CN115846131A - Multi-station adhesive dispensing mechanism displacement conversion method and multi-station adhesive dispensing device - Google Patents
Multi-station adhesive dispensing mechanism displacement conversion method and multi-station adhesive dispensing device Download PDFInfo
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- CN115846131A CN115846131A CN202211435143.6A CN202211435143A CN115846131A CN 115846131 A CN115846131 A CN 115846131A CN 202211435143 A CN202211435143 A CN 202211435143A CN 115846131 A CN115846131 A CN 115846131A
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Abstract
The application relates to the technical field of dispensing, in particular to a height conversion method of a multi-station dispensing mechanism, which comprises the following steps: obtaining the virtual compensation value X of the simulation needle head 1 (ii) a Obtaining the conversion compensation value X of the dispensing needle head 2 (ii) a Based on the virtual compensation value X 1 And the conversion compensation value X 2 To obtain an actual compensation value X 3 (ii) a According to the actual compensation value X 3 Adjusting the displacement value of the dispensing needle head in the vertical direction; the virtual compensation value X 1 The compensation value X is the compensation value of the simulation needle head in the vertical direction in the dispensing simulation process and is converted 2 The compensation value in the vertical direction in the process of the dispensing simulation of the dispensing needle head is obtained; the reference position of the simulation needle head in the dispensing simulation process is the same as that of the dispensing simulation process of the dispensing needle head. A multi-station glue dispensing device comprises a vision mechanism and a glue dispensing mechanism. According to the method and the device, the position reference of the dispensing mechanism and the vision mechanism in the vertical direction can be unified, and the height error is avoidedThe difference affects the dispensing operation.
Description
Technical Field
The application relates to the technical field of glue dispensing, in particular to a displacement conversion method of a multi-station glue dispensing mechanism and a multi-station glue dispensing device.
Background
In the process of manufacturing the electronic module, the steel sheet is generally attached to the electronic module to enhance the structural strength of the electronic module. In the steel sheet attaching industry, glue is needed to be dispensed to the back of an electronic module, and the steel sheet is packaged by dispensing the glue to the back of the electronic module. And (4) dispensing silver glue and black glue in the electronic module packaging process, and then performing thermosetting packaging on the steel sheet. With the reduction of chip and package size, the improvement of gap precision and UPH (Unit Per Hour) requirements, etc., a plurality of material shuttles are required to be arranged to cooperate with multi-station dispensing stations. The glue dispenser is a complex and precise system, has strict requirements on the mixing of the silver glue and the black glue, and cannot mix the glue, so that a visual camera can be added to the traditional paster equipment to shoot the boundary of the electronic and steel sheets, the glue dispensing position is measured, calculated and adjusted, and the required glue type pattern is accurately dispensed. At present, a set of dispensing manipulators is equipped with a set of vision cameras, but in the industry, in order to promote the UPH (Units Per Hour), the number of the dispensing manipulators is increased, so that the cost of a plurality of sets of vision cameras is increased.
In order to solve the cost brought by a plurality of sets of visual cameras, in the prior art, a camera manipulator is separated from a glue dispensing manipulator, and an independent power source is arranged for the camera manipulator, so that one camera manipulator is matched with a plurality of glue dispensing manipulators. That is, the camera manipulator moves to a corresponding position to collect the pose information (including but not limited to height information) of the electronic module, and the plurality of glue dispensing manipulators realize glue dispensing operation on the electronic module according to the corresponding pose information. In such an architecture, how to realize mutual unification or mutual conversion of the benchmarks between the camera manipulator and the dispensing manipulator to make the position of the dispensing manipulator accurate is a problem to be solved urgently, because the height error caused by inconsistent benchmarks seriously affects the precision of the dispensing pattern, and affects the yield of the electronic module.
Disclosure of Invention
Therefore, it is necessary to provide a multi-station dispensing mechanism displacement conversion method and a multi-station dispensing device capable of realizing the unification and mutual conversion of the dispensing mechanism and the vision mechanism.
In order to solve the above technical problem, a first aspect of the present application provides the following technical solutions:
a displacement conversion method of a multi-station glue dispensing mechanism is disclosed, wherein a glue dispensing device comprises a visual mechanism and a glue dispensing mechanism, the visual mechanism is used for acquiring pose information of a target object on a material collecting shuttle, and the glue dispensing mechanisms can perform glue dispensing operation on the corresponding target object through the pose information; the vision mechanism comprises a distance measuring piece and simulation needle heads, the simulation needle heads are relatively fixed with the distance measuring piece, and each glue dispensing mechanism comprises a glue dispensing needle head; the displacement conversion method of the multi-station adhesive mechanism comprises the following steps:
obtaining the virtual compensation value X of the simulation needle head 1 ；
Obtaining the conversion compensation value X of the dispensing needle head 2 ；
Based on the virtual compensation value X 1 And the conversion compensation value X 2 To obtain an actual compensation value X 3 ；
According to the actual compensation value X 3 Adjusting the displacement value of the dispensing needle head in the vertical direction;
wherein the virtual compensation value X 1 The compensation value X is the compensation value of the simulation needle head in the vertical direction in the dispensing simulation process and is converted 2 The compensation value in the vertical direction in the process of the glue dispensing simulation of the glue dispensing needle head is obtained; and the reference position of the simulation needle head in the glue dispensing simulation process is the same as the reference position of the glue dispensing simulation process of the glue dispensing needle head.
