CN113019843A - Closed-loop glue dispensing method and device for irregular curved surface object and glue dispensing equipment - Google Patents
Closed-loop glue dispensing method and device for irregular curved surface object and glue dispensing equipment Download PDFInfo
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- CN113019843A CN113019843A CN202110291266.6A CN202110291266A CN113019843A CN 113019843 A CN113019843 A CN 113019843A CN 202110291266 A CN202110291266 A CN 202110291266A CN 113019843 A CN113019843 A CN 113019843A
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- surface object
- glue
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- 230000001788 irregular Effects 0.000 title claims abstract description 128
- 239000003292 glue Substances 0.000 title claims abstract description 114
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004140 cleaning Methods 0.000 claims description 38
- 239000002912 waste gas Substances 0.000 claims description 4
- 239000000853 adhesive Substances 0.000 claims 1
- 230000001070 adhesive effect Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 7
- 239000007789 gas Substances 0.000 description 5
- 230000002950 deficient Effects 0.000 description 3
- 238000004026 adhesive bonding Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000003749 cleanliness Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
Images
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
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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
- 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
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
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- Coating Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention is suitable for the technical field of dispensing, and provides a closed-loop dispensing method for an irregular curved surface object, which comprises the following steps: rotating the irregular curved surface object to be glued by 360 degrees; scanning the groove profile of the irregular curved surface object by a 3D laser sensor to obtain groove profile data when the irregular curved surface object rotates for 360 degrees; point cloud data are constructed according to the groove contour data, and a closed-loop dispensing track is generated based on the point cloud data; and when the irregular curved surface object rotates for 360 degrees, carrying out closed-loop dispensing on the irregular curved surface object according to the closed-loop dispensing track. Compared with the prior art, the method can accurately obtain the data of 3 dimensions of the width, the length and the depth of each section of the groove, and the glue dispenser can change the glue output amount in real time according to the generated closed-loop glue dispensing track to ensure that the glue just fills the whole groove, thereby improving the glue dispensing yield and accelerating the production speed. The invention also provides a closed-loop glue dispensing device and a glue dispensing device for the irregular curved surface object.
Description
Technical Field
The invention belongs to the technical field of dispensing, and particularly relates to a closed-loop dispensing method and device for an irregular curved surface object and dispensing equipment.
Background
At present, the conventional dispensing method is a teaching method or a 2D visual positioning method.
To the point glue mode that adopts the teaching, need the product to have fine uniformity, and will have accurate tool. For irregular curved surface products such as lenses, curved surface screens and the like, on one hand, the reject ratio is very high due to the fact that the consistency of the products is different, on the other hand, the reject ratio of the products is not high due to the fact that the irregular curved surface products are difficult to manufacture into very accurate jigs, and a large amount of reworking is needed in the later period; especially for large-size liquid crystal panels, due to the large size, micro-deformation can occur in the dispensing process, so that deviation of the dispensing position is caused, and the yield of products is reduced.
For the dispensing mode adopting 2D visual positioning, because 2D positioning can only determine an XY plane, errors exist on a Z axis when positioning irregular curved surface products such as lenses, curved surface screens and the like, so that the dispensing track has great deviation, and the reject ratio is high; meanwhile, the information of the Z axis cannot be obtained, so that the depth information of the groove of the irregular curved surface product cannot be judged, and the glue dispensing amount of the current position cannot be judged.
Therefore, it is highly desirable to develop a dispensing technique for irregular curved surfaces.
Disclosure of Invention
The embodiment of the invention aims to provide a closed-loop dispensing method for an irregular curved surface object, and aims to solve the problems in the background art.
The embodiment of the invention is realized in such a way that the closed-loop dispensing method of the irregular curved surface object comprises the following steps:
rotating the irregular curved surface object to be glued by 360 degrees;
scanning the groove profile of the irregular curved surface object by a 3D laser sensor to obtain groove profile data when the irregular curved surface object rotates by 360 degrees;
point cloud data are constructed according to the groove contour data, and a closed-loop dispensing track is generated based on the point cloud data;
and when the irregular curved surface object rotates for 360 degrees, carrying out closed-loop dispensing on the irregular curved surface object according to the closed-loop dispensing track.
Preferably, before the step of rotating the irregular curved-surface object to be dispensed by 360 degrees, the irregular curved-surface object to be dispensed is subjected to plasma cleaning.
