CN114602736A - Dispensing machine and method thereof - Google Patents
Dispensing machine and method thereof Download PDFInfo
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- CN114602736A CN114602736A CN202210228455.3A CN202210228455A CN114602736A CN 114602736 A CN114602736 A CN 114602736A CN 202210228455 A CN202210228455 A CN 202210228455A CN 114602736 A CN114602736 A CN 114602736A
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- dispensing head
- track
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000003292 glue Substances 0.000 claims abstract description 102
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 42
- 238000007599 discharging Methods 0.000 claims description 16
- 239000000243 solution Substances 0.000 claims description 11
- 238000002347 injection Methods 0.000 claims description 10
- 239000007924 injection Substances 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000007689 inspection Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 6
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005303 weighing Methods 0.000 description 4
- 239000000853 adhesive Substances 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012536 packaging technology Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 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
- 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
- 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
- B05C11/1005—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
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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
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- Coating Apparatus (AREA)
Abstract
The application discloses a glue dispenser and a method thereof, relates to the technical field of non-standard equipment, and aims to improve the glue dispensing efficiency and the glue dispensing quality in the related technology. The dispensing machine comprises a carrying platform, a dispensing head, a detection device and a controller, wherein the carrying platform is used for placing a workpiece; the dispensing head is used for dispensing the workpieces; the detection device is used for acquiring an image of the workpiece and then acquiring a dispensing track of the dispensing head on the workpiece according to the image of the workpiece; and the controller is used for controlling the dispensing head to dispense along the dispensing track. The dispensing method comprises the steps of obtaining an image of a workpiece, obtaining a dispensing track of a dispensing head on the workpiece according to the image, and controlling the dispensing head to dispense along the dispensing track to realize quick and accurate dispensing of the dispensing head on the workpiece, so that the dispensing efficiency and the dispensing quality of the dispensing machine are improved on the whole.
Description
Technical Field
The application relates to the technical field of nonstandard equipment, in particular to a dispenser and a method thereof.
Background
The dispensing technology is widely applied, and the dispenser is widely applied to the occasions of dispensing, gluing, glue pouring, sealing, bonding and the like in the production process of products as an automatic mechanical device. However, with the continuous innovative development of scientific technology, more and more electronic products tend to be highly integrated, so that a high-precision dispensing process technology of a complex curved surface is required in the packaging technology of the electronic products, a five-axis linkage dispensing machine based on complex spatial motion is a trend in the dispensing field, and the high-precision five-axis linkage dispensing technology is a current technical difficulty.
In the operation process of a five-axis linkage dispensing machine in the related art, especially for automatic dispensing of a complex special-shaped curved surface workpiece, if rapid dispensing is performed on a curved surface screen, the dispensing track is complex and variable, and how to perform all-around accurate dispensing on the complex special-shaped curved surface workpiece is a primary problem to be solved urgently at present.
Disclosure of Invention
The embodiment of the application provides a dispenser and a method thereof, which are used for solving the problems of improving dispensing efficiency and dispensing quality of a dispenser in the related art.
In one aspect, the application provides a point gum machine, this point gum machine includes: the device comprises a carrying platform, a dispensing head, a detection device and a controller, wherein the carrying platform is used for placing a workpiece; the dispensing head is used for dispensing the workpieces; the detection device is used for acquiring an image of the workpiece and then acquiring a dispensing track of the dispensing head on the workpiece according to the image; the controller is used for controlling the dispensing head to dispense along the dispensing track.
In some embodiments, the controller is configured to obtain a dispensing amount parameter from the image; determining glue amount template data according to the glue amount parameters, wherein the glue amount template data is the total glue solution amount in unit length; and then controlling the dispensing head to dispense glue on the workpiece along the dispensing track according to the glue amount template data.
In some embodiments, the controller is configured to determine an error value between actual glue amount data and the glue amount template data after controlling the glue dispensing head to dispense glue on the workpiece along the glue dispensing trajectory according to the glue amount template data; when the error value is smaller than or equal to a set target error, controlling the dispensing head to dispense along the dispensing track; when the error value is larger than the target error, the actual dispensing quantity parameter is adjusted until the error value is smaller than or equal to the target error, and the dispensing head is controlled to dispense along the dispensing track.