In one embodiment, the virtual compensation value X of the simulated needle head is obtained 1 "comprises the following steps:
acquiring a lifting distance e of the simulation needle moving along the vertical direction and triggering the reference position;
acquiring the distance f between the distance measuring piece and the reference position;
acquiring the length g of the simulation needle head which is close to one end of the reference position in the vertical direction and protrudes out of the distance measuring piece;
obtaining a virtual compensation value X based on the distance e, the distance f and the length g 1 。
In one embodiment, the conversion compensation value X of the dispensing needle head is obtained 2 "comprises the following steps:
obtaining the distance c between the dispensing needle head and the reference position;
obtaining a virtual compensation value X based on the distance c, the distance f and the length g 2 ；
In one embodiment, the reference position is configured to contact a displacement sensor; wherein, the virtual compensation value X of the simulation needle head is acquired 1 "further comprising the steps of:
acquiring the compression d of the simulation needle head for triggering the contact displacement sensor along the vertical direction;
obtaining a virtual compensation value X based on the compression amount d, the distance e, the distance f and the length 1 。
' obtaining the conversion compensation value X of the dispensing needle head 2 "comprises the following steps:
acquiring the compression amount b of the dispensing needle head triggering the contact displacement sensor along the vertical direction;
obtaining a virtual compensation value X based on the compression amount b, the distance c, the distance f and the length 2 。
In the second aspect of the present application, the following technical solutions are also provided:
a multi-station glue dispensing device comprises a visual mechanism and a plurality of glue dispensing mechanisms, wherein the visual mechanism is used for acquiring pose information of a target object on a material collecting shuttle, and the plurality of glue dispensing mechanisms can perform glue dispensing operation on the corresponding target object through the pose information;
wherein, every dispensing mechanism includes the point syringe needle, the point syringe needle is used for some glue operation, vision mechanism includes range finding piece and emulation syringe needle, range finding piece is used for measuring distance, emulation syringe needle is used for imitating the motion of point syringe needle, just emulation syringe needle with relatively fixed and synchronous motion between the range finding piece.
In one embodiment, the vision mechanism further comprises a base and a sliding table, the sliding table is mounted on one side face of the base, and the distance measuring piece and the simulation needle head are mounted on the sliding table and can move in the vertical direction under the driving of the sliding table.
In one embodiment, the visual mechanism is arranged between two adjacent glue dispensing mechanisms; the visual mechanism can move along a first direction and a second direction, the dispensing mechanism can move along the second direction, the first direction is intersected with the second direction, and the vertical direction is perpendicular to a plane formed by the first direction and the second direction;
the visual mechanism further comprises a camera unit, the camera unit is mounted on the base, the width of the projection of the camera unit on the base in the first direction is W1 along the second direction, the width of the projection of the distance measuring piece on the base in the first direction is W2, and W2 is not less than W1;
alternatively, W2. Gtoreq.W 1.
In one embodiment, the base has a first side surface and a second side surface opposite to each other along the second direction, the camera unit is disposed on the first side surface of the base, and the distance measuring unit is disposed on the second side surface of the base.
In one embodiment, a plane formed by the vertical direction and the second direction is a plane S, wherein the axis of the simulation needle head and the axis of the distance measuring piece are arranged in parallel and are positioned on the same plane S.
In one embodiment, the camera unit includes a camera and an adjustment plate rotatably mounted to the base, the camera being mounted to the adjustment plate.
Compared with the prior art, the method has the advantages that the relationship is respectively established between the simulation needle head and the dispensing needle head and the reference position by setting the simulation needle head, so that a virtual compensation value is formed on the simulation needle head, and the virtual compensation value and the converted compensation value are integrally converted into an accurate compensation value on the basis, so that the dispensing mechanism and the visual mechanism are unified in position reference in the vertical direction, and the dispensing operation is prevented from being influenced by height errors.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions 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 structural view of a multi-station dispensing device provided in the present application.
Fig. 2 is a schematic structural view of another view angle of the multi-station dispensing device provided in the present application.
Fig. 3 is a schematic layout diagram between a vision mechanism and a dispensing mechanism provided in the present application.
Fig. 4 is a schematic perspective view of a visual mechanism provided in the present application.
Fig. 5 is a schematic view structure of a vision mechanism provided in the present application.
Fig. 6 is a schematic view of another visual angle structure of the visual mechanism provided in the present application.
Fig. 7 is a schematic view of a movement process of the vision mechanism provided by the present application.
Fig. 8 is a structural view of a glue dispensing mechanism provided in the present application.
