Control method and control system for an automatic dispensing machine

Abstract

The application provides a control method and a control system of an automatic dispensing machine, wherein the control method comprises the following steps: acquiring needle-to-needle data of a needle of the automatic dispensing machine; acquiring preset dispensing path data and preset compensation data of the automatic dispensing machine; obtaining pose data and height data of a workpiece to be dispensed according to the preset dispensing path data; and controlling the automatic dispensing machine to perform a dispensing operation on the workpiece to be dispensed according to the needle-to-needle data, the pose data, the height data, the preset dispensing path data and the preset compensation data. The application can automatically adjust the dispensing path angle of the automatic dispensing machine according to the shooting data of a machine vision device, and can automatically adjust the dispensing path height of the automatic dispensing machine according to the height data of the workpiece to be dispensed, so as to ensure product quality and reduce the intervention degree of manual adjustment, thereby improving product quality and production efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic control, in particular to a control method of an automatic dispensing machine and a control system of the automatic dispensing machine. BACKGROUND

[0002] With the increasing demand for buzzers, the buzzer manufacturing has also changed from manual manufacturing to machine manufacturing. Although the buzzer is small, the manufacturing process is not simple. The dispensing (painting) process is a process in the buzzer manufacturing process, and the quality of dispensing (painting) affects the overall quality of the buzzer.

[0003] At present, a large amount of research has been done on the dispensing (painting) process engineering at home and abroad, and it has been applied to equipment. For example, machine vision is applied to the buzzer manufacturing detection process to reduce the requirement for manual feeding and improve the accuracy of path walking. Machine vision is used in the process of dispensing (painting) of the buzzer, mainly to obtain the plane position deviation and rotation angle value of the buzzer chassis in the tray. However, the main shooting process is a break-point shooting, that is, shooting once at a position and then continuing to the next position, which not only affects the shooting efficiency, but also affects the overall production efficiency.

[0004] However, the equipment related to the dispensing (painting) process engineering is not only expensive, but also difficult to meet the current market demand. In particular, with the continuous change of market demand, the continuous increase of buzzer types, the continuous innovation of dispensing (painting) process and the continuous increase of dispensing (painting) path complexity, buzzer manufacturers need higher precision production equipment. SUMMARY

[0005] To solve the above technical problems, the present application provides a control method of an automatic dispensing machine, which can automatically adjust the dispensing path angle of the automatic dispensing machine according to the shooting data of the machine vision device, and can automatically adjust the dispensing path height of the automatic dispensing machine according to the height data of the workpiece to be dispensed, so as to ensure the product quality and reduce the intervention degree of manual adjustment, thereby improving the product quality and production efficiency.

[0006] The technical scheme adopted by the present application is as follows:

[0007] A control method of an automatic dispensing machine, comprising the following steps: obtaining the needle data of the needle head of the automatic dispensing machine; obtaining the preset dispensing path data and the preset compensation data of the automatic dispensing machine; obtaining the pose data and the height data of the workpiece to be dispensed according to the preset dispensing path data; and controlling the automatic dispensing machine to perform dispensing operation on the workpiece to be dispensed according to the needle data, the pose data, the height data, the preset dispensing path data and the preset compensation data.

[0008] According to one embodiment of the present application, the needle head of the automatic dispensing machine is obtained by the XZ plane facing needle sensor and the YZ plane facing needle sensor, wherein the XZ plane facing needle sensor corresponds to the XZ plane of the automatic dispensing machine, and the corresponding setting position is The YZ plane facing needle sensor corresponds to the YZ plane of the automatic dispensing machine, and the corresponding setting position is Wherein, [X1, X2] is the moving range of the needle head of the automatic dispensing machine in the XZ plane X axis, [Y1, Y2] is the moving range of the needle head of the automatic dispensing machine in the YZ plane Y axis, and [Z1, Z2] is the moving range of the needle head of the automatic dispensing machine in the YZ plane Z axis or the XZ plane Z axis.