Preferably, when the irregular curved surface object rotates for 360 degrees, after the step of performing closed-loop dispensing on the irregular curved surface object according to the closed-loop dispensing track, whether the dispensed irregular curved surface object has glue overflow and glue shortage is detected through the 3D laser sensor.
Another objective of the embodiments of the present invention is to provide a closed-loop dispensing apparatus for an irregular curved object, comprising:
the 5-axis motion module is used for rotating the irregular curved surface object to be subjected to glue dispensing by 360 degrees;
the 3D laser sensor is used for scanning the profile of the irregular curved surface object when the irregular curved surface object rotates by 360 degrees to obtain groove profile data;
the point cloud and track module is used for constructing point cloud data according to the groove contour data and generating a closed-loop dispensing track based on the point cloud data;
and the glue dispensing module is used for performing closed-loop glue dispensing on the irregular curved surface object according to the closed-loop glue dispensing track when the irregular curved surface object rotates for 360 degrees.
Preferably, the 3D laser sensor is further used for detecting whether glue overflow and glue shortage phenomena exist in the irregular curved surface object after glue dispensing.
Preferably, the dispensing module includes:
dispensing a needle head;
dispensing a glue valve; the dispensing needle head is arranged on the dispensing valve;
and the dispensing valve controller is used for controlling dispensing parameters of the dispensing valve.
Preferably, the closed-loop glue dispensing device further comprises:
and the glue valve cleaning module is arranged on one side of the dispensing module and used for cleaning the dispensing module.
Preferably, the closed-loop glue dispensing device further comprises:
and the glue curing module is arranged on one side of the dispensing module and is used for curing the glue dispensed by the dispensing module in the closed-loop dispensing device.
Preferably, the closed-loop glue dispensing device further comprises:
and the needle aligning module is used for correcting the position of the replaced dispensing needle head after the dispensing needle head is replaced by the dispensing module.
Another objective of embodiments of the present invention is to provide a dispensing apparatus, including:
an apparatus main body;
the feeding module is arranged on the equipment main body and used for feeding the irregular curved surface object;
the plasma cleaning module is arranged on the equipment main body and used for carrying out plasma cleaning on the loaded irregular curved surface object;
the camera positioning module is arranged on the equipment main body and used for acquiring the contour of the irregular curved surface object after plasma cleaning;
the closed-loop glue dispensing device is arranged on the equipment main body and used for performing closed-loop glue dispensing on the irregular curved surface object with the contour acquired by the camera positioning module;
the cantilever module is arranged on the equipment main body and used for transferring the irregular curved surface object between the camera positioning module and the closed-loop glue dispensing device and grabbing the irregular curved surface object after glue is cured out of the glue dispensing device.
Preferably, the plasma cleaning module includes:
a first linear guide rail;
the first positioning clamp is arranged on the first linear guide rail;
the servo motor is used for driving the first positioning clamp to clamp the irregular curved surface object to be subjected to glue dispensing;
the plasma head is used for carrying out plasma cleaning on the irregular curved surface object;
and the waste gas collecting cover is used for collecting waste gas generated in the plasma cleaning process.
Preferably, the cantilever module comprises:
the second positioning fixture is used for clamping the irregular curved surface object;
a second linear guide; the second positioning clamp is arranged on the second linear guide rail in a sliding mode;
a stage; the second linear guide rail is arranged on the carrying platform;
a third linear guide rail; the carrying platform is arranged on the third linear guide rail in a sliding mode.
The embodiment of the invention provides a closed-loop dispensing method for an irregular curved surface object, which comprises the following steps: rotating the irregular curved surface object to be glued by 360 degrees; scanning the groove profile of the irregular curved surface object by a 3D laser sensor to obtain groove profile data when the irregular curved surface object rotates by 360 degrees; point cloud data are constructed according to the groove contour data, and a closed-loop dispensing track is generated based on the point cloud data; and when the irregular curved surface object rotates for 360 degrees, carrying out closed-loop dispensing on the irregular curved surface object according to the closed-loop dispensing track.
Compared with the prior art, the method and the device have the advantages that the 3D laser sensor is used for scanning the groove profile of the irregular curved surface object, the 3-dimensional data of the width, the length and the depth of each section of the groove can be accurately obtained, the point cloud data is constructed based on the obtained data, the closed-loop dispensing track is generated, the dispensing amount is changed in real time by the dispenser according to the generated closed-loop dispensing track in the actual dispensing process, the glue is guaranteed to be just filled in the whole groove, the dispensing yield is improved, and the production speed is increased.