Fig. 9 is a schematic view of a movement process of a dispensing needle provided in the present application.
Fig. 10 is a flow chart of a shift conversion method of the multi-station dispensing mechanism provided in the present application.
Fig. 11 is a block diagram of a preferred process of the multi-station glue dispensing mechanism displacement conversion method provided by the present application.
Reference numerals: 100. a multi-station glue dispensing device; 101. a material shuttle; 10. a vision mechanism; 11. a distance measuring member; 12. a simulated needle head; 13. a base; 131. a first side; 132. a second side surface; 14. a sliding table; 15. a camera unit; 151. a camera; 152. an adjusting plate; 153. a light source; 16. a contact displacement sensor; 20. a glue dispensing mechanism; 21. and (6) dispensing a needle head.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.
It will be understood that when an element is referred to as being "secured to" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. The use of the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like in the description of the present application is for purposes of illustration only and is not intended to represent the only embodiment.
Furthermore, 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 at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact via an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the description of the present application, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, the present application provides a multi-station dispensing apparatus 100, wherein the multi-station dispensing apparatus 100 is used for dispensing electronic modules. Here, the electronic module here can be a camera module, a fingerprint module, or other objects that need to be glued. In the present application, a camera module is taken as an example to specifically describe the structure and the working principle of the multi-station dispensing device 100.
The multi-station glue dispensing device 100 comprises a vision mechanism 10 and a glue dispensing mechanism 20, wherein the vision mechanism 10 is mainly used for collecting pose information of electronic modules, and the glue dispensing mechanism 20 is used for performing glue dispensing operation on the corresponding electronic modules according to the pose information collected by the vision mechanism 10.
Referring to fig. 1, the electronic module to be dispensed is generally disposed on the shuttle 101. A plurality of material pits can be arranged on the material shuttle 101, and each material pit can be used for placing a corresponding electronic module. The vision mechanism 10 moves to the upper part of the material shuttle 101, and sequentially collects pose information of the electronic modules in the material loading pit of the material shuttle 101. After the pose information of the electronic module on the material shuttle 101 is acquired, the glue dispensing mechanism 20 reads the signal to perform glue dispensing operation on the electronic module on the material shuttle 101 according to the corresponding pose information. It should be noted that, in order to avoid the interference of the actions between the vision mechanism 10 and the dispensing mechanism 20, the actions between the vision mechanism 10 and the dispensing mechanism 20 are interlocked, so the actions between the vision mechanism 10 and the dispensing mechanism 20 are interlocked, that is, when the vision mechanism 10 performs pose information acquisition on an electronic module on a material shuttle 101 at a corresponding dispensing station, the dispensing mechanism 20 does not move at the dispensing station, that is, the vision mechanism 10 and the dispensing mechanism 20 are not located at the same dispensing station at the same time. In this way, the visual mechanism 10 and the glue dispensing mechanism 20 are prevented from colliding with each other during operation.
It should be further explained that, on the same strip material shuttle 101, the position where the vision mechanism 10 adopts the position and posture information of the electronic module on the material shuttle 101 is set to be the same position as the position where the glue dispensing mechanism 20 performs glue dispensing on the electronic module on the material shuttle 101. Therefore, the dispensing position of the dispensing mechanism 20 is the position where the vision mechanism 10 collects the product pose information, that is, the principle of where to collect dispensing is implemented, the consistency of dispensing and collecting positions is realized, and the deviation of dispensing precision caused by the movement of the material shuttle 101 is avoided. Therefore, it is further necessary to interlock the movement between the vision mechanism 10 and the glue dispensing mechanism 20. Thereby avoiding the glue dispensing mechanism 20 and the vision mechanism 10 from being in the same operating position.
In one embodiment, as shown in fig. 2 and 3, the number of the glue dispensing mechanisms 20 is at least two, the vision mechanism 10 is disposed between at least two glue dispensing mechanisms 20, each glue dispensing mechanism 20 can perform a glue dispensing operation on a target object according to the pose information, and the vision mechanism 10 and the glue dispensing mechanisms 20 are independently driven. That is, in the present application, the plurality of glue dispensing mechanisms 20 may share one vision mechanism 10. And a set of adhesive dispensing device adopted in the industry at present is provided with a set of vision device, and the adhesive dispensing device and the vision device are integrated into a module. Therefore, the number of the visual devices needs to be increased along with the increase of the glue dispensing devices, the visual devices and the glue dispensing devices are bound together, the price of the camera device is very high, and the use cost is obviously high. The vision mechanism 10 and the dispensing mechanism 20 are driven independently, so that one vision mechanism 10 can be matched with the dispensing mechanism 20, the adaptation of the vision mechanism 10 is reduced, and the cost is effectively reduced.
In one embodiment, the dispensing mechanisms 20 are spaced along the first direction (x direction), and can perform simultaneous dispensing on a target object on a strip of material shuttle corresponding to the target object. That is, a plurality of target objects are loaded on one material shuttle 101, and the dispensing mechanism 20 can perform synchronous dispensing operation on a plurality of targets at the same time, thereby effectively reducing the dispensing operation time and improving the productivity.