In some embodiments, the inspection device comprises a vision assembly, a sensor and a dispensing scale, the vision assembly is used for acquiring an image of the workpiece; the sensor is used for acquiring the dispensing track of the dispensing head on the workpiece; the dispensing scale is used for obtaining dispensing quantity parameters of the dispensing head to be dispensed on the workpiece.
In some embodiments, the vision assembly includes a camera, a lens and a coaxial light source, light emitting surfaces of the lens and the coaxial light source face the workpiece, and the sensor is a three-dimensional displacement sensor.
In some embodiments, the dispensing head is connected to a piezoelectric injection valve, the piezoelectric injection valve is connected to the dispensing scale through the controller, and the dispensing scale is connected to a scale cup for accommodating a glue solution.
In some embodiments, the dispenser further comprises a needle alignment rubbing assembly disposed at one side of the stage, the needle alignment rubbing assembly being used for calibration and cleaning of the dispensing head.
In some embodiments, the dispenser further comprises: the first driving mechanism is used for driving the carrying platform to linearly move along a first horizontal direction, rotate around an axis extending along the first horizontal direction and rotate around an axis extending along a vertical direction; and the second driving mechanism is used for driving the dispensing head to linearly move along a second horizontal direction and linearly move along a vertical direction, and the second horizontal direction is vertical to the first horizontal direction.
In some embodiments, the number of the stages is two, and the workpiece can be placed on both the stages; the first driving mechanisms are two, and one first driving mechanism drives one carrier to move.
In some embodiments, the dispenser further includes a material handling mechanism disposed at one end of the carrier, including: the feeding and discharging conveying lines are respectively positioned on two sides of the carrying platform; and the feeding and discharging mechanism is used for feeding and discharging the workpiece between the feeding and discharging conveying line and the carrying platform.
In some embodiments, the loading and unloading mechanism may be a clamping jaw and/or a suction cup structure.
On the other hand, the application also provides a dispensing method of the dispensing machine, the dispensing machine comprises a carrying platform and a dispensing head, and the carrying platform is used for placing a workpiece; the dispensing head is used for dispensing the workpiece; the dispensing method comprises the following steps: acquiring an image of the workpiece; acquiring a dispensing track of the workpiece according to the image; the controller is used for controlling the dispensing head to dispense along the dispensing track.
In some embodiments, after acquiring the image of the workpiece, the dispensing method further comprises the steps of: obtaining a dispensing quantity parameter according to the image; determining glue amount template data according to the glue amount parameters, wherein the glue amount template data is the total glue solution amount in unit length; and controlling the dispensing head to dispense the workpieces along the dispensing track according to the glue amount template data.
In some embodiments, after controlling the dispensing head to dispense the workpiece along the dispensing track according to the glue amount template data, the method includes the following steps: determining an error value of actual glue amount data and the glue amount template data; when the error value is smaller than or equal to a set target error, controlling the dispensing head to dispense along the dispensing track; when the error value is larger than the target error, the actual dispensing quantity parameter is adjusted until the error value is smaller than or equal to the target error, and the dispensing head is controlled to dispense along the dispensing track.
The dispenser provided by the embodiment of the application acquires the image of the workpiece by setting the detection device, and then acquires the dispensing head according to the image, so that the dispensing position of the dispensing head can be ensured to be more accurate, the dispensing position precision is greatly improved, the controller controls the dispensing head to perform quick and accurate dispensing on the workpiece along the acquired dispensing track, and the dispensing efficiency and the dispensing quality of the dispenser are improved on the whole.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of an overall housing-less construction of a dispenser in some embodiments of the present application;
FIG. 2 is a schematic view of a second drive mechanism in some embodiments from one perspective;
FIG. 3 is a schematic view of the second driving mechanism in another view according to some embodiments;
FIG. 4 is a schematic diagram of a dispensing module and a detection module according to some embodiments;
fig. 5 is a schematic structural view of a dispensing balance in some embodiments;
FIG. 6 is a schematic diagram of a first drive mechanism in some embodiments;
FIG. 7 is a schematic diagram of a portion of a material handling mechanism in some embodiments;
FIG. 8 is a schematic diagram of the overall housed structure of the dispenser in some embodiments;
fig. 9 is a process flow diagram of a dispensing method of a dispenser in some embodiments of the present application;
FIG. 10 is a process flow diagram of a method of dispensing in some embodiments;
fig. 11 is a process flow diagram of a dispensing method in some embodiments.
