CN113245149A - Glue dispensing method and device with closed-loop control of glue amount - Google Patents
Glue dispensing method and device with closed-loop control of glue amount Download PDFInfo
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- CN113245149A CN113245149A CN202110578486.7A CN202110578486A CN113245149A CN 113245149 A CN113245149 A CN 113245149A CN 202110578486 A CN202110578486 A CN 202110578486A CN 113245149 A CN113245149 A CN 113245149A
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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
- 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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- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention provides a glue dispensing method of glue amount closed-loop control, which comprises the steps of setting initial glue dispensing control parameters; scanning the outlines of the products before and after dispensing by using an area array laser sensor to obtain point cloud data of a dispensing line; acquiring current glue line parameters according to point cloud data of the glue dispensing line; judging whether the current rubber line parameters meet the error range; if so, fixing the current dispensing control parameters; if not, obtaining a difference value between the current glue line parameter and the target glue line parameter, and correcting the glue dispensing control parameter according to the difference value; until the current parameters of the glue amount meet the error range. The glue dispensing method adopting the glue amount closed-loop control comprises the steps of shooting three-dimensional data of a product template by using area array laser to obtain three-dimensional point cloud data of a glue dispensing line; and obtaining a current glue line parameter according to the three-dimensional point cloud data, correcting the glue dispensing control parameter according to a difference value between the current glue line parameter and the target glue line parameter, and obtaining a proper glue dispensing control parameter for glue dispensing so as to realize accurate glue dispensing.
Description
Technical Field
The invention relates to the technical field of glue dispensing, in particular to a glue dispensing method and device with closed-loop control over glue dispensing amount.
Background
The traditional glue amount setting method in the current glue dispensing industry comprises the following steps: (1) manually measuring the glue width; the glue amount is measured by trial, the glue is taken under a microscope, the width of the glue is measured manually, the glue is measured again after the parameters of a glue valve controller are adjusted manually according to actual numerical values, and the target glue amount is achieved. (2) Manually weighing; whether the current glue amount meets the requirement or not is judged by trial-beating glue on a trial-beating sheet and then taking the trial-beating sheet to a precision electronic scale for weighing.
However, both with a 2D camera and by weighing, there are major drawbacks; the height of the glue is measured by a 2D camera, and whether the glue amount of the whole glue road is uniform or not is judged by a weighing method.
Moreover, the glue dispensing data are not accurately adjusted according to the glue amount due to the inaccuracy of the measured glue amount. In the prior art, the two-dimensional data is usually adopted to adjust the data error in the process of adjusting the dispensing data according to the glue amount, so that the final dispensing effect is poor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a glue dispensing method and a glue dispensing device with closed-loop control of glue dispensing amount.
The technical scheme of the invention is summarized as follows:
in one aspect, the present invention provides a dispensing method with closed-loop control of dispensing amount, comprising:
setting initial dispensing control parameters;
scanning the outlines of the products before and after dispensing by using an area array laser sensor to obtain point cloud data of a dispensing line;
acquiring current glue line parameters according to the point cloud data of the glue dispensing line;
judging whether the current rubber line parameters meet the error range;
if so, fixing the current dispensing control parameters;
if not, obtaining a difference value between the current glue line parameter and the target glue line parameter, and correcting the glue dispensing control parameter according to the difference value; until the current parameters of the glue amount meet the error range.
Further, the setting of the initial dispensing control parameter includes:
the initial characteristics of the product are obtained through the area array laser sensor, and initial dispensing control parameters are set according to the initial characteristics of the product.
Further, the setting of initial dispensing control parameters according to the initial characteristics of the product includes:
and determining and setting initial dispensing control parameters based on a data model between the product characteristics and the dispensing control parameters according to the initial characteristics of the product.
Further, the scanning of the outline of the product before and after dispensing by using the area array laser sensor to obtain the point cloud data of the dispensing line comprises:
acquiring first point cloud data of a product before dispensing or a product template through an area array laser sensor;
acquiring second point cloud data after the product is dispensed through an area array laser sensor;
and comparing the first point cloud data with the second point cloud data to obtain point cloud data of the dispensing line.