[0009] According to one embodiment of the present application, the needle head of the automatic dispensing machine is obtained by the XZ plane facing needle sensor and the YZ plane facing needle sensor, and the process comprises the following steps: the needle head of the automatic dispensing machine is controlled to move to X1 position in the XZ plane, and the Z axis component of the automatic dispensing machine is controlled to move to Z1 position; the Z axis component of the automatic dispensing machine is controlled to move from Z1 position to Z2 position, and the X axis component of the automatic dispensing machine is controlled to reciprocate between X1 position and X2 position; when the needle head of the automatic dispensing machine passes through the XZ plane facing needle sensor, the XZ plane facing needle sensor is used to obtain the needle head data of the automatic dispensing machine in the XZ plane; the Y axis component of the automatic dispensing machine is controlled to move to Y1 position in the YZ plane, and the Z axis component of the automatic dispensing machine is controlled to move to Z1 position; the Z axis component of the automatic dispensing machine is controlled to move from Z1 position to Z2 position, and the Y axis component of the automatic dispensing machine is controlled to reciprocate between Y1 position and Y2 position; when the needle head of the automatic dispensing machine passes through the YZ plane facing needle sensor, the YZ plane facing needle sensor is used to obtain the needle head data of the automatic dispensing machine in the YZ plane.

[0010] According to one embodiment of the present application, the preset dispensing path data comprises a multi-station multi-point dispensing path mode, and the preset compensation data comprises system compensation data and Z axis compensation data of the automatic dispensing machine.

[0011] According to one embodiment of the present application, the pose data and height data of the workpiece to be dispensed are obtained according to the preset dispensing path data, and the process comprises the following steps: the pose data of each workpiece to be dispensed is photographed according to the preset dispensing path data; the height data of each workpiece to be dispensed is measured according to the preset dispensing path data; and the pose data and height data of each workpiece to be dispensed are stored together.

[0012] According to one embodiment of the present application, the pose data of the workpiece to be dispensed includes position data and angle data of the workpiece to be dispensed.

[0013] According to one embodiment of the present application, the step of controlling the automatic dispensing machine to dispense the workpiece to be dispensed according to the pair data, the pose data, the height data, the preset dispensing path data and the preset compensation data specifically includes the following steps: obtaining transition dispensing path data of the workpiece to be dispensed according to the pair data, the pose data, the multi-station multi-dispensing path mode and the Z-axis compensation data of the automatic dispensing machine; obtaining final dispensing path data of the workpiece to be dispensed according to the height data, the system compensation data of the automatic dispensing machine and the transition dispensing path data; and controlling the automatic dispensing machine to perform adaptive dispensing operation on the workpiece to be dispensed according to the final dispensing path data.

[0014] According to one embodiment of the present application, the expression of the final dispensing path data is as follows:

[0015]

[0016] wherein (x comp ,y comp ) is the system compensation data, z baseheight is the reference data of dispensing height, z height [i][j] is the height data of the workpiece to be dispensed in the ith row and jth column, (x run ,y run ,z run ) is the transition dispensing path data, and (x run ,y run ,z run ) is the final dispensing path data.

[0017] A control system of an automatic dispensing machine, comprising: a first acquisition module configured to acquire pair data of a needle head of the automatic dispensing machine; a second acquisition module configured to acquire preset dispensing path data and preset compensation data of the automatic dispensing machine; a third acquisition module configured to obtain pose data and height data of a workpiece to be dispensed according to the preset dispensing path data; and a dispensing control module configured to control the automatic dispensing machine to dispense the workpiece to be dispensed according to the pair data, the pose data, the height data, the preset dispensing path data and the preset compensation data.

[0018] According to one embodiment of the present application, the first acquisition module specifically obtains the needle data of the needle head of the automatic dispensing machine through an XZ plane facing needle sensor and a YZ plane facing needle sensor, wherein the XZ plane facing needle sensor is arranged corresponding to the XZ plane of the automatic dispensing machine, and the corresponding arrangement position is The YZ plane facing needle sensor is arranged corresponding to the YZ plane of the automatic dispensing machine, and the corresponding arrangement position is Wherein, [X1, X2] is the moving range of the needle head of the automatic dispensing machine in the XZ plane X axis, [Y1, Y2] is the moving range of the needle head of the automatic dispensing machine in the YZ plane Y axis, and [Z1, Z2] is the moving range of the needle head of the automatic dispensing machine in the YZ plane Z axis or the XZ plane Z axis.