Description of reference numerals:
11. a second horizontal linear driving module; 12. a vertical linear driving module; 13. dispensing a glue head; 14. a stage; 141. a first horizontal rotation driving module; 142. a vertical rotation driving module; 15. dispensing and weighing; 16. a feeding and discharging conveying line; 17. a clamping jaw; 171. a sub-clip; 18. a first horizontal linear driving module; 19. a needle aligning and glue wiping component; 20. a workpiece; 21. a visual component; 211. a camera; 212. a lens; 213. a coaxial light source; 22. a sensor; 23. weighing a rubber cup; 24. a crash pad; 25. a third horizontal linear driving module; 33. a status indicator light; 34. a flip door; 35. a display; 36. a keyboard assembly; 37. a housing; 38. an operation area.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In one aspect, an embodiment of the present application provides a dispenser, as shown in fig. 1, the dispenser includes: the device comprises a carrier 14, a dispensing head 13, a detection device and a controller, wherein the carrier 14 is used for placing a workpiece 20; the dispensing head 13 is used for dispensing the workpieces 20; the detection device is used for acquiring an image of the workpiece 20 and then acquiring a dispensing track of the workpiece 20 according to the image; the controller is used for controlling the dispensing head 13 to dispense along the dispensing track.
The image of the workpiece 20 is acquired by the detection device, and then the dispensing track of the workpiece 20 is acquired according to the image, so that the dispensing position of the dispensing head 13 can be ensured to be more accurate, the dispensing position precision is greatly improved, the controller controls the dispensing head 13 to perform quick and accurate dispensing on the workpiece 20 along the acquired dispensing track, and the dispensing efficiency and the dispensing quality of the dispensing machine are improved on the whole.
In some embodiments, the inspection device includes a vision assembly 21, a sensor 22, and a dispenser scale 15, the vision assembly 21 being configured to acquire an image of the workpiece 20; the sensor 22 is used for acquiring a dispensing track of the dispensing head 13 on the workpiece 20; the dispensing balance 15 is used to obtain a dispensing amount parameter of the dispensing head 13 on the workpiece 20. The vision component 21 obtains the image of the workpiece 20, the vision component 21 combines the sensor 22 to obtain the dispensing track of the dispensing head on the workpiece 20, the vision component 21 combines the dispensing balance 15 to obtain the dispensing quantity parameter of the dispensing head 13 to be dispensed on the workpiece 20, and the detection device is modularly arranged, so that the integration and automation of the equipment functions are facilitated.
Specifically, the image of the workpiece 20 acquired by the vision component 21 can be used for positioning the dispensing head 13 before dispensing the workpiece 20 and acquiring the size parameter of the workpiece 20, and can also be used for automatically and optically detecting the dispensing amount of the workpiece 20 by acquiring the image of the workpiece 20 after the dispensing head 13 dispenses and glues the workpiece 20.
It should be noted that automatic Optical inspection, called aoi (automated Optical inspection), is a device for inspecting common defects encountered in welding production based on Optical principles. The automatic optical inspection is used for inspecting the dispensing amount in dispensing production based on the optical principle, and is different from AOI inspection, but the automatic optical inspection of the dispensing amount can be performed synchronously with the AOI inspection.
In some embodiments, the vision assembly 21 includes a camera 211, a lens 212, and a coaxial light source 213, light emitting surfaces of the lens 212 and the coaxial light source 213 face the workpiece 20, and the sensor 22 is a three-dimensional displacement sensor. When the camera 211 photographs the workpiece 20, the coaxial light source 213 can acquire a clearer image of the workpiece 20, especially when dispensing is performed on a display screen of an electronic product, and in addition, the three-dimensional displacement sensor is combined with the camera 211, so that a dispensing track on the workpiece 20 in a three-dimensional space can be acquired more accurately, and the dispensing position precision is further improved.
It should be noted that the coaxial light source 213 provides more uniform illumination than conventional light sources, and is mainly used for detecting planar objects with a very high degree of reflection, such as glass, and the coaxial light source 213 can highlight the surface irregularity of the object, overcome the interference caused by the surface reflection, and is mainly used for detecting the scratches, cracks and foreign objects on the flat and smooth surface of the object.