Further, the obtaining of the current glue line parameter according to the point cloud data of the glue dispensing line includes:
obtaining a three-dimensional model of the dispensing line according to the point cloud data of the dispensing line;
and obtaining the current glue line parameters of the glue dispensing line according to the three-dimensional model of the glue dispensing line.
Further, the obtaining of the current glue line parameter of the glue line according to the three-dimensional model of the glue line includes: segmenting the three-dimensional model of the dispensing line to obtain a plurality of unit areas;
respectively acquiring current unit parameters of a plurality of unit areas;
obtaining the current average parameter of the three-dimensional model according to the unit parameter;
the current glue line parameters of the glue dispensing line comprise the current average parameters and the current unit parameters in a plurality of unit areas.
Further, when the current glue line parameter of the glue dispensing line includes the current average parameter, the glue dispensing method includes:
judging whether the current average parameter accords with an error range;
if so, fixing the current dispensing control parameters;
if not, acquiring a difference value between the current average parameter and a first target glue line parameter as an average error value;
correcting dispensing control parameters according to the average error value until the current average parameter accords with an error range; the dispensing control parameters at least comprise relevant parameters of a screw valve and relevant parameters of a piezoelectric valve.
Further, when the current glue line parameters of the glue dispensing line include current unit parameters in a plurality of unit areas, the glue dispensing method includes:
judging whether all the current unit parameters meet the error range;
if so, fixing the current dispensing control parameters;
if not, acquiring the difference value between all the current unit parameters and the second target glue line parameters as a unit error value;
judging whether the unit error value is not larger than a preset threshold value or not, and obtaining a quantity value of the unit error value not larger than the preset threshold value;
when the unit error value is not greater than the quantity value of the preset threshold value and is not lower than the qualified value, uniformly dispensing;
when the quantity value of the unit error value not greater than the preset threshold is lower than the qualified value, dispensing is not uniform, and dispensing control parameters are corrected according to the quantity value of the unit error value not greater than the preset threshold until the quantity value of the unit error value not greater than the preset threshold is not lower than the qualified value; wherein, the dispensing control parameters at least comprise related parameters of the air pressure valve; the qualifying value is predetermined based on a product characteristic.
Further, the glue amount parameter comprises at least one of a length parameter, a width parameter, a height parameter, a sectional area parameter and a volume parameter of the glue amount.
Correspondingly, the invention also provides a glue dispensing device with closed-loop control of glue amount, which is characterized by comprising the following components:
the setting module is used for setting initial dispensing control parameters;
the first acquisition module is used for scanning the outlines of the products before and after dispensing by using the area array laser sensor to obtain point cloud data of a dispensing line;
the second acquisition module is used for acquiring current glue line parameters according to the point cloud data of the glue dispensing line;
the judging module is used for judging whether the current rubber line parameters meet the error range;
the first execution module is used for fixing the current dispensing control parameters if the current dispensing control parameters are the same as the dispensing control parameters;
the second execution module is used for obtaining the difference value between the current glue line parameter and the target glue line parameter if the current glue line parameter is not the target glue line parameter, and correcting the glue dispensing control parameter according to the difference value; until the current parameters of the glue amount meet the error range.
Compared with the prior art, the invention has the beneficial effects that: the glue dispensing method adopting the glue amount closed-loop control comprises the steps of shooting three-dimensional data of a product template by using area array laser to obtain three-dimensional point cloud data of a glue dispensing line; and obtaining a current glue line parameter according to the three-dimensional point cloud data, correcting the glue dispensing control parameter according to a difference value between the current glue line parameter and the target glue line parameter, and obtaining a proper glue dispensing control parameter for glue dispensing so as to realize accurate glue dispensing.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
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 application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic process diagram of a dispensing method of the present invention with closed-loop control of the dispensing amount;
FIG. 2 is a schematic flow chart illustrating a dispensing method of closed-loop control of dispensing amount according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a dispensing method of closed-loop control of dispensing amount according to another embodiment of the present invention;
fig. 4 is a schematic diagram of a dispensing device with closed-loop control of the amount of glue according to the present invention.