[0019] The present application has the following beneficial effects:

[0020] The present application can automatically adjust the dispensing path angle of the automatic dispensing machine according to the shooting data of the machine vision device, and can automatically adjust the dispensing path height of the automatic dispensing machine according to the height data of the workpiece to be dispensed, so as to ensure the product quality and reduce the intervention degree of manual adjustment, thereby improving the product quality and production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 The flow chart of the control method of the automatic dispensing machine of the embodiment of the present application is shown in the figure;

[0022] Figure 2(a) is a schematic diagram of the moving space of the needle head of the automatic dispensing machine of one embodiment of the present application in the XZ plane;

[0023] Figure 2(b) is a schematic diagram of the moving space of the needle head of the automatic dispensing machine of one embodiment of the present application in the YZ plane;

[0024] Figure 3 The flow chart of the control method of the automatic dispensing machine of the embodiment of the present application is shown in the figure;

[0025] Figure 4 The schematic diagram of the work station path mode in the preset dispensing path data of one embodiment of the present application is shown in the figure;

[0026] Figure 5(a) is a schematic diagram of the first type of dispensing path mode in the preset dispensing path data of one embodiment of the present application;

[0027] Figure 5(b) is a schematic diagram of the second type of dispensing path mode in the preset dispensing path data of one embodiment of the present application;

[0028] Figure 5(c) is a schematic diagram of the third type of dispensing path mode in the preset dispensing path data of one embodiment of the present application;

[0029] Fig. 5(d) is a schematic diagram of a fourth type of dispensing path mode in preset dispensing path data according to an embodiment of the present application;

[0030] Fig. 5(e) is a schematic diagram of a fifth type of dispensing path mode in preset dispensing path data according to an embodiment of the present application;

[0031] Fig. 5(f) is a schematic diagram of a sixth type of dispensing path mode in preset dispensing path data according to an embodiment of the present application;

[0032] Figure 6 Fig. 6 is a schematic diagram of a multi-station multi-dispensing path mode according to an embodiment of the present application;

[0033] Figure 7 Fig. 7 is a flow chart of a control method of an automatic dispensing machine according to an embodiment of the present application;

[0034] Figure 8 Fig. 8 is a block schematic diagram of a control system of an automatic dispensing machine according to an embodiment of the present application;

[0035] Figure 9 Fig. 9 is a block schematic diagram of a control system of an automatic dispensing machine according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0037] Figure 1 Fig. 7 is a flow chart of a control method of an automatic dispensing machine according to an embodiment of the present application.

[0038] As shown in Fig. 7, the control method of the automatic dispensing machine according to an embodiment of the present application comprises the following steps: Figure 1

[0039] S1, acquiring needle alignment data of a needle of the automatic dispensing machine.

[0040] Specifically, the needle alignment data of the needle of the automatic dispensing machine can be obtained by an XZ plane needle alignment sensor and a YZ plane needle alignment sensor. The XZ plane needle alignment sensor is arranged on an XZ plane of the automatic dispensing machine, and the corresponding arrangement position is The YZ plane needle alignment sensor is arranged on a YZ plane of the automatic dispensing machine, and the corresponding arrangement position is The needle alignment can solve the problem of deviation of the working position of the needle of the automatic dispensing machine caused by wear of the needle, thereby ensuring the accuracy of dispensing operation.

[0041] ​Wherein, [X1, X2] is the moving range of the needle head of the automatic dispensing machine on the X-axis of the XZ plane, [Y1, Y2] is the moving range of the needle head of the automatic dispensing machine on the Y-axis of the YZ plane, and [Z1, Z2] is the moving range of the needle head of the automatic dispensing machine on the Z-axis of the YZ plane or the Z-axis of the XZ plane. Thus, the XZ plane needle sensor and the YZ plane needle sensor can be located at the center position of the moving range of the needle head of the automatic dispensing machine.