In some embodiments, the controller is configured to obtain a dispensing amount parameter according to the image; determining glue amount template data according to the glue dispensing amount parameters, wherein the glue amount template data is the total glue solution amount in unit length; and controlling the dispensing head 13 to dispense the workpieces 20 along the dispensing track according to the dispensing amount template data. The controller can determine the glue amount template data according to the glue amount parameters, and controls the glue dispensing head 13 to dispense glue on the workpiece 20 along the glue dispensing track according to the glue amount template data, so that accurate glue dispensing of the glue dispensing head 13 is realized.
In some embodiments, the controller is configured to determine an error value between the actual glue amount data and the glue amount template data after controlling the glue dispensing head 13 to dispense glue on the workpiece 20 along the glue dispensing trajectory according to the glue amount template data; when the error value is less than or equal to the set target error, controlling the dispensing head 13 to dispense along the dispensing track; when the error value is greater than the target error, the actual dispensing amount parameter is adjusted until the error value is less than or equal to the target error, and the dispensing head 13 is controlled to dispense along the dispensing track. Because the controller can correct and compensate the actual dispensing amount according to the error value, the closed-loop control of the dispensing amount is realized, and the accurate control of the dispensing amount is greatly improved.
In some embodiments, the dispensing head 13 is connected to a piezoelectric injection valve, the piezoelectric injection valve is connected to the dispensing balance 15 through the controller, and the dispensing balance 15 is connected to a balance cup 23 for accommodating the glue solution. Because the piezoelectric injection valve is connected with the dispensing balance 15 through the controller, the controller can adjust the electric signal in the piezoelectric injection valve through the information such as the dispensing quantity parameter and the error value acquired from the dispensing balance 15, and further adjust the actual dispensing quantity parameter of the dispensing head 13, and because the piezoelectric injection valve can realize non-contact dispensing on the workpiece 20, the dispensing precision of the dispensing head 13 is improved.
Specifically, the dispensing balance 15 is fixed on the rack of the dispenser through the shock pad 24, and the interference of the dispensing balance 15 on the weighing of the glue solution can be reduced, so that the weighing precision of the dispensing balance 15 is improved.
Of course, the dispensing head 13 may be connected to other dispensing valves besides a piezoelectric injection valve, and is not limited in detail herein.
In some embodiments, the dispenser further includes a needle wiper assembly 19 disposed on one side of the stage 14, and the needle wiper assembly 19 is used for calibration and cleaning of the dispensing head 13. After the glue dispensing needle is used for dispensing for multiple times, glue liquid is easy to remain, the glue dispensing precision is influenced, the needle wiping assembly 19 is arranged, on one hand, the needle wiping assembly is used for calibrating the glue dispensing head 13, on the other hand, after the glue dispensing needle is used for dispensing for multiple times, the residual glue liquid on the needle head of the glue dispensing needle is cleaned in time, the glue dispensing precision is improved, and the glue dispensing quality of the workpiece 20 is further improved.
Specifically, the pin wipe assembly 19 is disposed on a side of the carrier 14 away from the dispensing balance 15, so as to optimize the mechanical layout of the apparatus, and of course, the pin wipe assembly 19 may be disposed at other positions, which is not specifically limited herein.
In some embodiments, the dispenser further comprises: a first driving mechanism for driving the stage 14 to move linearly in a first horizontal direction, rotate about an axis extending in the first horizontal direction, and rotate about an axis extending in a vertical direction; and the second driving mechanism is used for driving the dispensing head 13 to linearly move along a second horizontal direction and linearly move along a vertical direction.
Driving the linear movement of the stage 14 in the first horizontal direction and the rotation about the axis extending in the first horizontal direction, and the rotation about the axis extending in the vertical direction by the first driving mechanism; the second driving mechanism drives the dispensing head 13 to linearly move along the second horizontal direction and the vertical direction, so that five-axis linkage between the dispensing head 13 and the carrying platform 14 of the dispenser is realized, and the movement control speed and the movement control precision of the dispenser are further improved.
It should be noted that the second horizontal direction is perpendicular to the first horizontal direction, that is, if the first horizontal direction is defined as the Y-axis direction, the second horizontal direction is the X-axis direction, or the two directions may be interchanged, and the present invention is not limited to this.