Reference numerals: 100. a setting module; 200. a first acquisition module; 300. a second acquisition module; 400. a judgment module; 500. a first execution module; 600. and a second execution module.
Detailed Description
The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, which will enable those skilled in the art to practice the present invention with reference to the accompanying specification. In the drawings, the shape and size may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to designate the same or similar components. In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, and the like are used based on the orientation or positional relationship shown in the drawings. In particular, "height" corresponds to the dimension from top to bottom, "width" corresponds to the dimension from left to right, and "depth" corresponds to the dimension from front to back. These relative terms are for convenience of description and are not generally intended to require a particular orientation. Terms concerning attachments, coupling and the like (e.g., "connected" and "attached") refer to a relationship wherein structures are secured or attached, either directly or indirectly, to one another through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise.
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict. It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-2, the glue dispensing method of the present invention includes:
s1, setting initial dispensing control parameters;
s2, scanning the outlines of the products before and after dispensing by using an area array laser sensor to obtain point cloud data of a dispensing line;
s3, obtaining current glue line parameters according to point cloud data of the glue dispensing line;
s4, judging whether the current rubber line parameter meets the error range;
s5, if yes, fixing the current dispensing control parameters;
s6, if not, obtaining a difference value between the current glue line parameter and the target glue line parameter, and correcting the glue dispensing control parameter according to the difference value; until the current parameters of the glue amount meet the error range.
Preferably, all the steps of S1-S6 may be performed before actual dispensing, and during teaching, appropriate dispensing control parameters are obtained through the steps, so that dispensing is performed during actual dispensing. All the steps of S1-S6 can also be carried out before formal dispensing, and S2-S6 are repeated until the current glue line parameter meets the error range, so that a proper dispensing product is obtained.
Specifically, S1 sets initial dispensing control parameters, including:
and S11, acquiring initial characteristics of the product through the area array laser sensor, and setting initial dispensing control parameters according to the initial characteristics of the product.
Wherein, according to the initial characteristic setting initial point of product and gluing control parameter, include:
and determining and setting initial dispensing control parameters based on a data model between the product characteristics and the dispensing control parameters according to the initial characteristics of the product.
Preferably, the data model between the product characteristics and the dispensing control parameters is a data model generated based on the relationship between the historical product characteristics and the historical dispensing control parameters; the historical dispensing control parameters are fixed dispensing control parameters when the glue quantity parameters meet the error range in the historical data.
Specifically, S2 scans the outline of the product before and after dispensing by using the area array laser sensor to obtain point cloud data of the dispensing line, including:
s21, acquiring first point cloud data of the product before dispensing or the product template through the area array laser sensor;
s22, acquiring second point cloud data after the product is dispensed through the area array laser sensor;
and S23, comparing the first point cloud data with the second point cloud data to obtain point cloud data of the dispensing line.
Specifically, S3 obtains the current glue line parameters according to the point cloud data of the glue dispensing line, including:
s31, obtaining a three-dimensional model of the dispensing line according to the point cloud data of the dispensing line;
and S32, obtaining the current glue line parameters of the glue line according to the three-dimensional model of the glue line.
Specifically, step S32 includes:
segmenting the three-dimensional model of the dispensing line to obtain a plurality of unit areas, and respectively obtaining current unit parameters of the unit areas; obtaining a current average parameter of the three-dimensional model according to the current unit parameter; the current glue line parameters of the glue dispensing line comprise a current average parameter and current unit parameters in a plurality of unit areas.
In an embodiment, when the current glue line parameter of the glue line includes the current average parameter, the steps S4-S6 specifically include:
s41, judging whether the current average parameter accords with the error range;
s51, if yes, fixing the current dispensing control parameters;
s61, if not, acquiring a difference value between the current average parameter and the first target glue line parameter as an average error value; correcting the dispensing control parameters according to the average error value until the current average parameter conforms to the error range; the dispensing control parameters at least comprise relevant parameters of a screw valve and relevant parameters of a piezoelectric valve.