[0042] For example, as shown in FIG. 2(a), the moving space of the needle head of the automatic dispensing machine on the XZ plane can be a rectangle with a side length of (X2-X1, Z2-Z1), wherein X1 of the XZ plane can be 3.00 mm, X2 of the XZ plane can be 12 mm, Z1 of the XZ plane can be 88.00 mm, Z2 of the XZ plane can be 96.10 mm, and Y1 of the XZ plane can be 0.00 mm; as shown in FIG. 2(b), the moving space of the needle head of the automatic dispensing machine on the YZ plane can be a rectangle with a side length of (Y2-Y1, Z2-Z1), wherein Y1 of the YZ plane can be 105.80 mm, Y2 of the YZ plane can be 116 mm, Z1 of the YZ plane can be 89.77 mm, Z2 of the YZ plane can be 98.56 mm, and X1 of the XZ plane can be 37.41 mm.

[0043] More specifically, referring to Figure 3 , the process of obtaining the needle alignment data of the needle head of the automatic dispensing machine by the XZ plane needle sensor and the YZ plane needle sensor can further include a needle alignment limit data input process, a needle alignment process of the needle head of the automatic dispensing machine on the XZ plane, and a needle alignment process of the needle head of the automatic dispensing machine on the YZ plane.

[0044] As shown in Figure 3 , before the needle alignment limit data input process, the process can further include:

[0045] S100, the XZ plane needle sensor and the YZ plane needle sensor are self-checked, if there is no abnormality in the self-checking, step S200 is executed, and if there is an abnormality in the self-checking, an exception handling is performed;

[0046] S200, the needle alignment limit data is input, i.e., the moving range [X1, X2] of the needle head of the automatic dispensing machine on the X-axis of the XZ plane, the moving range [Y1, Y2] of the needle head of the automatic dispensing machine on the Y-axis of the YZ plane, and the moving range [Z1, Z2] of the needle head of the automatic dispensing machine on the Z-axis of the YZ plane or the Z-axis of the XZ plane.

[0047] As shown in Figure 3 , the needle alignment process of the needle head of the automatic dispensing machine on the XZ plane specifically includes:

[0048] S101, control the X-axis assembly of the automatic dispensing machine to move to position X1, and control the Z-axis assembly of the automatic dispensing machine to move to position Z1; control the Z-axis assembly of the automatic dispensing machine to move from position Z1 to position Z2, and simultaneously control the X-axis assembly of the automatic dispensing machine to reciprocate between positions X1 and X2.

[0049] S102, determine whether the automatic dispensing machine needle has been successfully aligned on the XZ plane X-axis. If yes, save the alignment data of the automatic dispensing machine needle on the XZ plane X-axis. That is, when the automatic dispensing machine needle passes the XZ plane alignment sensor, the alignment data of the automatic dispensing machine needle on the XZ plane X-axis is obtained through the XZ plane alignment sensor. At the same time, execute step S103. If no, end the alignment process.

[0050] S103, determine whether the automatic dispensing machine needle has successfully aligned with the Z-axis in the XZ plane. If yes, save the alignment data of the automatic dispensing machine needle in the XZ plane. That is, when the automatic dispensing machine needle passes the XZ plane alignment sensor, the alignment data of the automatic dispensing machine needle in the XZ plane Z-axis is obtained through the XZ plane alignment sensor, and the alignment process of the automatic dispensing machine needle in the YZ plane is executed at the same time. If no, end the alignment process.

[0051] like Figure 3 As shown, the needle alignment process of the automatic dispensing machine on the YZ plane specifically includes:

[0052] S104, control the Y-axis assembly of the automatic dispensing machine to move to position Y1, and control the Z-axis assembly of the automatic dispensing machine to move to position Z1; control the Z-axis assembly of the automatic dispensing machine to move from position Z1 to position Z2, and simultaneously control the Y-axis assembly of the automatic dispensing machine to reciprocate between positions Y1 and Y2.