Of course, the dispenser may also be a five-axis linkage driving mechanism in other combination modes, or a driving mechanism for driving the dispensing head 13 to move independently to realize five-axis movement, or a driving laser for driving the stage 14 to move independently to realize five-axis movement, besides the driving mechanism described above, which includes driving mechanisms other than the driving mechanisms for driving the stage 14 and the dispensing head 13 to move mutually, and is not limited specifically herein.
In some embodiments, there are two stages 14, and the workpiece 20 can be placed on both stages 14; the number of the first driving mechanisms is two, and one first driving mechanism drives one carrying platform 14 to move. Two carrying platforms 14 are arranged, double-station glue dispensing can be achieved, the glue dispensing head 13 can sequentially queue the workpieces 20 on the two carrying platforms 14 for glue dispensing, and therefore glue dispensing speed and glue dispensing efficiency are improved.
Of course, the number of the first driving mechanisms may be two or one, one driving mechanism drives the two stages 14 to move, the two stages 14 may be used for placing the workpiece 20 at the same time according to the requirement of the production line, one stage 14 may be used for placing the workpiece 20 to be dispensed, and the other stage 14 is standby, and is not limited specifically herein.
Specifically, the connecting structure may be arranged on the carrier 14 to fix the workpiece 20 to the working area of the carrier 14, and the connecting structure may be a vacuum chuck, and the workpiece 20 is fixed to the working area of the carrier 14 by the vacuum chuck, so that the carrier 14 may not be limited by the material of the workpiece 20, and is convenient for popularization of the device.
Of course, the connection structure may be a vacuum chuck, and when the material of the workpiece 20 includes a metal material, the connection structure may also be a magnetic member such as a magnet, or may be a snap structure, a pin hole structure, and the like, which is not limited herein.
In some embodiments, the first drive mechanism comprises: the first horizontal linear driving module 18, the first horizontal rotation driving module 141 and the vertical rotation driving module 142, the carrier 14 is connected to the first horizontal rotation driving module 141 and the vertical rotation driving module 142, the first horizontal linear line may be a linear motor module, the driving module drives the carrier 14, the first horizontal rotation driving module 141 and the vertical rotation driving module 142 to move along the first horizontal linear line together, the first horizontal rotation driving module 141 is a speed reducing motor, the vertical rotation driving module 142 is a DD motor electrically connected to the speed reducing motor, and the carrier 14 is disposed at an output end of the DD motor. This arrangement can improve the movement accuracy of the stage 14 as a whole.
Specifically, the output end of the speed reducer is connected with the first support, the first support is in a U-shaped arrangement and is connected with the DD motor through the second support, the second support and the DD motor are semi-surrounded by the first support, and the carrier 14 is directly connected with the output end of the DD motor.
Of course, the speed reduction motor may include a servo motor and a harmonic reducer, and the arrangement of the harmonic reducer enables precise control of the rotation to be achieved, so as to improve the rotation precision of the first driving mechanism around the axis extending along the first horizontal direction.
It should be noted that DD is short for direct driver, and includes a torque motor and a linear motor, and the motor added later is called a DD direct drive motor, which is also called a direct drive motor. The output torque is large, so that the direct-drive motor can be directly connected with a moving device, and connecting mechanisms such as a speed reducer, a gear box, a belt pulley and the like are omitted, so that the direct-drive motor is called.
Of course, the first horizontal linear module may be a linear motor module, or may also be a driving module capable of performing linear motion, such as an air cylinder, a hydraulic cylinder, or an electric push rod, and is not limited specifically herein.
In some embodiments, the number of the second driving mechanisms is two, each of the second driving mechanisms includes a second horizontal linear driving module and a vertical linear driving module 12, the vision assembly 21 is connected to the vertical linear driving module 12, and the sensor 22 is connected to the other vertical linear driving module 12. By the arrangement, the images of the workpieces 20 and the dispensing tracks of the dispensing heads 13 on the workpieces 20 can be synchronously acquired, the detection time of the processes before dispensing is shortened, and the dispensing speed is increased.
Specifically, the second horizontal linear module may be a linear motor module, and the vertical linear driving module 12 may be driven by a lead screw and a servo motor, so that the movement speed and precision of the second driving mechanism for driving the dispensing head 13 to move may be improved, and further, the dispensing speed and precision of the dispensing head 13 may be improved.