Preferably, the glue amount parameter comprises at least one of a length parameter, a width parameter, a height parameter, a sectional area parameter and a volume parameter of the glue amount.
It can be understood that if the current average parameter meets the error range, the total amount of glue on the glue dispensing line is determined to be within the error range, and the current glue dispensing control parameter can be fixed for dispensing. If the current average parameter does not conform to the error range, the total glue amount on the glue dispensing line is determined not to be in the error range, and the glue dispensing control parameter can be corrected according to the average error value until the current average parameter conforms to the error range. The correction value of the dispensing control parameter is related to the average error value, a relation model between the correction value and the average error value of the dispensing control parameter can be established in advance, and the dispensing control parameter is corrected according to the average error value based on the relation model between the correction value and the average error value of the dispensing control parameter.
In the research, whether the total amount of glue for dispensing is within the error range is closely related to the related parameters of the screw valve and the related parameters of the piezoelectric valve, so that the related parameters of the screw valve and the related parameters of the piezoelectric valve are corrected according to the average error value.
In another embodiment, when the current glue line parameter of the dispensing line includes current unit parameters in the unit areas, determining whether the current glue line parameter meets the error range, wherein the steps S4-S6 specifically include:
s42, judging whether all the current unit parameters meet the error range;
s52, if yes, fixing the current dispensing control parameters;
s62, if not, obtaining the difference between all the current unit parameters and the second target glue line parameters as unit error values;
judging whether the unit error value is not greater than a preset threshold value or not, and obtaining a quantity value of which the unit error value is not greater than the preset threshold value;
s63, judging whether the quantity value of the unit error value not greater than the preset threshold value is lower than a qualified value;
s64, when the unit error value is not more than the quantity value of the preset threshold value and not less than the qualified value, dispensing uniformly without changing dispensing control parameters; wherein the dispensing control parameters at least comprise control related parameters of the air pressure valve,
s65, when the unit error value is not more than the number value of the preset threshold value and is lower than the qualified value, the glue is not uniform, and the glue dispensing control parameter is corrected according to the number value of the unit error value not more than the preset threshold value until the number value of the unit error value not more than the preset threshold value is not lower than the qualified value; the dispensing control parameters at least comprise control related parameters of an air pressure valve; the qualified value is predetermined according to the product characteristics.
It can be understood that the unit parameter of each unit area reflects the dispensing state of the unit area, and if all the current unit parameters conform to the error range, it indicates that the current unit parameters of the unit area have a small difference, and the dispensing is uniform. If the current unit parameters do not all meet the error range, the difference of the current unit parameters of the unit area is indicated, and the difference of the requirements of each product after glue dispensing is considered, at the moment, the difference between all the current unit parameters and the second target glue line parameter is obtained to be used as a unit error value, whether the unit error value is not larger than a preset threshold value or not is judged, and a quantity value of the unit error value not larger than the preset threshold value is obtained. When the unit error value is not greater than the predetermined threshold value, the number of the dispensing errors in the unit area is greater in the acceptable range, or the dispensing is relatively uniform. When the number of the unit error values is less than or equal to the predetermined threshold value and is lower than the qualified value, it can be said that the number of the dispensing errors in the unit area is less within the acceptable range, and the dispensing is relatively uneven.
Whether the dispensing is uniform or not is generally related to related parameters of the air pressure valve, the air pressure and time parameters of the air pressure valve influence whether the dispensing is uniform or not, and when the dispensing is not uniform, the dispensing control parameters are corrected according to the numerical value of which the unit error value is not more than the preset threshold value, namely, the related parameters of the air pressure valve are corrected.