[0053] S105, determine whether the automatic dispensing machine needle has been successfully aligned on the XZ plane X-axis. If yes, save the alignment data of the automatic dispensing machine needle on the XZ plane X-axis. That is, when the automatic dispensing machine needle passes the YZ plane alignment sensor, the alignment data of the automatic dispensing machine needle on the YZ plane Y-axis is obtained through the YZ plane alignment sensor. If no, end the alignment process.

[0054] S2, acquire the preset dispensing path data and preset compensation data of the automatic dispensing machine.

[0055] Specifically, the preset dispensing path data and preset compensation data of the automatic dispensing machine can be set through a human-machine interface device, thereby determining the preset dispensing path data and preset compensation data of the automatic dispensing machine. In addition, the raw data of the workpiece to be dispensed (such as DXF format graphic data of the workpiece to be dispensed) and the processing parameters of the workpiece to be dispensed can also be input through the human-machine interface device. Among them, the preset dispensing path data may include a multi-station multi-dispensing path mode, and the preset compensation data may include the system compensation data and Z-axis compensation data of the automatic dispensing machine.

[0056] For example, such as Figure 4 As shown, the preset dispensing path data can include three station path modes: the first type of station path mode a, the second type of station path mode b, and the third type of dispensing path mode c. Further, as shown in Figures 5(a), 5(b), 5(c), 5(d), 5(e), and 5(f), in each station, the preset dispensing path data can include six dispensing path modes: the first type of dispensing path mode (horizontal positive bow-shaped dispensing path mode), the second type of dispensing path mode (horizontal reverse bow-shaped dispensing path mode), the third type of dispensing path mode (horizontal positive Z-shaped dispensing path mode), the fourth type of dispensing path mode (vertical positive bow-shaped dispensing path mode), the fifth type of dispensing path mode (vertical positive bow-shaped dispensing path mode), and the sixth type of dispensing path mode (vertical positive Z-shaped dispensing path mode).

[0057] Therefore, the preset dispensing path data can include multiple workstation path modes, and each workstation can also include multiple dispensing path modes. Combining multiple workstation path modes and multiple dispensing path modes can form a multi-workstation, multi-dispensing path mode. For example, refer to... Figure 6 In each station, the dispensing path mode can be selected as the first type of dispensing path mode (horizontal bow-shaped dispensing path mode). For the stations to be processed, station 1, station 3, station 6, station 8, station 10 and station 11, the second type of station path mode b can be selected.

[0058] S3: Obtain the pose and height data of the workpiece to be glued based on the preset dispensing path data.

[0059] Specifically, the pose data of each workpiece to be dispensed can be photographed according to the preset dispensing path data (for example, a continuous shooting mode can be adopted), then the height data of each workpiece to be dispensed can be measured according to the preset dispensing path data, and the pose data and the height data of each workpiece to be dispensed can be stored together. For example, the machine vision device can be controlled to move according to the preset dispensing path data to photograph the pose data of each workpiece to be dispensed, and at the same time, the height sensor can be controlled to measure the height data of each workpiece to be dispensed according to the preset dispensing path data, and then the pose data and the height data of each workpiece to be dispensed can be stored together, wherein the pose data of the workpiece to be dispensed can include position data and angle data of the workpiece to be dispensed. By measuring the height, the problem of deviation in dispensing operation caused by inconsistent placement height of the workpiece to be dispensed can be solved, so that the accuracy of dispensing operation can be ensured.

[0060] More specifically, the data photographed by the machine vision device can be converted into a two-dimensional array, that is, x camera [n][m], y camera [n][m], z camera [n][m], wherein x camera [n][m] represents the X-axis position of the machine vision device coordinate system corresponding to the n rows and m columns of workpieces to be dispensed, y camera [n][m] represents the Y-axis position of the machine vision device coordinate system corresponding to the n rows and m columns of workpieces to be dispensed, and z camera [n][m] represents the angle data of the machine vision device coordinate system reference corresponding to the n rows and m columns of workpieces to be dispensed; at the same time, the height data of each workpiece to be dispensed measured by the height sensor can also be converted into a two-dimensional array, that is, z height [n][m], and z height [n][m] represents the height data of the machine vision device coordinate system reference corresponding to the n rows and m columns of workpieces to be dispensed.

