Calibration method of tilting rotary dispensing device

Abstract

The invention discloses a calibration method of an inclined rotating type dispensing device. The method comprises the following steps that S1, a laser is moved to the position to be dispensed, the coordinates of the dispensing device on the Z axis are adjusted, the laser numerical value is adjusted to the preset value, and the height H1 is obtained; S2, the laser is moved to the center position ofa tool setting gauge, the coordinates of the dispensing device on the Z axis are adjusted, the laser numerical value is adjusted to the preset value, and the height H2 is obtained; S3, the optimal dispensing position and angle in the inclined rotating direction are subjected to teaching on a workpiece, and the inclined rotating direction R1 and the dispensing height H3 are obtained; S4, the inclined rotating direction of R1 is kept, a nozzle is moved to the position above the tool setting gauge, tool setting operation is executed, the contact height between the nozzle and the surface of the tool setting gauge is kept as H4, the height between the nozzle and the to-be-dispensed position is H5 equal to H4-H0-H3; and S5, the nozzle is moved to the position away from the surface of the tool setting gauge by the height H4 for glue spraying, the center of a camera is moved to the glue spraying position, and the deviation between the nozzle in the R1 direction and the center of the camera iscalculated. The calibration method has the advantages of being small in error and high in efficiency.

Description

technical field [0001] The invention relates to a method for calibrating an inclined rotary glue dispensing device. Background technique [0002] In the existing calibration method of the tilting rotation mechanism, firstly, the deviation between the position of the nozzle in each tilting rotation direction and the center position of the camera is calibrated in the calibration device, and then when editing the dispensing trajectory line, select the corresponding tilting rotation type, and follow the tilting rotation type to perform dispensing jobs. This method cannot guarantee that the dispensing height is exactly the same as the height during calibration, and there will be calibration errors. It is necessary to adjust the trajectory to achieve the dispensing effect; when replacing the nozzle or disassembling the spray valve, it needs to be recalibrated, which is inconvenient for debugging. The existing calibration method of the tilting rotation mechanism has disadvantages ...

AI Technical Summary

Problems solved by technology

This method cannot guarantee that the dispensing height is exactly the same as the height during calibration, and there will be calibration errors, and the trajectory needs to be adjusted to achieve the dispensing effect; when replacing the nozzle or disassembling the spray valve, it needs to be recalibrated, which is inconvenient for debugging

The existing calibration method of tilting and rotating mechanism has disadvantages such as inconvenient operation, large error and low efficiency

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