Specifically, a relationship model between the quantity value of which the unit error value is not greater than the predetermined threshold value and the related parameter of the air pressure valve may be obtained through a plurality of tests in advance, and the correction value of the related parameter of the air pressure valve may be obtained based on the relationship model between the quantity value of which the unit error value is not greater than the predetermined threshold value and the related parameter of the air pressure valve.
In other embodiments, steps S41-S61 may be performed first, and then steps S42-S65 are performed, that is, whether the total amount of glue is qualified is determined, then whether the glue is applied uniformly is determined, the control parameters related to the total amount of glue are adjusted, and then the control parameters related to whether the glue is applied uniformly are adjusted.
In other embodiments, the glue level can be simultaneously reflected by multiple sets of data, and multiple sets of judgment can be performed step by step to gradually reflect the glue level.
Correspondingly, the invention also provides a glue dispensing device with closed-loop control of glue amount, which comprises:
a setting module 100, configured to set an initial dispensing control parameter;
the first acquisition module 200 is configured to scan contours of a product before and after dispensing by using an area array laser sensor to obtain point cloud data of a dispensing line;
the second obtaining module 300 is configured to obtain current glue line parameters according to point cloud data of the glue dispensing line;
the judging module 400 is used for judging whether the current glue line parameter meets the error range;
a first executing module 500, configured to fix the current dispensing control parameter if yes;
the second executing module 600 is configured to, if not, obtain a difference between the current glue line parameter and the target glue line parameter, and correct the dispensing control parameter according to the difference; until the current parameters of the glue amount meet the error range.
Compared with the prior art, the glue dispensing method adopting the closed-loop control of the glue amount can firstly shoot the three-dimensional data of the product template by using the area array laser to obtain the three-dimensional point cloud data of the glue dispensing line; and obtaining a current glue line parameter according to the three-dimensional point cloud data, correcting the glue dispensing control parameter according to a difference value between the current glue line parameter and the target glue line parameter, and obtaining a proper glue dispensing control parameter for glue dispensing so as to realize accurate glue dispensing.
Furthermore, the device and method embodiments in the device embodiment are based on the same inventive concept.
The embodiment of the invention also provides a computer storage medium, which comprises a memory and a processor, wherein the memory is stored with at least one instruction and at least one program, and the at least one instruction and the at least one program are loaded and executed by the processor to realize the glue dispensing method with the glue amount closed-loop control provided by the embodiment of the method.
It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the device and electronic apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art can make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.
Claims (10)
1. A glue dispensing method adopting closed-loop control of glue amount is characterized by comprising the following steps:
setting initial dispensing control parameters;
scanning the outlines of the products before and after dispensing by using an area array laser sensor to obtain point cloud data of a dispensing line;
acquiring current glue line parameters according to the point cloud data of the glue dispensing line;
judging whether the current rubber line parameters meet the error range;
if so, fixing the current dispensing control parameters;
if not, obtaining a difference value between the current glue line parameter and the target glue line parameter, and correcting the glue dispensing control parameter according to the difference value; until the current parameters of the glue amount meet the error range.
2. A dispensing method of closed-loop control of the amount of glue as claimed in claim 1, wherein said setting of initial dispensing control parameters comprises:
the initial characteristics of the product are obtained through the area array laser sensor, and initial dispensing control parameters are set according to the initial characteristics of the product.
3. A dispensing method of closed-loop control of the amount of glue as claimed in claim 2, wherein said setting of initial dispensing control parameters according to initial characteristics of the product comprises:
and determining and setting initial dispensing control parameters based on a data model between the product characteristics and the dispensing control parameters according to the initial characteristics of the product.
4. The dispensing method of claim 1, wherein scanning the contour of the product before and after dispensing with the area array laser sensor to obtain the point cloud data of the dispensing line comprises:
acquiring first point cloud data of a product before dispensing or a product template through an area array laser sensor;
acquiring second point cloud data after the product is dispensed through an area array laser sensor;
and comparing the first point cloud data with the second point cloud data to obtain point cloud data of the dispensing line.
