CN115921221A - Dispensing method of five-axis dispenser, electronic device and storage medium - Google Patents
Dispensing method of five-axis dispenser, electronic device and storage medium Download PDFInfo
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- CN115921221A CN115921221A CN202211699994.1A CN202211699994A CN115921221A CN 115921221 A CN115921221 A CN 115921221A CN 202211699994 A CN202211699994 A CN 202211699994A CN 115921221 A CN115921221 A CN 115921221A
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000003860 storage Methods 0.000 title claims abstract description 10
- 239000003292 glue Substances 0.000 claims abstract description 77
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 230000036544 posture Effects 0.000 claims description 15
- 238000012937 correction Methods 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 11
- 239000011159 matrix material Substances 0.000 claims description 9
- 238000000605 extraction Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 6
- 238000004026 adhesive bonding Methods 0.000 claims description 5
- 239000000428 dust Substances 0.000 claims description 4
- 238000003384 imaging method Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000004826 seaming Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 239000000463 material Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000012797 qualification Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
- 239000004984 smart glass Substances 0.000 description 1
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Abstract
The invention discloses a dispensing method of a five-axis dispensing machine, an electronic device and a storage medium, which relate to the field of intelligent manufacturing, and the technical scheme is as follows: the method comprises the following steps: s1, calibrating a product; s2, obtaining a dispensing path track; s3, rubbing glue; s4, starting dispensing; and S5, glue path detection. The invention effectively improves the yield of product dispensing, and has the advantages of strong practicability, high dispensing precision and good dispensing quality.
Description
Technical Field
The invention relates to the field of intelligent manufacturing, in particular to a dispensing method of a five-axis dispenser, an electronic device and a storage medium.
Background
At present when the demand of the dispensing process is higher and higher in the production of the precision wearable device, the planar three-axis and four-axis dispensing machine cannot meet all dispensing process procedures requiring 3D curved surfaces, the main reason is that the bonding effect of the vertical downward dispensing is not the same as the bonding effect of the inclined dispensing, and when the product structure is relatively complex, the dispensing is discontinuous, has a cambered surface, is not on the same plane, or has an angle, the dispensing in the vertical direction only temporarily cannot meet the dispensing process. Traditional triaxial, four-axis point gum machine all can not reach the requirement, some five-axis point gum machines have also appeared on the market, but glue the orbit and still glue according to original orbit of looking at the teaching when the material deformation tolerance is great, can not carry out automatic adjustment according to the actual orbit of gluing of product, very easily cause the point to glue the processing procedure yield not high, the bonding quality is not good, condemned condition even, consequently can realize that three-dimensional space motion control and flexible point of rectifying the point of the direction processes technology is the present problem of treating urgently.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a dispensing method of a five-axis dispenser, an electronic device and a storage medium, which effectively improve the yield of product dispensing and have the advantages of strong practicability, high dispensing precision and good dispensing quality.
The technical purpose of the invention is realized by the following technical scheme: a dispensing method of a five-axis dispensing machine comprises the following steps:
s1, product calibration: mounting the product on a carrier, moving a 2D camera to a position right above the product, and grabbing points in the product to calibrate the product so as to determine whether the placement position of the product is correct or not;
s2, obtaining a dispensing path track: after the product calibration is finished, obtaining a dispensing path in a primary positioning form by a 3D track extraction and model fitting method, and performing rigid integral deviation correction and flexible dynamic deviation correction on the dispensing path in the primary positioning form to obtain a dispensing path track;
s3, glue wiping: the glue wiping component wipes off residual glue and dust on the dispensing valve needle head;
s4, starting dispensing: dispensing by the needle head of the dispensing valve according to the dispensing track obtained in the step S2;
s5, glue path detection: and after dispensing, the 3D camera scans the product again to judge whether the product is qualified.
In one embodiment, the 3D trajectory extraction and model fitting method includes the steps of:
s21, 3D calibration: the method comprises the following steps of (1) calibrating and associating a space coordinate system of a 3D camera and X, Y, Z, A and C axis motion coordinates of a five-axis dispenser in a working coordinate system;
s22, reference matching: importing a 3D model of a product and a glue line path model to realize reference matching;
s23, 3D point cloud imaging: acquiring point cloud picture data of a product by using a 3D camera;
s24, track edge grabbing: grabbing a track line of the edge of the inner wall of the glue groove in each track block of the product by an edge finding algorithm;
s25, point cloud point-by-point comparison: ensuring that the track line of the edge of the inner wall of the captured glue groove is not deflected by a point-to-point comparison program;
s26, 3D fitting: fitting the product 3D model into an actual product PCD of the model CAD to obtain a fitting track;
s27, performing matrix deviation correction on the fitting track;
s28, stitching a dispensing track path: seaming the track line of the edge of the inner wall of the grabbed glue groove and the fitting track into a complete glue dispensing path track;
s29, generating a guide motion track: and converting the track of the dispensing path into a guide motion track of a five-axis dispensing machine.