Of course, the second horizontal linear module may be a linear motor module, or may also be a driving module capable of performing linear motion, such as an air cylinder, a hydraulic cylinder, or an electric push rod, and is not limited specifically herein. The vertical linear driving module 12 may be the same as the second horizontal linear driving module except for being driven by the screw rod and the servo motor, and is not described herein.
In some embodiments, the dispenser further includes a material handling mechanism disposed at one end of the carrier 14, including: the feeding and discharging conveying lines 16 are respectively positioned on two sides of the carrying platform 14; and the loading and unloading mechanism 17 is used for loading and unloading the workpiece 20 between the loading and unloading conveyor line 16 and the carrier 14. Because the feeding and discharging conveyor lines 16 are arranged on two sides of the carrier 14, one side of the conveyor line is used for conveying the workpieces 20 to be processed and butting against upstream equipment, and the other side of the conveyor line is used for conveying the processed workpieces 20 and butting against downstream equipment, thereby realizing seamless butting against upstream and downstream equipment.
In some embodiments, the loading and unloading mechanism may be a jaw 17. The clamping jaw 17 can meet the automatic feeding and discharging requirements of the workpiece 20 on one hand, and is favorable for market popularization on the other hand.
Specifically, each jaw 17 comprises: the two sub-clamps 171 and the driving component for driving the two sub-clamps 171 to move can drive the two sub-clamps 171 to move together along the vertical direction and drive one of the sub-clamps 171 to move along the first horizontal direction, so that the distance between the two sub-clamps 171 along the first horizontal direction can be adjusted to adapt to loading and unloading of workpieces 20 with different sizes.
Of course, the loading and unloading mechanism may be a chuck structure, besides the clamping jaw 17, or may be a combination of a clamping jaw and a chuck mechanism, and is not limited in detail herein.
In some embodiments, the two clamping jaws 17 include two clamping jaws 17, the two clamping jaws 17 are connected with a third horizontal linear driving module 25, the third horizontal linear driving module 25 drives the two clamping jaws 17 to linearly move along the second horizontal direction, and the two clamping jaws 17 are both arranged on one side close to the carrier 14, so that the feeding and discharging requirements of the double carrier 14 are met, the double carrier can be used for alternately feeding and discharging, and the feeding and discharging speed is improved.
It should be noted that the third horizontal linear driving module 25 is parallel to the second horizontal linear driving module 11.
In some embodiments, the dispenser further comprises a housing 37, a display 35, a keypad assembly 36, a flip door 34, an operating area 38, and status indicators 33, making the dispenser aesthetically pleasing for marketing purposes.
Specifically, the outer cover 37 is usually made of sheet metal, the name of the printing equipment and LOGO of company LOGO are arranged on the outer cover, the flip door 34 is convenient for opening the dispenser and checking the running condition of the equipment, the status indicator lamp 33 is used for displaying whether the dispenser runs normally or not, and an alarm is given when the equipment runs abnormally; the keyboard component 36 comprises a keyboard and a mouse for inputting and setting equipment parameters of the dispenser, and the display 35 is used for displaying a page of an equipment operating system, so that an operator can conveniently debug and use the equipment; the operation area 38 is generally located below the flip door 34, so that an operator can operate the device conveniently, and the operation area 38 is provided with a device start-stop switch, an emergency-stop switch and the like.
On the other hand, the application also provides a dispensing method of the dispenser, the dispenser comprises a carrying platform 14, a dispensing head 13 and a controller, wherein the carrying platform 14 is used for placing the workpiece 20; the dispensing head 13 is used for dispensing the workpiece 20; the controller is used for controlling the dispensing head 13 to dispense along the dispensing track; the dispensing method comprises the following steps:
s100: acquiring an image of the workpiece 20;
s200: and acquiring a dispensing track of the dispensing head 13 on the workpiece 20 according to the image.
By acquiring the image of the workpiece 20 and then acquiring the dispensing track of the dispensing head 13 on the workpiece 20 according to the image, the dispensing position of the dispensing head 13 can be ensured to be more accurate, so that the dispensing position precision is greatly improved, the controller controls the dispensing head 13 to perform quick and accurate dispensing on the workpiece 20 along the acquired dispensing track, and the dispensing efficiency and the dispensing quality of the dispenser are improved on the whole.