Drawings
Fig. 1 is a flowchart illustrating steps of a closed-loop dispensing method for an irregular curved object according to an embodiment of the present invention;
fig. 2 is a top view of a dispensing apparatus according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of a dispensing apparatus according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating a working process of the dispensing apparatus according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a feeding module according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a cantilever module according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a plasma cleaning module according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a dispensing module according to an embodiment of the present invention;
fig. 9 is a partial schematic view of a dispensing module according to an embodiment of the invention;
fig. 10 is a schematic structural diagram of a 5-axis motion module according to an embodiment of the present invention.
In the drawings: 10. a feeding module; 20. a cantilever module; 30. a plasma cleaning module; 31. a first linear guide rail; 32. a first positioning jig; 33. a plasma head; 34. an exhaust gas collection hood; 40. a camera positioning module; 50. a closed loop dispensing device; 51. a glue valve cleaning module; 52. a glue curing module; 53. a 5-axis motion module; 54. a dispensing module; 55. a 3D laser sensor; 60. defective products unloading module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
Example 1
As shown in fig. 1, a closed-loop dispensing method for an irregular curved object according to an embodiment of the present invention includes the following steps:
rotating the irregular curved surface object to be glued by 360 degrees;
scanning the groove profile of the irregular curved surface object by a 3D laser sensor to obtain groove profile data when the irregular curved surface object rotates by 360 degrees;
point cloud data are constructed according to the groove contour data, and a closed-loop dispensing track is generated based on the point cloud data;
and when the irregular curved surface object rotates for 360 degrees, carrying out closed-loop dispensing on the irregular curved surface object according to the closed-loop dispensing track.
Compared with the prior art, this embodiment can accurately obtain the width, length and the 3D data of degree of depth of each section of recess through the recess profile of 3D laser sensor scanning irregular curved surface object, and then construct point cloud data and generate closed loop and glue the orbit based on the data that obtain, in actual point gluing process, the orbit is glued to the closed loop that the point gum machine was glued according to the closed loop that generates, changes out the volume of gluing in real time, guarantees that glue just fills up whole recess to improve and glue the yield, accelerate production speed.
As a preferred embodiment of the present invention, before the step of rotating the irregular curved-surface object to be dispensed by 360 °, the irregular curved-surface object to be dispensed is subjected to plasma cleaning.
Specifically, the higher the surface cleanliness of the irregular curved surface object is, the easier the glue is to adhere to the irregular curved surface object, and the glue dispensing yield is further improved. Therefore, in the embodiment, before the step of rotating the irregular curved-surface object to be subjected to glue dispensing by 360 degrees, a process of performing plasma cleaning on the irregular curved-surface object to be subjected to glue dispensing is added.
As shown in fig. 1, as a preferred embodiment of the present invention, when the irregular curved surface object rotates 360 degrees, after the step of performing closed-loop dispensing on the irregular curved surface object according to the closed-loop dispensing trajectory, a 3D laser sensor is used to detect whether the dispensed irregular curved surface object has the phenomena of glue overflow and glue shortage.
Specifically, the 3D laser sensor can be used for performing 3D modeling, so that the 3D laser sensor not only can be used for acquiring the groove profile data of the irregular curved surface object, but also can be used for scanning the 3D profile of the irregular curved surface object subjected to glue dispensing, and whether glue overflow and glue shortage phenomena exist in the irregular curved surface object or not is judged according to the scanned 3D profile data.
Example 2
An embodiment of the present invention further provides a closed-loop dispensing device for an irregular curved object, including:
the 5-axis motion module 53 is used for rotating the irregular curved surface object to be subjected to glue dispensing by 360 degrees;
the 3D laser sensor 55 is used for scanning the profile of the irregular curved surface object to obtain groove profile data when the irregular curved surface object rotates by 360 degrees;
the point cloud and track module is used for constructing point cloud data according to the groove contour data and generating a closed-loop dispensing track based on the point cloud data;
and the glue dispensing module 54 is used for performing closed-loop glue dispensing on the irregular curved surface object according to the closed-loop glue dispensing track when the irregular curved surface object rotates for 360 degrees.