In one embodiment, the concrete method for the rigid integral deviation rectification comprises the following steps: the method comprises the steps of introducing a 3D model of a product and a glue line path model as references, utilizing a 2D camera to perform fine adjustment to confirm that a glue dispensing path track becomes a template of a glue line, utilizing the 3D camera to generate point cloud of the product, then performing denoising treatment on the point cloud, extracting and utilizing internal and external characteristic points of the product to perform positioning of postures (including X, Y, Z, A and C), sending posture changes of the product to a five-axis glue dispenser in a 4-by-4 homogeneous transformation matrix mode, and enabling the five-axis glue dispenser to adjust the postures through the transformation matrix.
In one embodiment, the specific method for flexible dynamic deviation rectification comprises the following steps: the method comprises the steps of acquiring cloud point map data of a product by using a 3D camera, performing visual processing on the cloud point map data, extracting and positioning the posture of the product by using internal and external characteristic points of the product, extracting a glue path track of the product by using a visual tool, mainly traversing the product for one circle by using the height difference of the edge of the product through a visual algorithm, extracting the characteristics of the wall of the product and a glue dispensing groove, sending the glue path track to a five-axis glue dispenser, and directly gluing the product by using the five-axis glue dispenser according to a glue guide motion track.
In one embodiment, five-axis dispenser includes five-axis motion platform, five-axis motion platform includes the base, fixes the truss on the base, fixes X axle sharp module on the truss, fixes Z axle sharp module on X axle sharp module output, fixes Y axle sharp module on the base, fixes the rotatory module of A axle on Y axle sharp module output and fixes the rotatory module of C axle on A axle rotatory module output, be provided with dispensing valve syringe needle, 2D camera and 3D camera on the output of Z axle sharp module respectively, the output of the rotatory module of C axle is provided with the carrier that is used for the centre gripping product, one side that lies in dispensing valve syringe needle on the base is provided with the frictioning subassembly.
An electronic device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize any one of the glue dispensing methods.
A storage medium having stored thereon computer-executable instructions for causing a computer to perform any of the methods of dispensing.
In conclusion, the invention has the following beneficial effects: according to the invention, the five-axis dispenser is used for meeting the motion trail of three-dimensional space freedom, generating a motion path according to the surface curve profile of an actual product and meeting the bidirectional solution of rigid integral deviation correction and flexible dynamic deviation correction directions, dispensing of products with complex structures, discontinuous dispensing and radian can be realized, the dispensing precision of the products is improved, the production efficiency of equipment is improved, the labor cost of enterprises is reduced, the product qualification rate is improved, five-axis linkage is realized for track adjustment according to the actual glue groove track of the products, and the yield of the products is effectively improved.
Drawings
Fig. 1 is a flowchart of a dispensing method of a five-axis dispenser according to an embodiment of the present application;
fig. 2 is a flowchart of a 3D trajectory extraction and model fitting method in a dispensing method of a five-axis dispensing machine according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a five-axis dispensing machine in a dispensing method of the five-axis dispensing machine according to the embodiment of the present application;
FIG. 4 is a schematic illustration of a 3D model of a product as exemplified in an embodiment of the present application;
FIG. 5 is a schematic illustration of a product glue line path in an embodiment of the present application;
FIG. 6 is a diagram illustrating a rigid integrity correction step in an embodiment of the present application;
FIG. 7 is a schematic view of the anterior half of a temple arm in an embodiment of the present application;
fig. 8 is a schematic view of an earhook section at the end of a temple according to an embodiment of the present application;
FIG. 9 is a schematic view of a profile alignment of an eyeglass in an embodiment of the present application;
FIG. 10 is a schematic view of an edge grip tool in an embodiment of the present application;
FIG. 11 is a flowchart of an exemplary embodiment of the present invention for grasping a trajectory line of an edge of an inner wall of a glue groove in each trajectory block of a product;
fig. 12 flow of 3D fitting in an embodiment of the present application.
