changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A dispensing method is characterized by comprising the following steps:
s1, mounting a calibration block on the carrier, wherein the calibration block is provided with a boss structure;
s2, moving the horizontal positioning mechanism to enable the measuring position of the horizontal positioning mechanism to coincide with the calibration position of the boss structure, and recording a first moving route of the horizontal positioning mechanism;
s3, moving the laser mechanism to enable the laser mechanism to be located right above the boss structure, and recording a second moving route of the laser mechanism;
s4, determining the relative position deviation of the horizontal positioning mechanism and the laser mechanism according to the first moving route and the second moving route;
s5, the horizontal positioning mechanism determines the horizontal position of the dispensing position of the product to be dispensed;
s6, determining the vertical coordinate of the dispensing position according to the horizontal position and the relative position deviation;
s7, dispensing the product to be dispensed according to the horizontal position and the vertical coordinate;
step S6 includes:
s61, determining a third moving route of the laser mechanism according to the horizontal position and the relative position deviation;
s62, controlling the laser mechanism to move to the horizontal position according to the third moving route, and measuring the vertical coordinate of the dispensing position at the horizontal position;
the relative positional deviation includes an X-direction deviation and a Y-direction deviation, and in step S61, a first moving distance of the third moving path in the X direction is determined according to the horizontal position and the X-direction deviation, and a second moving distance of the third moving path in the Y direction is determined according to the horizontal position and the Y-direction deviation.
2. The dispensing method of claim 1, wherein after step S2, the dispensing method further comprises controlling the horizontal positioning mechanism to move to a first original position;
after step S3, the dispensing method further includes controlling the laser mechanism to move to a second home position.
3. The dispensing method of claim 1, wherein after step S4, the dispensing method further comprises removing the calibration block from the carrier and fixing the product to be dispensed on the carrier.
4. A dispensing apparatus, comprising:
a carrier;
the glue dispensing mechanism is positioned above the carrier and is used for dispensing the products to be dispensed;
a horizontal positioning mechanism movable relative to the carrier;
the laser mechanism can move relative to the carrier and is used for measuring the vertical coordinate of the dispensing position;
the calibration block is detachably connected to the carrier, and a boss structure is arranged on the calibration block;
the control assembly is used for controlling the horizontal positioning mechanism to move, recording a first moving route of the horizontal positioning mechanism when the measuring position of the horizontal positioning mechanism is coincident with the calibration position of the boss structure, controlling the laser mechanism to move, recording a second moving route of the laser mechanism when the laser mechanism is positioned right above the boss structure, determining the relative position deviation of the horizontal positioning mechanism and the laser mechanism according to the first moving route and the second moving route, and determining the vertical coordinate of the dispensing position according to the horizontal position of the dispensing position and the relative position deviation.
5. The dispensing apparatus as claimed in claim 4, wherein the surface of the calibration block provided with the boss structure is further provided with a positioning groove.
6. The dispensing apparatus of claim 5, wherein two of said positioning slots are provided on said calibration block, wherein one of said positioning slots has a depth greater than the other of said positioning slots, and said boss structure is located between said two positioning slots.
7. The dispensing apparatus of claim 5, wherein the boss structure is cylindrical, and the calibration position of the boss structure is a position coordinate of an axis of the boss structure.
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| CN202011043442.6A CN112221848B (en) | 2020-09-28 | 2020-09-28 | Dispensing method and dispensing equipment |
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| CN202011043442.6A CN112221848B (en) | 2020-09-28 | 2020-09-28 | Dispensing method and dispensing equipment |
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| JP2009090473A (en) * | 2007-10-03 | 2009-04-30 | Seiko Epson Corp | Alignment method and alignment device for inkjet head |
| DE102007053059B3 (en) * | 2007-10-18 | 2009-03-05 | I-Mation Gmbh | Method for aligning a substrate to be printed |
| CN108372085A (en) * | 2018-04-10 | 2018-08-07 | 博众精工科技股份有限公司 | Blow gluing mechanism means for correcting and dispensing method |
| CN109395976B (en) * | 2018-12-26 | 2023-07-25 | 苏州富强科技有限公司 | Double-valve piezoelectric injection online dispensing machine and dispensing method |
| CN110813649B (en) * | 2019-11-29 | 2021-07-06 | 深圳市特瑞吉科技有限公司 | Control method and equipment of double-valve dispensing device and storage medium |
| CN212418499U (en) * | 2020-03-17 | 2021-01-29 | 深圳市腾盛精密装备股份有限公司 | Five-axis linkage dispensing machine |
| CN113310403B (en) * | 2021-04-02 | 2022-12-16 | 深圳市世宗自动化设备有限公司 | Camera aiming method, device and system |
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