A schematic structural view of the 5-axis motion module 53 is shown in fig. 10.
In this embodiment, a closed-loop dispensing device constructed based on the method in embodiment 1 is provided, in which an irregular curved surface object to be dispensed is rotated 360 degrees by a 5-axis motion module 53, then the contour of the irregular curved surface object is scanned by a 3D laser sensor 55 when the irregular curved surface object is rotated 360 degrees to obtain groove contour data, point cloud data is constructed by a point cloud and trajectory module according to the groove contour data, a closed-loop dispensing trajectory is generated based on the point cloud data, and finally the irregular curved surface object is dispensed in a closed-loop manner by a dispensing module 54 when the irregular curved surface object is rotated 360 degrees.
Compared with the prior art, the embodiment can accurately obtain the 3-dimensional data of the width, the length and the depth of each section of the groove, further construct point cloud data and generate a closed-loop dispensing track based on the obtained data, in the actual dispensing process, the dispensing machine changes the dispensing amount in real time according to the generated closed-loop dispensing track, and the glue is ensured to just fill the whole groove, so that the dispensing yield is improved, and the production speed is accelerated.
As a preferred embodiment of the present invention, the 3D laser sensor 55 is further configured to detect whether the dispensed irregular curved surface object has glue overflow and glue shortage phenomena.
Specifically, the 3D laser sensor 55 can perform 3D modeling, and thus can be used to acquire groove profile data of an irregular curved object, scan a 3D profile of the dispensed irregular curved object, and determine whether the irregular curved object has glue overflow or glue shortage according to the scanned 3D profile data.
As a preferred embodiment of the present invention, the dispensing module 54 includes:
dispensing a needle head;
dispensing a glue valve; the dispensing needle head is arranged on the dispensing valve;
and the dispensing valve controller is used for controlling dispensing parameters of the dispensing valve.
Specifically, when the closed-loop glue dispensing is performed on the irregular curved surface object, glue is dispensed through the glue dispensing needle head, and the glue dispensing valve controller is opened to control various parameters in the glue dispensing process of the glue dispensing valve so as to ensure the stability of glue dispensing. The dispensing module 54 is schematically shown in fig. 8.
As shown in fig. 9, as a preferred embodiment of the present invention, the closed-loop glue dispensing apparatus 50 further includes:
and the glue valve cleaning module 51 is arranged on one side of the dispensing module 54 and is used for cleaning the dispensing module 54.
Specifically, the dispensing module 54 may leave glue on the dispensing needle during dispensing, which may affect subsequent dispensing operations. For this reason, the glue valve cleaning module 51 is disposed at one side of the dispensing module 54 to clean the dispensing module 54.
As shown in fig. 9, as a preferred embodiment of the present invention, the closed-loop glue dispensing apparatus 50 further includes:
and a glue curing module 52, disposed at one side of the dispensing module 54, for curing the glue dispensed from the dispensing module 54 in the closed-loop dispensing device 50.
Specifically, after the glue is dispensed on the irregular curved surface object, if the glue is not cured in time, the glue flows, so that the glue is not uniformly dispensed. Therefore, in the embodiment, the glue curing module 52 is disposed on one side of the dispensing module 54, and after dispensing is performed by the dispensing module 54, the glue dispensed by the dispensing module 54 is cured in time by the glue curing module 52, so as to prevent glue from flowing and ensure the dispensing yield.
As a preferred embodiment of the present invention, the closed-loop dispensing device further includes:
and a needle aligning module for performing position correction on the replaced dispensing needle after the dispensing needle is replaced by the dispensing module 54.
Specifically, the position of the dispensing needle head needs to be corrected by the needle aligning module each time the dispensing needle head is replaced. The matrix module of this embodiment adopts the laser correlation method, when the dispensing needle reaches the positive center of two bundles of correlation laser, records the position of dispensing needle down, and carries out calibration in the original position.