Further, the glue dispensing mechanism 20 comprises a plurality of groups, the number of the visual mechanisms 10 is multiple, and each visual mechanism 10 at least matches one group of glue dispensing mechanisms 20; wherein the number of each set of dispensing mechanisms 20 comprises a plurality of dispensing devices. It will be appreciated that the provision of multiple dispensing mechanisms 20 means that the system can be assembled differently to form multiple production lines to further increase throughput.
Here, one set of the dispensing mechanism 20 and 1 vision mechanism 10 may constitute one module, so that a plurality of modules are arranged side by side to form a layout pattern of a plurality of sets of the dispensing mechanism 20 and a plurality of vision mechanisms 10.
In one embodiment, the number of dispensing mechanisms 20 may be 2, 3, 4, 6, 8, or other values. As shown in fig. 3, in the present embodiment, the number of the glue dispensing mechanisms 20 is set to 4, the 4 glue dispensing mechanisms 20 spatially enclose a rectangle, and the vision mechanism 10 is located in the rectangular area. That is, the 4 dot glue mechanisms 20 share one vision mechanism 10.
As shown in fig. 1, the 4 dispensing mechanisms 20 are taken as an example and are arranged in two groups, and the two groups of dispensing mechanisms 20 are arranged at intervals along the second direction (y direction) to perform dispensing operation on the camera modules of different shuttles. Every group includes 2 point gum machines and constructs, and two point gum machines construct along first direction (x direction) interval setting to carry out some glue operation to the module of making a video recording on the same material shuttle. It should be noted that the structure of the glue dispensing mechanism 20 is not the point of the invention of the present application, and the specific structure and principle thereof are prior art, so that they will not be described in detail herein.
As shown in fig. 4 and 8, the vision mechanism 10 includes a distance measuring unit 11 and a dummy needle 12, the distance measuring unit 11 is used for measuring distance, and the dummy needle 12 and the distance measuring unit 11 are fixed relatively and move synchronously. The dispensing mechanism 20 includes a dispensing needle 21, the dispensing needle 21 is used for dispensing, and the simulation needle 12 is used for simulating the movement of the dispensing needle 21. Here, the dispensing mechanism 20 includes, but is not limited to, a dispensing needle 21, and further includes a liquid level sensor for monitoring the amount of glue inside the dispensing needle 21, and a driving member for driving the dispensing needle 21 to move. Here, the driving member may be a servo motor, a cylinder, or the like.
As shown in fig. 5, the vision mechanism 10 further includes a base 13 and a slide table 14; the sliding table 14 is installed on one side of the base 13, and the distance measuring piece 11 is installed on the sliding table 14 and can move along the vertical direction under the driving of the sliding table 14, so that the height value of the distance measuring piece 11 in the vertical direction is adjusted.
As shown in fig. 4, a plane formed by the vertical direction (z direction) and the second direction (y direction) is a plane S, that is, a yoz plane. Wherein the axis of the simulation needle head 12 and the axis of the distance measuring piece 11 are arranged in parallel and are positioned on the same plane S. Thus, the distance measuring piece 11 can ensure that the height of the simulation needle head 12 is fed back in real time. Of course, the axis of the dummy needle 12 and the axis of the distance measuring part 11 are not limited to the above-described embodiments.
As shown in fig. 1 and 3, the vision mechanism 10 is movable in the first direction (x direction) and/or the second direction (y direction) to a position corresponding to the camera module. The dispensing mechanism 20 can move along a second direction, the first direction intersects with the second direction, and the vertical direction is perpendicular to a plane formed by the first direction and the second direction. Preferably, the first direction is arranged perpendicular to the second direction. Wherein the vision mechanism 10 further comprises a camera unit 15, the camera unit 15 being mounted on the base 13. Along the second direction, the width of the projection of the vision mechanism 10 on the base 13 in the first direction is W1, the width of the projection of the distance measuring piece 11 on the base 13 in the first direction is W2, and W2 is not less than W1 or W2 is not less than W1. The camera unit 15 is used for collecting first information of the camera module, and the distance measuring unit 11 is used for collecting second information of the camera module. The first information and the second information together form pose information. Here, the first information is an xy position; the second information is information perpendicular to a plane formed by the first direction and the second direction. Preferably, the first direction and the second direction are perpendicular to each other.