5. The method as claimed in claim 1, wherein the obtaining of the current glue line parameter according to the point cloud data of the dispensing line comprises:
obtaining a three-dimensional model of the dispensing line according to the point cloud data of the dispensing line;
and obtaining the current glue line parameters of the glue dispensing line according to the three-dimensional model of the glue dispensing line.
6. The method as claimed in claim 5, wherein said obtaining current glue line parameters of the dispensing line according to the three-dimensional model of the dispensing line comprises: segmenting the three-dimensional model of the dispensing line to obtain a plurality of unit areas;
respectively acquiring current unit parameters of a plurality of unit areas;
obtaining the current average parameter of the three-dimensional model according to the unit parameter;
the current glue line parameters of the glue dispensing line comprise the current average parameters and the current unit parameters in a plurality of unit areas.
7. The method as claimed in claim 6, wherein when the current line parameter of the dispensing line includes the current average parameter, the method comprises:
judging whether the current average parameter accords with an error range;
if so, fixing the current dispensing control parameters;
if not, acquiring a difference value between the current average parameter and a first target glue line parameter as an average error value;
correcting dispensing control parameters according to the average error value until the current average parameter accords with an error range; the dispensing control parameters at least comprise relevant parameters of a screw valve and relevant parameters of a piezoelectric valve.
8. The method as claimed in claim 6, wherein when the current line parameters of the dispensing line include current unit parameters in unit areas, the method comprises:
judging whether all the current unit parameters meet the error range;
if so, fixing the current dispensing control parameters;
if not, acquiring the difference value between all the current unit parameters and the second target glue line parameters as a unit error value;
judging whether the unit error value is not larger than a preset threshold value or not, and obtaining a quantity value of the unit error value not larger than the preset threshold value;
when the unit error value is not greater than the quantity value of the preset threshold value and is not lower than the qualified value, uniformly dispensing;
when the quantity value of the unit error value not greater than the preset threshold is lower than the qualified value, dispensing is not uniform, and dispensing control parameters are corrected according to the quantity value of the unit error value not greater than the preset threshold until the quantity value of the unit error value not greater than the preset threshold is not lower than the qualified value; wherein, the dispensing control parameters at least comprise related parameters of the air pressure valve; the qualifying value is predetermined based on a product characteristic.
9. The method as claimed in claim 1, wherein the glue amount parameter comprises at least one of a length parameter, a width parameter, a height parameter, a cross-sectional area parameter, and a volume parameter of the glue amount.
10. The utility model provides a glue volume closed loop control's adhesive deposite device which characterized in that includes:
the setting module is used for setting initial dispensing control parameters;
the first acquisition module is used for scanning the outlines of the products before and after dispensing by using the area array laser sensor to obtain point cloud data of a dispensing line;
the second acquisition module is used for acquiring current glue line parameters according to the point cloud data of the glue dispensing line;
the judging module is used for judging whether the current rubber line parameters meet the error range;
the first execution module is used for fixing the current dispensing control parameters if the current dispensing control parameters are the same as the dispensing control parameters;
the second execution module is used for obtaining the difference value between the current glue line parameter and the target glue line parameter if the current glue line parameter is not the target glue line parameter, and correcting the glue dispensing control parameter according to the difference value; until the current parameters of the glue amount meet the error range.
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| CN114653538A (en) * | 2022-03-22 | 2022-06-24 | 苏州小蜂视觉科技有限公司 | Self-learning closed-loop dispensing system and method |
| CN115365088A (en) * | 2022-09-05 | 2022-11-22 | 苏州光宝科技股份有限公司 | Dispensing method and device based on visual guidance |
| CN115463807A (en) * | 2022-09-09 | 2022-12-13 | 深圳市世宗自动化设备有限公司 | Gap dispensing method and system |
| WO2023010633A1 (en) * | 2021-08-03 | 2023-02-09 | 武汉华星光电技术有限公司 | Dispensing method for display panel and dispensing device for display panel |
| CN115990568A (en) * | 2022-11-29 | 2023-04-21 | 歌尔股份有限公司 | Glue spraying control method, device, equipment and storage medium |
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