In the figure: 1. a base; 2. a truss; 3. an X-axis linear module; 4. a Z-axis linear module; 5. a Y-axis linear module; 6. an A-axis rotation module; 7. a C-axis rotation module; 8. a carrier; 9. a glue wiping component; 10. a 2D camera; 11. a dispensing valve needle; 12. a 3D camera.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
As shown in fig. 1 to 12, an embodiment of the present application provides a dispensing method of a five-axis dispensing machine, including the following steps:
s1, product calibration: mounting the product on the carrier 8, moving the 2D camera 10 to a position right above the product, and grabbing points in the product to calibrate the product so as to determine whether the placement position of the product is correct;
s2, obtaining a dispensing path track: after the product calibration is finished, obtaining a dispensing path in a primary positioning form by a 3D track extraction and model fitting method, and performing rigid integral deviation correction and flexible dynamic deviation correction on the dispensing path in the primary positioning form to obtain a dispensing path track;
s3, glue wiping: the frictioning assembly 9 wipes off residual glue and dust on the dispensing valve needle 11, specifically, the frictioning assembly 9 comprises a material discharging disc, a material receiving disc and dust-free cloth arranged between the material discharging disc and the material receiving disc, when the frictioning assembly works, the dispensing valve needle 11 is in contact with the dust-free cloth, and the material receiving disc rotates to drive the dust-free cloth to move, so that the residual glue and dust on the dispensing valve needle 11 can be wiped off, and the adhesive property between an adhesive and a product can be enhanced;
s4, starting dispensing: dispensing by the dispensing valve needle 11 according to the dispensing trajectory obtained in the step S2;
s5, glue path detection: after dispensing, the 3D camera 12 scans the product again to determine whether the product is qualified.
It is to be understood that the present invention is not limited to five-axis dispensing machines, but may be applied to dispensing machines with other number of axes, and may be configured appropriately according to the specific use scenario.
According to the invention, the five-axis dispenser is used for meeting the motion track of three-dimensional space freedom, and a bidirectional solution scheme that the motion path is generated according to the surface curve profile of an actual product and the rigid integral deviation correction and flexible dynamic deviation correction directions is met is adopted, so that the dispensing of products with complex structures, discontinuous dispensing and radian is realized, the dispensing precision of the products is improved, the production efficiency of equipment is improved, the labor cost of enterprises is reduced, the product qualification rate is improved, the track adjustment by five-axis linkage is realized according to the actual glue groove track of the products, and the yield of the products is effectively improved.
In this embodiment, the 3D trajectory extraction and model fitting method includes the following steps:
s21, 3D calibration: the space coordinate system of the 3D camera 12 and the X, Y, Z, A and C axis motion coordinates of the five-axis dispenser are calibrated and associated in a working coordinate system;
s22, reference matching: importing a 3D model of a product and a glue line path model to realize reference matching;
specifically, the 3D model drawing and the rubber line path drawing of the product are input into the system, the system can receive drawings in the format of STP, STEP, dxF, etc., fig. 4 is an exemplary 3D model diagram of the product, and fig. 5 is a rubber line path diagram.
S23, 3D point cloud imaging: acquiring point cloud data of the product using the 3D camera 12;
specifically, the user can define the cutting times and the angle posture required by image acquisition according to the contour surface degree, the length, the width and the size of the surface of the product and a block needing to be captured and created, the functional block has editing flexibility, and parameter setting can be defined according to different products, so that the final imaging effect and the quality integrity are taken as the main points. In the implementation case of the present invention, the temple of the smart glasses is used as the functional module for display, and because the Z-direction height of the dispensing profile surface of the temple product itself and the profile degree variation relationship are used, in order to keep the height between the line scanning view of the 3D camera 12 and the sampling surface of the product surface consistent, the present design divides the image capturing sequence into two-segment sampling, where the first segment is the front half part of the temple, as shown in fig. 7, and the second segment is the ear hanging section at the tail end of the temple, as shown in fig. 8.
After the point cloud data of the product is acquired, positioning the point cloud data image through a visual positioning template datum, wherein the visual positioning template datum has two functions, namely, initial positioning is provided, namely initial positioning of a track line at the edge of the inner wall of the rubber groove; the second is for preventing slow-witted mistake-reporting function, can effectively prevent to cause the orbit distortion because of other noise point to disturb and still carry out the condition of some motion, helps improving the stability of location benchmark, and figure 9 illustrates the profile positioning of glasses.