In the present application, the dispensing mechanism 20 in the first direction simultaneously performs dispensing operations on the camera modules in the pockets of the strip material shuttle 101, so as to improve the productivity. To meet the requirement that the dispensing mechanisms 20 can dispense at the same time, a predetermined distance value needs to be set between two adjacent dispensing mechanisms 20, and the predetermined distance value is related to the number of the sizes of the material pits, for example, the predetermined distance value may be set to 2 material pits or 4 material pits. At this time, the distance left for the middle vision mechanism 10 to move needs to be deducted by a safety margin, and the practically available space is very limited. In the second direction, W2 is not more than W1 or W2 is not less than W1, namely, the width of the projection of the visual mechanism 10 in the first direction is not less than the width of the projection of the distance measuring piece 11 in the first direction, or the width of the projection of the distance measuring piece 11 in the first direction is not less than the width of the projection of the visual mechanism 10 in the first direction. Therefore, the width (maximum dimension) in the first direction is the dimension of the visual mechanism 10 itself or the distance measuring piece 11 or the base 13, and correspondingly, the other structures are covered by the structure with the maximum width in the first direction, so that the space occupied by the visual mechanism 10 in the first direction is reduced, the structure compactness is improved, and meanwhile, more space is increased for the movement space of the visual mechanism 10.
Here, it should be explained that when the width of the projection of the vision mechanism 10 in the first direction is the largest, and the width in the first direction is smaller than that of the vision mechanism 10, the distance measuring piece 11 and the base 13 are both smaller than the vision mechanism 10, so that it is characterized that in the first direction, the largest dimension is the vision mechanism 10 itself, and thus no other structure protrudes the vision mechanism 10 in the first direction. When the projection of the distance measuring element 11 has the largest width in the first direction, in which the width of the vision means 10 and the base 13 is smaller than the width of the vision means 10, it is characterized that the largest dimension is the distance measuring element 11 itself, so that no other structure protrudes the vision means 10 in the first direction. When the width of the base 13 is maximized in the first direction, it is characterized that the vision mechanism 10 and the distance measuring piece 11 do not protrude from the base 13 in the width direction.
In one embodiment, as shown in fig. 5 and 6, the base 13 has a first side 131 and a second side 132 along the second direction, and the camera unit 15 and the range finder 11 are respectively disposed on the first side 131 and the second side 132 of the base 13. In this way, the layout of the camera unit 15 and the range finder 11 is made to present a front-back installation state, so that the whole of the vision mechanism 10 is made compact, and the space in the first direction and the second direction is saved to the maximum extent; moreover, two sides of the base 13 can be made to relatively present an equivalent state, so that instability of the moving process caused by the single-side cantilever is weakened. Of course, in other embodiments, both the camera unit 15 and the range finder 11 are disposed on the first side 131 or the second side 132.
As shown in fig. 6, it is preferable that the central axis of the camera unit 15 and the central axis of the distance measuring piece 11 are disposed on the same plane along the second direction (y direction). In this way, the compactness of the structure of the visual mechanism 10 is further improved and the space occupied by the visual mechanism 10 in the first direction (x direction) is reduced.
Further, as shown in fig. 4, the camera unit 15 includes a camera 151 and an adjustment plate 152, the adjustment plate 152 being a carrier plate mounted on the base 13. The camera 151 is mounted on the adjustment plate 152.
In one embodiment, the adjustment plate 152 is pivotally mounted to the base 13 such that the adjustment plate 152 is capable of rotational degree of freedom adjustment relative to the base 13. So that the imaging angle adjustment of the camera 151 can be adjusted during the test as well as during the use.
Of course, the vision mechanism 10 includes a light source 153, a driving member (not shown), and the like, in addition to the distance measuring unit 11, the simulation needle 12, the base 13, the sliding table 14, and the camera 151. The light source 153 is mounted on the base 13 and is located relatively below the camera 151. The light source 153 is used to provide visible light to highlight details on the surface of the camera module, thereby facilitating the collection of xy-position information (image information) of the camera module by the camera 151. And the position of the light source 153 on the base 13 can be generally adjusted, that is, the distance between the light source 153 and the camera module is adjusted, so that the light irradiated to the surface of the camera module is in the best state, and the definition of the camera for collecting the information on the surface of the camera module is further improved. Here, the light source 153 is generally a fill-in lamp. The driving member serves as a power source for driving the movement of the vision mechanism 10 in the x-direction as well as the y-direction. The drive member may be a servo motor or a pneumatic cylinder.
As shown in fig. 10, the present application provides a method for converting the displacement of a multi-station dispensing mechanism, which is implemented based on the multi-station dispensing device 100, and the specific structure of the multi-station dispensing device 100 can be described with reference to the preamble, which is not repeated herein. The displacement conversion method of the multi-station glue dispensing mechanism comprises the following steps:
step S10, obtaining a virtual compensation value X of the simulation needle 12 1 ；
Step S20, obtaining the conversion compensation value X of the dispensing needle 21 2 ；
Step S30, based on the virtual compensation value X1 and the conversion compensation value X 2 To obtain an actual compensation value X 3 ；
Step S40, according to the actual compensation value X 3 Adjusting the displacement value of the dispensing needle head 21 in the vertical direction; virtual offset value X 1 Converting the compensation value X into the compensation value X in the vertical direction in the dispensing simulation process for the simulation needle 12 2 The compensation value in the vertical direction in the process of glue dispensing simulation of the glue dispensing needle head is obtained; and, the reference position of the simulation process of dispensing with the simulation needle 12 is the same as the reference position of the simulation process of dispensing with the simulation needle.