Example 3
As shown in fig. 2 and 3, an embodiment of the present invention further provides a dispensing apparatus, including:
an apparatus main body;
the feeding module 10 is arranged on the equipment main body and used for feeding the irregular curved surface object;
the plasma cleaning module 30 is arranged on the equipment main body and is used for carrying out plasma cleaning on the loaded irregular curved surface object;
the camera positioning module 40 is arranged on the equipment main body and used for acquiring the contour of the irregular curved surface object after plasma cleaning;
the closed-loop glue dispensing device 50 according to any one of embodiments 2, disposed on the main body of the apparatus, configured to perform closed-loop glue dispensing on an irregular curved surface object whose contour is obtained by the camera positioning module 40;
the cantilever module 20 is arranged on the equipment main body and used for transferring the irregular curved surface object between the feeding module 10, the plasma cleaning module 30, the camera positioning module 40 and the closed-loop glue dispensing device 50 and grabbing the irregular curved surface object after glue solidification out of the glue dispensing equipment.
The structural schematic diagram of the feeding module 10 is shown in fig. 5, and the structural schematic diagram of the cantilever module 20 is shown in fig. 6.
Specifically, the workflow of the dispensing device in this embodiment is as shown in fig. 4, the feeding module 10 feeds the product, the cantilever module 20 grabs the product to the plasma cleaning module 30, the product is plasma cleaned by the plasma cleaning module 30, the cantilever module 20 grabs the product to the camera positioning module 40, the product is obtained from the contour of the product by the camera positioning module 40, the product is grabbed to the closed-loop dispensing device 50 by the cantilever module 20, the product is closed-loop dispensed by the closed-loop dispensing device 50, after dispensing, the cantilever module 20 grabs the product out of the dispensing device, and the defective product is discharged through the defective product discharging module 60. The process of performing closed-loop dispensing on a product by the closed-loop dispensing device 50 is mentioned in embodiment 2, so this embodiment will not be described in more detail.
As shown in fig. 7, the plasma cleaning module 30, as a preferred embodiment of the present invention, includes:
a first linear guide 31;
a first positioning jig 32 provided on the first linear guide 31;
the servo motor is used for driving the first positioning clamp 32 to clamp the irregular curved surface object to be subjected to glue dispensing;
a plasma head 33 for performing plasma cleaning on the irregular curved surface object;
and an exhaust gas collecting hood 34 for collecting exhaust gas generated during the plasma cleaning process.
Specifically, in this embodiment, the first positioning fixture 32 is used to clamp the irregular curved surface object to be dispensed, the plasma head 33 is used to perform plasma cleaning on the irregular curved surface object, and the exhaust gas generated during the plasma cleaning process is collected by the exhaust gas collecting cover 34.
As a preferred embodiment of the present invention, the cantilever module 20 includes:
the second positioning fixture is used for clamping the irregular curved surface object;
a second linear guide; the second positioning clamp is arranged on the second linear guide rail in a sliding mode;
a stage; the second linear guide rail is arranged on the carrying platform;
a third linear guide rail; the carrying platform is arranged on the third linear guide rail in a sliding mode.
Specifically, in this embodiment, the second positioning fixture is used to clamp the irregular curved surface object, and the second linear guide, the stage and the third linear guide are used to enable the second positioning fixture to transfer the clamped irregular curved surface object among the feeding module 10, the plasma cleaning module 30, the camera positioning module 40 and the closed-loop glue dispensing device 50.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A closed-loop dispensing method for an irregular curved surface object is characterized by comprising the following steps:
rotating the irregular curved surface object to be glued by 360 degrees;
scanning the groove profile of the irregular curved surface object by a 3D laser sensor to obtain groove profile data when the irregular curved surface object rotates by 360 degrees;
point cloud data are constructed according to the groove contour data, and a closed-loop dispensing track is generated based on the point cloud data;
and when the irregular curved surface object rotates for 360 degrees, carrying out closed-loop dispensing on the irregular curved surface object according to the closed-loop dispensing track.
2. The method according to claim 1, wherein the plasma cleaning is performed on the irregular curved object to be dispensed before the 360 ° rotation of the irregular curved object to be dispensed.
3. The method according to claim 1, wherein when the irregular curved surface object rotates 360 degrees, the 3D laser sensor detects whether the dispensed irregular curved surface object has glue overflow or glue shortage after the step of performing closed-loop glue dispensing on the irregular curved surface object according to the closed-loop glue dispensing trajectory.