[0061] S4, according to the needle data, the pose data, the height data, the preset dispensing path data and the preset compensation data, the automatic dispensing machine is controlled to perform dispensing operation on the workpiece to be dispensed.

[0062] Specifically, the transition dispensing path data of the workpiece to be dispensed can be obtained according to the needle data, the pose data, the multi-station multi-point dispensing path mode and the Z-axis compensation data of the automatic dispensing machine, the final dispensing path data of the workpiece to be dispensed can be obtained according to the height data, the system compensation data of the automatic dispensing machine and the transition dispensing path data, and then the automatic dispensing machine can be controlled to perform adaptive dispensing operation on the workpiece to be dispensed according to the final dispensing path data.

[0063] For example, taking the i-row j-column workpiece to be dispensed as an example, the calculation process of obtaining the final dispensing path data of the workpiece to be dispensed according to the needle data, the pose data, the height data, the preset dispensing path data and the preset compensation data is described.

[0064] Firstly, the original position data of the i-row j-column workpiece to be dispensed can be obtained, and then the original position data of the i-row j-column workpiece to be dispensed can be converted into the machine vision device coordinate system according to the shooting angle data of the i-row j-column workpiece to be dispensed and the automatic dispensing machine Z-axis compensation data. Specifically, the original position data of the i-row j-column workpiece to be dispensed can be converted by the following formula one:

[0065]

[0066] wherein z comp is the automatic dispensing machine Z-axis compensation data, (x file , y file ) is the original position data of the i-row j-column workpiece to be dispensed, and z camera [i][j] is the height data of the i-row j-column workpiece to be dispensed.

[0067] Further, the starting position data of the station where the i-row j-column workpiece to be dispensed is located can be obtained, and the starting position data can be added to the above formula one to obtain the following formula two:

[0068]

[0069] wherein (x istart , y istart ) is the starting position data of the station where the i-row j-column workpiece to be dispensed is located.

[0070] Further, the row-column track pitch data of the station where the i-row j-column workpiece to be dispensed is located can be obtained, the center position data of the i-row j-column workpiece to be dispensed can be calculated according to the row-column track pitch data, and the center position data can be added to the above formula two to obtain the following formula three:

[0071]

[0072] wherein (x ij , y ij ) is the center position data of the i-row j-column workpiece to be dispensed.

[0073] Further, the needle compensation data can be obtained, and the needle compensation data and the needle data can be added to the above formula three to obtain the following formula four:

[0074]

[0075] wherein z″ runis the initial data of Z axis in dispensing path, and the initial data can be set as 0, (x needlecomp ,y needlecomp ,z needlecopm ) is the compensation data for needle, (x needle ,y needle ,z needle ) is the data for needle.

[0076] Further, the coordinate conversion data of machine vision device coordinate system and automatic dispensing machine coordinate system can be obtained, and the coordinate conversion data and the shooting position data of i rows and j columns of workpieces to be dispensed can be added to the above-mentioned formula four to obtain the following formula five, that is, the expression of transition dispensing path data:

[0077]

[0078] Wherein, (x camera [i][j],y camera [i][j]) is the shooting position data of i rows and j columns of workpieces to be dispensed, (x camerabase ,y camerabase ) is the coordinate conversion data of machine vision device coordinate system and automatic dispensing machine coordinate system.

[0079] Further, the dispensing height reference data of automatic dispensing machine can be obtained, and the dispensing height reference data of automatic dispensing machine, system compensation data and height data of i rows and j columns of workpieces to be dispensed can be added to the above-mentioned formula five, that is, the expression of transition dispensing path data, to obtain the following formula six, that is, the expression of final dispensing path data:

[0080]

[0081] Wherein, (x comp ,y comp ) is the system compensation data, z baseheight is the reference data of dispensing height, z height [i][j] is the height data of i rows and j columns of workpieces to be dispensed, (x″″ run ,y″″ run ,z″′ run ) is the transition dispensing path data, (x run ,y run ,z run ) is the final dispensing path data.