It should be explained that, under the new architecture, the vision mechanism 10 and the dispensing mechanism 20 operate independently, and the dispensing mechanisms 20 share one vision mechanism 10, and the reference of the pose information of the electronic mold collected by the vision mechanism 10 needs to be the same as the reference of the dispensing mechanism 20 or can be mutually converted, so as to ensure the accuracy of the dispensing position of the dispensing mechanism 20. In the method, the simulation needle head 12 is arranged, so that the relation between the simulation needle head 12 and the dispensing needle head 21 and the reference position is respectively established, a virtual compensation value is formed on the simulation needle head 12, a conversion compensation value is formed on the dispensing needle head 21, and the virtual compensation value and the conversion compensation value are integrally converted into an accurate compensation value on the basis, so that the position reference of the dispensing mechanism and the visual mechanism in the vertical direction is unified or converted, and the dispensing operation is prevented from being influenced by height errors.
Meanwhile, in the new framework, after the dispensing needle 21 is replaced, since the replaced dispensing needle is accompanied by errors such as installation errors and production and processing errors, the heights of the dispensing needle 21, the distance measuring device 11 and the camera 151 are inconsistent due to the errors. And the appearance of this error for some glue syringe needle 21 appears the deviation according to theoretical height value and actual height between, and under this deviation, some glue syringe needle 21 point glue precision of pattern causes the influence, more accurately says to the mixed use in-process of multiple glue of black glue and silver glue, and the thoughtlessly gluing of glue on the module of making a video recording produces fatal influence, the electric conductivity that leads to is unusual, thereby influences some glue syringe needle 21 defective rate. The method can also realize the conversion of the height of the dispensing needle head 21 so as to eliminate the errors of various stages (such as errors after the needle head is replaced, production assembly errors and measurement errors) and further realize high-precision dispensing operation.
Specifically, the multi-station dispensing apparatus 100 has a simulation station (not shown) where the dispensing mechanism 20 can simulate the dispensing process, so as to adjust the actual positions of the vision mechanism 10 and the dispensing mechanism 20 through the interaction at the simulation station. Here, the simulation station is a reference position, and the simulation station may be disposed on a frame (not shown) included in the multi-station dispensing apparatus 100 or other components of the structure included in the multi-station dispensing apparatus 100, and is not particularly limited as long as the simulation dispensing process of the dispensing mechanism 20 can be achieved.
It should be noted that, there is no precedence order between step S10 and step S20, and step S10 may be advanced or step S20 may be performed first. The dummy needle 12 is in the same plane as the distance measuring part 11. Thus, the distance measuring element 11 can be enabled to feed back the reality of the height of the simulated needle in real time.
In one embodiment, step S10, a virtual compensation value X of the simulated needle 12 is obtained 1 The method specifically comprises the following steps:
step S11, acquiring the lifting distance e of the simulation needle head 12 after moving along the vertical direction and triggering the reference position;
step S12, acquiring a distance f between the distance measuring piece 11 and a reference position;
step S13, acquiring one end of the simulation needle head 12 close to the reference position in the vertical direction and protruding the length g of the distance measuring piece 11. (ii) a
Step S14, obtaining a virtual compensation value X based on the distance e, the distance f and the length 1 。
It should be noted that the distance f is actually measured by the distance measuring device 11, that is, the distance measuring device 11 is used for measuring the distance between the distance measuring device 11 and the reference position in the vertical direction. The length g can be obtained by a three-dimensional data model or measured in an actual process. The end face of the distance measuring piece 11 facing one end of the reference position is taken as a starting point, and the length of the end face of the simulation needle head 12 protruding from one end of the distance measuring piece in the vertical direction close to the reference position is the length g. Here, the distance measuring unit 11 is a laser distance measuring instrument, and the light emitting surface of the laser distance measuring instrument is the starting point. Of course, the distance measuring member 11 is not limited to the structure of a laser distance measuring instrument, but may be an infrared distance measuring instrument or the like. The distance f and the length g have a certain known value, and the raised distance e, the distance f and the length g satisfy a relationship expressed as follows:
e＝f-g+X 1 ①
further, as shown in fig. 7, the reference position is set to contact the displacement sensor 16, and the contact displacement sensor 16 is compressed by a distance after being contacted. Here, the contact displacement sensor 16 may be disposed on a rack (not shown) included in the multi-station dispensing apparatus 100 or disposed at another position. In step 10, a virtual compensation value X of the simulated needle 12 is obtained 1 Further comprising the steps of:
It should be noted that when the contact displacement sensor 16 is used, the distance e of the lift, the amount d of compression, the distance f and the length g satisfy a relationship expressed as follows:
e-d＝f-g+X 1 ②
in one embodiment, step 20, a conversion compensation value X of the dispensing needle 21 is obtained 2 Comprises the following steps:
step 22 obtains a virtual compensation value X based on the distance c, the distance f and the length g 2 。
In step 22, the distance c, the distance f, and the length g satisfy the following relationship:
c＝f-g+X 2 ③
thus, after the dispensing needle 21 is replaced, the actual compensation value X is obtained 3 ＝X 1 +X 2 Equation (1) and equation (3) are combined to obtain:
X 3 ＝c+e-2(f-g)
in one embodiment, as shown in FIG. 9, the reference position is disposed to contact the displacement sensor 16. Here, the contact displacement sensor 16 may be disposed on a frame (not shown) included in the multi-station dispensing apparatus 100, or may be disposed at another position; in step 20, a conversion compensation value X of the dispensing needle 21 is obtained 2 Further steps of (a) include:
step 23, obtaining the compression amount b of the dispensing needle 21 triggering the contact displacement sensor 16 along the vertical direction;
step 24, obtaining a virtual compensation value X based on the compression amount b, the distance c, the distance f and the length g 2 。
When the contact displacement sensor 16 is used, the amount of compression b, the distance c, the distance f, and the length g satisfy a relationship expressed as follows:
c-b＝f-g+X 1 ④
thus, after replacing the dispensing needle 21, the actual compensation value X 3 ＝X 1 +X 2 Equation (2) and equation (4) are combined to obtain:
X 3 ＝c+e-2f+2g-b-d ⑤
and c = e as the reference position agrees, thereby simplifying X 3 (= c + e-2f) and then 2g-b-d to obtain the final X 3 ＝2(c+g-f)-b-d。
The present embodiment is described and illustrated below by means of preferred embodiments.
Fig. 11 shows a flow chart of the displacement conversion method of the multi-station glue dispensing mechanism according to the preferred embodiment. As shown in fig. 7 to 11, the shift conversion method of the multi-station glue dispensing mechanism comprises the following steps:
101, moving a dispensing needle 21 to a simulation station and descending, wherein the needle of the dispensing needle 21 touches a contact displacement sensor 16 at the simulation station, and the compression amount of the contact displacement sensor 16 is b;
step 102, lifting the dispensing needle 21, and recording a distance c from the lifting by an encoder of a servo motor;
103, moving the dispensing needle 21 away from the simulation station, and moving the vision mechanism 10 to the simulation station of the camera module;
104, descending the simulation needle 12, wherein the needle of the simulation needle 12 contacts the displacement sensor 16, and the compression amount of the contact displacement sensor 16 is d;
105, simulating the lifting of the needle head 12, and recording the lifting distance e by an encoder of a servo motor;
106, moving the distance measuring piece 11 to a simulation station, and measuring the distance f between the distance measuring piece 11 and the contact displacement sensor 16;
step 107, storing the measured data and obtaining a virtual compensation value X 1 The conversion compensation value X 2 。
108, based on the virtual compensation value X1 and the conversion compensation value X 2 To obtain an actual compensation value X 3 And transmitting to an upper computer;
step 109, the upper computer performs calculation according to the actual compensation value X 3 Controls the corresponding glue dispensing mechanism 20 and the vision mechanism 10 to operate.
It should be noted that, the present application is provided with a plurality of dispensing mechanisms 20, and in the initial working stage of the dispensing mechanisms 20, the displacement of each dispensing mechanism 20 needs to be adjusted and converted. The transformation method can refer to the above steps, and is not described herein again.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not to be construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A displacement conversion method of a multi-station glue dispensing mechanism is characterized in that a glue dispensing device comprises a visual mechanism and a glue dispensing mechanism, wherein the visual mechanism is used for acquiring pose information of a target object on a material collecting shuttle, and the glue dispensing mechanisms can perform glue dispensing operation on the corresponding target object through the pose information; the vision mechanism comprises a distance measuring piece and simulation needle heads, the simulation needle heads are relatively fixed with the distance measuring piece, and each glue dispensing mechanism comprises a glue dispensing needle head; the multi-station adhesive mechanism displacement conversion method comprises the following steps:
obtaining the virtual compensation value X of the simulation needle head 1 ；
Obtaining the conversion compensation value X of the dispensing needle head 2 ；
Based on the virtual compensation value X 1 And the conversion compensation value X 2 To obtain an actual compensation value X 3 ；
According to the actual compensation value X 3 Adjusting the displacement value of the dispensing needle head in the vertical direction;
wherein the virtual compensation value X 1 The compensation value X is the compensation value of the simulation needle head in the vertical direction in the dispensing simulation process and is converted 2 The compensation value in the vertical direction in the process of the glue dispensing simulation of the glue dispensing needle head is obtained; and areAnd the reference position of the simulation needle head in the glue dispensing simulation process is the same as the reference position of the glue dispensing simulation process of the glue dispensing needle head.