4. The utility model provides a closed loop adhesive deposite device of irregular curved surface object which characterized in that includes:
the 5-axis motion module is used for rotating the irregular curved surface object to be subjected to glue dispensing by 360 degrees;
the 3D laser sensor is used for scanning the profile of the irregular curved surface object when the irregular curved surface object rotates by 360 degrees to obtain groove profile data;
the point cloud and track module is used for constructing point cloud data according to the groove contour data and generating a closed-loop dispensing track based on the point cloud data;
and the glue dispensing module is used for performing closed-loop glue dispensing on the irregular curved surface object according to the closed-loop glue dispensing track when the irregular curved surface object rotates for 360 degrees.
5. The closed-loop glue dispensing device for the irregular curved-surface object as claimed in claim 4, wherein the 3D laser sensor is further configured to detect whether glue overflow and glue shortage occur in the irregular curved-surface object after glue dispensing.
6. The apparatus of claim 4, wherein the dispensing module comprises:
dispensing a needle head;
dispensing a glue valve; the dispensing needle head is arranged on the dispensing valve;
and the dispensing valve controller is used for controlling dispensing parameters of the dispensing valve.
7. The apparatus of claim 4, further comprising:
the glue valve cleaning module is arranged on one side of the dispensing module and used for cleaning the dispensing module;
the glue curing module is arranged on one side of the glue dispensing module and is used for curing glue dispensed by the glue dispensing module in the closed-loop glue dispensing device;
and the needle aligning module is used for correcting the position of the replaced dispensing needle head after the dispensing needle head is replaced by the dispensing module.
8. A dispensing apparatus, comprising:
an apparatus main body;
the feeding module is arranged on the equipment main body and used for feeding the irregular curved surface object;
the plasma cleaning module is arranged on the equipment main body and used for carrying out plasma cleaning on the loaded irregular curved surface object;
the camera positioning module is arranged on the equipment main body and used for acquiring the contour of the irregular curved surface object after plasma cleaning;
the closed-loop glue dispensing device as claimed in any one of claims 4 to 7, arranged on the equipment main body, and configured to perform closed-loop glue dispensing on an irregular curved surface object whose contour is obtained by the camera positioning module;
the cantilever module is arranged on the equipment main body and used for transferring the irregular curved surface object between the camera positioning module and the closed-loop glue dispensing device and grabbing the irregular curved surface object after glue is cured out of the glue dispensing device.
9. The apparatus of claim 8, wherein the plasma cleaning module comprises:
a first linear guide rail;
the first positioning clamp is arranged on the first linear guide rail;
the servo motor is used for driving the first positioning clamp to clamp the irregular curved surface object to be subjected to glue dispensing;
the plasma head is used for carrying out plasma cleaning on the irregular curved surface object;
and the waste gas collecting cover is used for collecting waste gas generated in the plasma cleaning process.
10. The apparatus of claim 8, wherein the cantilever module comprises:
the second positioning fixture is used for clamping the irregular curved surface object;
a second linear guide; the second positioning clamp is arranged on the second linear guide rail in a sliding mode;
a stage; the second linear guide rail is arranged on the carrying platform;
a third linear guide rail; the carrying platform is arranged on the third linear guide rail in a sliding mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110291266.6A CN113019843A (en) | 2021-03-18 | 2021-03-18 | Closed-loop glue dispensing method and device for irregular curved surface object and glue dispensing equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110291266.6A CN113019843A (en) | 2021-03-18 | 2021-03-18 | Closed-loop glue dispensing method and device for irregular curved surface object and glue dispensing equipment |
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| CN113019843A true CN113019843A (en) | 2021-06-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114233730A (en) * | 2021-12-06 | 2022-03-25 | 四川光恒通信技术有限公司 | Device and method for automatically pasting isolator on V300 three-way shell |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111804515A (en) * | 2020-07-16 | 2020-10-23 | 苏州小蜂视觉科技有限公司 | 3D following closed loop dispensing equipment for irregular curved surface lens |
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2021
- 2021-03-18 CN CN202110291266.6A patent/CN113019843A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111804515A (en) * | 2020-07-16 | 2020-10-23 | 苏州小蜂视觉科技有限公司 | 3D following closed loop dispensing equipment for irregular curved surface lens |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114233730A (en) * | 2021-12-06 | 2022-03-25 | 四川光恒通信技术有限公司 | Device and method for automatically pasting isolator on V300 three-way shell |
| CN114233730B (en) * | 2021-12-06 | 2023-11-14 | 四川光恒通信技术有限公司 | Device and method for automatically pasting isolator on V300 three-way shell |
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Application publication date: 20210625 |