S24, track edge grabbing: grabbing the track line of the edge of the inner wall of the glue groove in each track block of the product by an edge finding algorithm;
specifically, after the 3D point cloud images are sequentially imaged and the preliminary template benchmark judgment is performed, the program algorithm then performs track benchmark inner wall edge search along the glue groove step by step in a manner of 1x30pixel search squares on the glue groove surface in the counterclockwise direction according to the defined section, and performs track stitching after completion, thereby finally generating a complete temple point gluing track route. Because the grasping edge is the inner wall of the glue groove, the algorithm can perform coefficient adjustment with equal scaling on the trajectory line before the algorithm is converted into motion, so as to translate the generated path trajectory of the glue line to the central point position of the glue groove in equal proportion to ensure that the dispensing position is centered, and fig. 10 illustrates an edge grasping schematic diagram of the edge grasping tool.
On the basis of the case design principle of the glasses legs, a 3D line scanning camera is used for grabbing an included angle point of the inner wall of the dispensing groove, the pixel values of x and y of the included angle point are obtained through the included angle point, and then the pixel point of the center point of the dispensing groove which is translated by 0.02mm is used for obtaining a z-axis numerical value, so that the (x, y, z) of the edge grabbing point is formed. The method of taking the z-axis value by translating by 0.02mm avoids noise points possibly generated near the side of the temple wall, the z-axis value can be freely set according to requirements, the only thing to be considered is the posture during dispensing, and the angular posture is adopted to ensure that the glue line falls in the included angle point, so that the method of adopting the scaling of 0.15 instead of the absolute central value in the embodiment generates the final motion track line, and fig. 11 is a flow chart of grabbing the track line of the inner wall edge of the glue groove in each track block of the product.
S25, point cloud point-by-point comparison: ensuring that the track line of the edge of the inner wall of the captured glue groove is not deflected by a point-to-point comparison program;
s26, 3D fitting: fitting the product 3D model to the actual product PCD of the model CAD to obtain a fitting track, wherein a 3D fitting process is illustrated in FIG. 12;
s27, performing matrix rectification on the fitting track;
s28, stitching a dispensing track path: seaming the track line of the edge of the inner wall of the grabbed glue groove and the fitting track into a complete glue dispensing path track;
s29, generating a guide motion track: and converting the track of the dispensing path into a guide motion track of a five-axis dispensing machine.
In this embodiment, the concrete method for rigid integral deviation rectification includes: the method comprises the steps of introducing a 3D model of a product and a glue line path model as references, using a 2D camera 10 to perform fine adjustment to confirm that a glue dispensing path track becomes a template of a glue line, using a 3D camera 12 to generate point cloud of the product, then performing denoising treatment on the point cloud, extracting and using internal and external feature points of the product to perform positioning of postures (including X, Y, Z, A and C), sending the posture change of the product to a five-axis glue dispenser in a 4-by-4 homogeneous transformation matrix mode, and adjusting the posture of the five-axis glue dispenser through the transformation matrix, wherein the specific steps of the process are shown in figure 6.
In this embodiment, the specific method for flexible dynamic deviation rectification includes: the method comprises the steps of acquiring cloud point map data of a product by using a 3D camera 12, performing visual processing on the cloud point map data, extracting and positioning the posture of the product by using internal and external characteristic points of the product, extracting a glue path track of the product by using a visual tool, mainly traversing the product for one circle by using the height difference of the edge of the product through a visual algorithm, extracting the characteristics of the wall of the product and a glue dispensing groove, sending the glue path track to a five-axis glue dispenser, and directly gluing the product by using the five-axis glue dispenser according to a glue guide motion track.
In this embodiment, five-axis dispensing machine includes five-axis motion platform, five-axis motion platform includes base 1, fixes truss 2 on base 1, fixes X axle sharp module 3 on truss 2, fixes Z axle sharp module 4 on X axle sharp module 3 output, fixes Y axle sharp module 5 on base 1, fixes A axle rotation module 6 on Y axle sharp module 5 output and fixes C axle rotation module 7 on A axle rotation module 6 output, be provided with dispensing valve syringe needle 11, 2D camera 10 and 3D camera 12 on the output of Z axle sharp module 4 respectively, the output of C axle rotation module 7 is provided with carrier 8 that is used for the centre gripping product, the one side that lies in dispensing valve syringe needle 11 on base 1 is provided with frictioning subassembly 9.
An embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the above dispensing methods when executing the computer program.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores computer-executable instructions, and the computer-executable instructions are configured to enable a computer to execute any one of the above dispensing methods.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (7)
1. A dispensing method of a five-axis dispensing machine is characterized by comprising the following steps: the method comprises the following steps:
s1, product calibration: mounting a product on a carrier, moving a 2D camera to a position right above the product, and grabbing points in the product to calibrate the product so as to determine whether the placement position of the product is correct;
s2, obtaining a dispensing path track: after the product calibration is finished, obtaining a dispensing path in a primary positioning form by a 3D track extraction and model fitting method, and performing rigid integral deviation correction and flexible dynamic deviation correction on the dispensing path in the primary positioning form to obtain a dispensing path track;
s3, frictioning: the glue wiping component wipes off residual glue and dust on the dispensing valve needle head;
s4, starting dispensing: dispensing by the needle head of the dispensing valve according to the dispensing track obtained in the step S2;
s5, glue path detection: and after dispensing, the 3D camera scans the product again to judge whether the product is qualified.
2. The dispensing method of the five-axis dispensing machine according to claim 1, characterized in that: the 3D trajectory extraction and model fitting method comprises the following steps:
s21, 3D calibration: calibrating and associating a space coordinate system of a 3D camera and X, Y, Z, A and C axis motion coordinates of a five-axis dispenser in a working coordinate system;
s22, reference matching: importing a 3D model of a product and a glue line path model to realize reference matching;
s23, 3D point cloud imaging: acquiring point cloud picture data of a product by using a 3D camera;
s24, track edge grabbing: grabbing a track line of the edge of the inner wall of the glue groove in each track block of the product by an edge finding algorithm;
s25, point cloud point-by-point comparison: ensuring that the track line of the edge of the inner wall of the captured glue groove is not deflected by a point-to-point comparison program;
s26, 3D fitting: fitting the product 3D model into an actual product PCD of the model CAD to obtain a fitting track;
s27, performing matrix rectification on the fitting track;
s28, stitching a dispensing track path: seaming the track line of the edge of the inner wall of the grabbed glue groove and the fitting track into a complete glue dispensing path track;
s29, generating a guide motion track: and converting the track of the dispensing path into a guide motion track of a five-axis dispensing machine.
3. The dispensing method of the five-axis dispensing machine according to claim 2, characterized in that: the concrete method for rigid integral deviation rectification comprises the following steps: the method comprises the steps of introducing a 3D model of a product and a glue line path model as references, utilizing a 2D camera to perform fine adjustment to confirm that a glue dispensing path track becomes a template of a glue line, utilizing the 3D camera to generate point cloud of the product, then performing denoising treatment on the point cloud, extracting and utilizing internal and external characteristic points of the product to perform positioning of postures (including X, Y, Z, A and C), sending posture changes of the product to a five-axis glue dispenser in a 4-by-4 homogeneous transformation matrix mode, and enabling the five-axis glue dispenser to adjust the postures through the transformation matrix.
4. The dispensing method of the five-axis dispensing machine according to claim 2, characterized in that: the specific method for flexible dynamic deviation correction comprises the following steps: the method comprises the steps of acquiring cloud point map data of a product by using a 3D camera, performing visual processing on the cloud point map data, extracting and positioning the posture of the product by using internal and external characteristic points of the product, extracting a glue path track of the product by using a visual tool, mainly traversing the product for one circle by using the height difference of the edge of the product through a visual algorithm, extracting the characteristics of the wall of the product and a glue dispensing groove, sending the glue path track to a five-axis glue dispenser, and directly gluing the product by using the five-axis glue dispenser according to a glue guide motion track.
5. The dispensing method of the five-axis dispensing machine according to claim 1, characterized in that: five-axis dispensing machine includes five motion platforms, five motion platforms include the base, fix truss on the base, fix X axle sharp module on the truss, fix Z axle sharp module on X axle sharp module output, fix Y axle sharp module on the base, fix the rotatory module of A axle on Y axle sharp module output and fix the rotatory module of C axle on A axle rotatory module output, be provided with dispensing valve syringe needle, 2D camera and 3D camera on the output of Z axle sharp module respectively, the output of the rotatory module of C axle is provided with the carrier that is used for centre gripping product, one side that lies in dispensing valve syringe needle on the base is provided with the frictioning subassembly.
6. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein: the processor, when executing the computer program, implements the dispensing method of any one of claims 1 to 4.
7. A storage medium, characterized by: the storage medium stores computer-executable instructions for causing a computer to perform the dispensing method of any one of claims 1-4.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116637781A (en) * | 2023-04-27 | 2023-08-25 | 深圳市鹏创达自动化有限公司 | Equidistant dispensing method, device and equipment for space curve and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116637781A (en) * | 2023-04-27 | 2023-08-25 | 深圳市鹏创达自动化有限公司 | Equidistant dispensing method, device and equipment for space curve and storage medium |
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Application publication date: 20230407 |