[0082] Further, the final dispensing path data can be input into the multi-axis motion controller of automatic dispensing machine to adjust and control the X, Y and Z axis components of automatic dispensing machine, so as to realize the adaptive movement of needle head of automatic dispensing machine.

[0083] In the following, the buzzer will be taken as an example, combined withFigure 7 The embodiment process of the control method of the automatic dispensing machine of the present application is generally described.

[0084] S01, the XZ face needle sensor, YZ face needle sensor, human-computer interaction device, machine vision device, height sensor, multi-axis motion controller self-checking, if the self-checking is normal, then step S02, S03, S04, S05 are executed, if the self-checking is abnormal, then abnormality processing is carried out;

[0085] S02, the XZ face needle sensor and YZ face needle sensor are used to obtain the needle data;

[0086] S03, the human-computer interaction device is used to set the preset dispensing path data and the preset compensation data;

[0087] S04, the machine vision device is prepared and returns to the preparation state;

[0088] S05, the multi-axis motion controller is prepared and returns to the preparation state;

[0089] S06, the photographing path is determined according to the preset dispensing path data, and is sent to the multi-axis motion controller, machine vision device and height sensor;

[0090] S07, the machine vision device shoots the pose data of each dispensing workpiece according to the instruction of the photographing path;

[0091] S08, the height sensor obtains the height data of each dispensing workpiece according to the instruction of the photographing path;

[0092] S09, the final dispensing path data of the automatic dispensing machine is obtained according to the height data and pose data of each dispensing workpiece;

[0093] S10, the multi-axis motion controller controls the X, Y and Z axes of the automatic dispensing machine according to the final dispensing path data.

[0094] The beneficial effects of the present application are as follows:

[0095] The present application can automatically adjust the dispensing path angle of the automatic dispensing machine according to the shooting data of the machine vision device, i.e., the pose data of the dispensing workpiece, and can automatically adjust the dispensing path height of the automatic dispensing machine according to the height data of the dispensing workpiece, so as to ensure the product quality and reduce the intervention degree of manual adjustment, thereby improving the product quality and production efficiency.

[0096] Corresponding to the control method of the automatic dispensing machine of the above embodiment, the present application further provides a control system of the automatic dispensing machine.

[0097] As Figure 8As shown, the control system of the automatic dispensing machine in the embodiment of the present application comprises a first acquisition module 10, a second acquisition module 20, a third acquisition module 30 and a dispensing control module 40. The first acquisition module 10 is configured to acquire the needle alignment data of the needle of the automatic dispensing machine; the second acquisition module 20 is configured to acquire the preset dispensing path data and the preset compensation data of the automatic dispensing machine; the third acquisition module 30 is configured to obtain the pose data and the height data of the workpiece to be dispensed according to the preset dispensing path data; and the dispensing control module 40 is configured to control the automatic dispensing machine to perform the dispensing operation on the workpiece to be dispensed according to the needle alignment data, the pose data, the height data, the preset dispensing path data and the preset compensation data.

[0098] In one embodiment of the present application, as shown in Figure 9 The first acquisition module 10 can comprise an XZ plane needle alignment sensor 101 and a YZ plane needle alignment sensor 102, and the needle alignment data of the needle of the automatic dispensing machine can be obtained through the XZ plane needle alignment sensor 101 and the YZ plane needle alignment sensor 102. The needle alignment can solve the problem of deviation of the working position of the needle of the automatic dispensing machine caused by wear of the needle, thereby ensuring the accuracy of the dispensing operation.