2. The method of claim 1, wherein the virtual compensation value X of the simulated needle is obtained 1 "comprises the following steps:
acquiring a lifting distance e of the simulation needle moving along the vertical direction and triggering the reference position;
acquiring the distance f between the distance measuring piece and the reference position;
acquiring the length g of the simulation needle head which is close to one end of the reference position in the vertical direction and protrudes out of the distance measuring piece;
obtaining a virtual compensation value X based on the distance e, the distance f and the length g 1 。
3. The method of claim 2, wherein obtaining the translation compensation value X of the dispensing needle 2 "comprises the following steps:
obtaining the distance c between the dispensing needle head and the reference position;
obtaining a virtual compensation value X based on the distance c, the distance f and the length g 2 。
4. The method of claim 3, wherein the reference position is configured to contact a displacement sensor; wherein, the virtual compensation value X of the simulation needle head is acquired 1 "further comprising the steps of:
acquiring the compression d of the simulation needle head for triggering the contact displacement sensor along the vertical direction;
based on the compression d, the distance e, the distance f and the length, a virtual compensation value X is obtained 1 ；
' obtaining the conversion compensation value X of the dispensing needle head 2 "comprises the following steps:
acquiring the compression amount b of the dispensing needle head triggering the contact displacement sensor along the vertical direction;
based on the amount of compressionb. The distance c, the distance f and the length are used for obtaining a virtual compensation value X 2 。
5. The multi-station glue dispensing device is characterized by comprising a visual mechanism and a plurality of glue dispensing mechanisms, wherein the visual mechanism is used for acquiring the pose information of a target object on a material collecting shuttle, and the plurality of glue dispensing mechanisms can perform glue dispensing operation on the corresponding target object according to the pose information;
each dispensing mechanism comprises a dispensing needle head, the dispensing needle head is used for dispensing operation, the vision mechanism comprises a distance measuring piece and a simulation needle head, the distance measuring piece is used for measuring distance, the simulation needle head is used for simulating the movement of the dispensing needle head, and the simulation needle head and the distance measuring piece are relatively fixed and move synchronously.
6. The multi-station dispensing device according to claim 5, wherein the vision mechanism further comprises a base and a sliding table, the sliding table is mounted on one side surface of the base, and the distance measuring piece and the simulation needle head are mounted on the sliding table and can move in the vertical direction under the driving of the sliding table.
7. The multi-station glue dispensing device according to claim 6, wherein the vision mechanism is arranged between two adjacent glue dispensing mechanisms; the visual mechanism can move along a first direction and a second direction, the dispensing mechanism can move along the second direction, the first direction is intersected with the second direction, and the vertical direction is perpendicular to a plane formed by the first direction and the second direction;
the visual mechanism further comprises a camera unit, the camera unit is mounted on the base, the width of the projection of the camera unit on the base in the first direction is W1 along the second direction, the width of the projection of the distance measuring piece on the base in the first direction is W2, and W2 is not less than W1;
alternatively, W2 is not less than W1.
8. The multi-station dispensing device according to claim 7, wherein the base has a first side and a second side opposite to each other along the second direction, the camera unit is disposed on the first side of the base, and the distance measuring unit is disposed on the second side of the base.
9. The multi-station dispensing device according to claim 7, wherein a plane formed by the vertical direction and the second direction is denoted as a plane S; the axis of the simulation needle head and the axis of the distance measuring piece are arranged in parallel and are positioned on the same plane S.
10. The multi-station dispensing apparatus according to claim 7, wherein the camera unit comprises a camera and an adjusting plate, the adjusting plate is rotatably mounted on the base, and the camera is mounted on the adjusting plate.
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| CN202211435143.6A CN115846131A (en) | 2022-11-16 | 2022-11-16 | Multi-station adhesive dispensing mechanism displacement conversion method and multi-station adhesive dispensing device |
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| CN202211435143.6A CN115846131A (en) | 2022-11-16 | 2022-11-16 | Multi-station adhesive dispensing mechanism displacement conversion method and multi-station adhesive dispensing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116899832A (en) * | 2023-09-13 | 2023-10-20 | 广东全丰智能装备有限公司 | Dispensing manipulator control system and dispensing device |
| CN117463576A (en) * | 2023-12-27 | 2024-01-30 | 立芯精密智造(昆山)有限公司 | Glue amount compensation device, glue amount compensation method thereof and die bonder |
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2022
- 2022-11-16 CN CN202211435143.6A patent/CN115846131A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116899832A (en) * | 2023-09-13 | 2023-10-20 | 广东全丰智能装备有限公司 | Dispensing manipulator control system and dispensing device |
| CN116899832B (en) * | 2023-09-13 | 2023-12-29 | 广东全丰智能装备有限公司 | Dispensing manipulator control system and dispensing device |
| CN117463576A (en) * | 2023-12-27 | 2024-01-30 | 立芯精密智造(昆山)有限公司 | Glue amount compensation device, glue amount compensation method thereof and die bonder |
| CN117463576B (en) * | 2023-12-27 | 2024-05-03 | 立芯精密智造(昆山)有限公司 | Glue amount compensation device, glue amount compensation method thereof and die bonder |
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