In some embodiments, after acquiring the image of the workpiece 20, the dispensing method further comprises the steps of:
s201: obtaining a dispensing quantity parameter according to the image;
s300: determining glue amount template data according to the glue dispensing amount parameters, wherein the glue amount template data is the total glue solution amount in unit length;
s400: and controlling the dispensing head 13 to dispense the workpieces 20 along the dispensing track according to the dispensing amount template data.
According to the glue dispensing method, the glue dispensing amount template data can be determined according to the obtained glue dispensing amount parameters, so that the glue dispensing amount is accurate and standardized, and the glue dispensing head 13 is controlled to dispense glue to the workpiece 20 along the glue dispensing track according to the glue dispensing amount template data, so that the glue dispensing precision is improved.
In some embodiments, after controlling the dispensing head 13 to dispense the workpiece 20 along the dispensing track according to the glue amount template data, the method includes the following steps:
s500: determining an error value of the actual glue amount data and the glue amount template data;
s600: when the error value is less than or equal to the set target error, controlling the dispensing head 13 to dispense along the dispensing track;
s700: when the error value is greater than the target error, the actual dispensing amount parameter is adjusted until the error value is less than or equal to the target error, and the dispensing head 13 is controlled to dispense along the dispensing track.
After the dispensing is carried out on the workpiece 20, the dispensing method can carry out correction compensation on the actual dispensing amount according to the error value, thereby realizing closed-loop detection of the dispensing amount of the dispenser, further timely feeding back and calibrating the dispensing error and greatly improving the dispensing precision.
It should be noted that, after the dispensing is performed on the workpiece 20, the steps of S500-S700 are executed until the dispensing is finished after the dispensing is performed on the workpiece 20 for a certain number of times or a certain time period and the dispensing is not finished; when the dispensing head 13 is controlled to dispense the adhesive to the workpiece 20 along the dispensing track according to the adhesive amount template data, the dispensing is finished, and the steps S500 to S700 are not performed.
In some embodiments, at S100: after the image of the workpiece 20 is acquired, the dispensing method further includes:
s110: positioning the workpiece 20;
s120: dimensional parameters of the workpiece 20 are acquired.
Such steps are added so as to obtain more information about the workpiece 20, which on the one hand can improve dispensing accuracy and on the other hand can facilitate later data processing.
Of course, the dispensing method may include only step S110 or step S120, besides step S110 and step S120, where the dispensing method needs to be set according to actual situations, and is not particularly limited herein.
In some embodiments, controlling the dispensing head 13 to dispense the workpiece 20 along the dispensing trajectory according to the glue amount template data includes:
s410: acquiring an image of the workpiece 20 again;
s420: and automatically and optically detecting the dispensing amount of the workpiece 20 according to the acquired image.
The dispensing condition of the workpiece 20 can be conveniently recorded, information interaction can be carried out with other equipment, and the integration and intelligentization level of the equipment is improved.
It should be noted that, the step S410 may be performed once or multiple times during the dispensing process, and the dispensing condition of the workpiece 20 is recorded, and then the step S420 is performed; of course, the above steps S410 to S420 may be performed only after spot gluing, and the number of times the image of the workpiece 20 is acquired may be performed according to actual needs, and is not particularly limited herein.
The particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (14)
1. A dispenser, comprising:
a stage (14) for placing a workpiece (20);
the dispensing head (13) is used for dispensing the workpiece (20);
the detection device is used for acquiring an image of the workpiece (20) and then acquiring a dispensing track of the dispensing head (13) on the workpiece (20) according to the image;
and the controller is used for controlling the dispensing head (13) to dispense along the dispensing track.
2. The dispenser according to claim 1,
the controller is used for acquiring dispensing quantity parameters according to the image; determining glue amount template data according to the glue amount parameters, wherein the glue amount template data is the total glue solution amount in unit length;
and controlling the dispensing head (13) to dispense the workpieces (20) along the dispensing track according to the glue amount template data.
3. The dispenser according to claim 2,
the controller is used for determining an error value between actual glue amount data and the glue amount template data after the glue dispensing head (13) is controlled to dispense glue on the workpiece (20) along the glue dispensing track according to the glue amount template data;
when the error value is less than or equal to a set target error, controlling the dispensing head (13) to dispense along the dispensing track;
when the error value is larger than the target error, the actual dispensing quantity parameter is adjusted until the error value is smaller than or equal to the target error, and the dispensing head (13) is controlled to dispense along the dispensing track.
4. A dispenser according to any one of claims 2 to 3,
the detection device includes:
a vision assembly (21) for acquiring an image of the workpiece (20);
a sensor (22) for acquiring the dispensing track of the dispensing head (13) on the workpiece (20);
and the dispensing scale (15) is used for acquiring a dispensing quantity parameter to be dispensed of the dispensing head (13) on the workpiece (20).
5. The dispenser according to claim 4,
the visual assembly (21) comprises a camera (211), a lens (212) and a coaxial light source (213), light emergent surfaces of the lens (212) and the coaxial light source (213) face the workpiece (20), and the sensor (22) is a three-dimensional displacement sensor.
6. The dispenser according to claim 4,
the dispensing head (13) is connected with a piezoelectric injection valve, the piezoelectric injection valve is connected with the dispensing scale (15) through the controller, and the dispensing scale (15) is connected with a scale glue cup (23) used for containing glue liquid.
7. The dispenser according to claim 1,
the dispensing machine further comprises a needle aligning and glue wiping assembly (19) arranged on one side of the carrying platform, and the needle aligning and glue wiping assembly (19) is used for calibrating and cleaning the dispensing head (13).
8. The dispenser according to claim 1,
further comprising: a first drive mechanism for driving the stage (14) to move linearly in a first horizontal direction, to rotate about an axis extending in the first horizontal direction, and to rotate about an axis extending in a vertical direction;
and the second driving mechanism is used for driving the dispensing head (13) to linearly move along a second horizontal direction and linearly move along a vertical direction, and the second horizontal direction is vertical to the first horizontal direction.
9. The dispenser according to claim 8,
the number of the carrying platforms (14) is two, and the workpieces (20) can be placed on both the carrying platforms (14);
the number of the first driving mechanisms is two, and one first driving mechanism drives one carrier (14) to move.
10. The dispenser according to claim 1,
the point gum machine still includes material handling mechanism, set up in the one end of microscope carrier (14), include:
the feeding and discharging conveying lines (16) are respectively positioned on two sides of the carrying platform (14);
and the feeding and discharging mechanism (17) is used for feeding and discharging the workpiece (20) between the feeding and discharging conveying line (16) and the carrying platform (14).
11. The dispenser according to claim 10,
the feeding and discharging mechanism (17) can be a clamping jaw and/or a sucker structure.
12. A dispensing method of a dispenser comprises a carrying platform (14) and a dispensing head (13), wherein the carrying platform (14) is used for placing a workpiece (20); the dispensing head (13) is used for dispensing the workpiece (20);
the dispensing method is characterized by comprising the following steps:
acquiring an image of the workpiece (20);
obtaining a dispensing track of the dispensing head on the workpiece (20) according to the image;
and then controlling the dispensing head (13) to dispense along the dispensing track.
13. Method of dispensing according to claim 12, characterized in that it comprises, after acquiring the image of the workpiece (20), the further steps of:
obtaining a dispensing quantity parameter according to the image;
determining glue amount template data according to the glue amount parameters, wherein the glue amount template data is the total glue solution amount in unit length;
and controlling the dispensing head (13) to dispense the workpieces (20) along the dispensing track according to the glue amount template data.
14. The dispensing method according to claim 13, wherein after controlling the dispensing head (13) to dispense the workpiece (20) along the dispensing track according to the dispensing amount template data, the method comprises the following steps:
determining an error value of actual glue amount data and the glue amount template data;
when the error value is less than or equal to a set target error, controlling the dispensing head (13) to dispense along the dispensing track;
when the error value is larger than the target error, the actual dispensing quantity parameter is adjusted until the error value is smaller than or equal to the target error, and the dispensing head (13) is controlled to dispense along the dispensing track.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210228455.3A CN114602736A (en) | 2022-03-07 | 2022-03-07 | Dispensing machine and method thereof |
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| CN202210228455.3A CN114602736A (en) | 2022-03-07 | 2022-03-07 | Dispensing machine and method thereof |
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| CN114602736A true CN114602736A (en) | 2022-06-10 |
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| CN202210228455.3A Pending CN114602736A (en) | 2022-03-07 | 2022-03-07 | Dispensing machine and method thereof |
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| CN115990571A (en) * | 2023-03-22 | 2023-04-21 | 拏云智能科技(江苏)有限公司 | Dispensing method and dispensing device |
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Application publication date: 20220610 |