[0099] The XZ plane needle alignment sensor 101 is arranged on the XZ plane of the automatic dispensing machine, and the corresponding arrangement position is The YZ plane needle alignment sensor 102 is arranged on the YZ plane of the automatic dispensing machine, and the corresponding arrangement position is Wherein, [X1, X2] is the moving range of the needle of the automatic dispensing machine on the X axis of the XZ plane, [Y1, Y2] is the moving range of the needle of the automatic dispensing machine on the Y axis of the YZ plane, and [Z1, Z2] is the moving range of the needle of the automatic dispensing machine on the Z axis of the YZ plane or the Z axis of the XZ plane. In this way, the XZ plane needle alignment sensor 101 and the YZ plane needle alignment sensor 102 can be arranged at the center position of the moving range of the needle of the automatic dispensing machine.

[0100] For example, as shown in FIG. 2(a), the moving space of the needle of the automatic dispensing machine on the XZ plane can be a rectangle with a side length of (X2-X1, Z2-Z1), wherein X1 of the XZ plane can be 3.00 mm, X2 of the XZ plane can be 12 mm, Z1 of the XZ plane can be 88.00 mm, Z2 of the XZ plane can be 96.10 mm, and Y1 of the XZ plane can be 0.00 mm; as shown in FIG. 2(b), the moving space of the needle of the automatic dispensing machine on the YZ plane can be a rectangle with a side length of (Y2-Y1, Z2-Z1), wherein Y1 of the YZ plane can be 105.80 mm, Y2 of the YZ plane can be 116 mm, Z1 of the YZ plane can be 89.77 mm, Z2 of the YZ plane can be 98.56 mm, and X1 of the XZ plane can be 37.41 mm.

[0101] More specifically, referring to Figure 3The process of obtaining the needle alignment data of the automatic dispensing machine needle head through the XZ plane needle alignment sensor 101 and the YZ plane needle alignment sensor 102 can also include a needle alignment limit data input process, an automatic dispensing machine needle head XZ plane needle alignment process, and an automatic dispensing machine needle head YZ plane needle alignment process.

[0102] As shown in the needle alignment limit data input process, the process can also include: Figure 3

[0103] S100, the XZ plane needle alignment sensor and the YZ plane needle alignment sensor are self-checked, if there is no abnormality in the self-checking, step S200 is executed, and if there is an abnormality in the self-checking, an exception handling is performed.

[0104] S200, the needle alignment limit data is input, that is, the movement range [X1, X2] of the automatic dispensing machine needle head on the X axis in the XZ plane, the movement range [Y1, Y2] of the automatic dispensing machine needle head on the Y axis in the YZ plane, and the movement range [Z1, Z2] of the automatic dispensing machine needle head on the Z axis in the YZ plane or the Z axis in the XZ plane.

[0105] As shown in the automatic dispensing machine needle head XZ plane needle alignment process, the process specifically includes: Figure 3

[0106] S101, the X axis assembly of the automatic dispensing machine is controlled to move to the X1 position, and the Z axis assembly of the automatic dispensing machine is controlled to move to the Z1 position; the Z axis assembly of the automatic dispensing machine is controlled to move from the Z1 position to the Z2 position, while the X axis assembly of the automatic dispensing machine is controlled to reciprocate between the X1 position and the X2 position.

[0107] S102, it is judged whether the automatic dispensing machine needle head is successfully aligned on the XZ plane X axis, if yes, the needle alignment data of the automatic dispensing machine needle head on the XZ plane X axis is saved, that is, when the automatic dispensing machine needle head passes through the XZ plane needle alignment sensor, the needle alignment data of the automatic dispensing machine needle head on the XZ plane X axis is obtained through the XZ plane needle alignment sensor, and step S103 is executed simultaneously, if not, the needle alignment process is ended.

[0108] S103, it is judged whether the automatic dispensing machine needle head is successfully aligned on the XZ plane Z axis, if yes, the needle alignment data of the automatic dispensing machine needle head on the XZ plane Z axis is saved, that is, when the automatic dispensing machine needle head passes through the XZ plane needle alignment sensor, the needle alignment data of the automatic dispensing machine needle head on the XZ plane Z axis is obtained through the XZ plane needle alignment sensor, and the automatic dispensing machine needle head YZ plane needle alignment process is executed simultaneously, if not, the needle alignment process is ended.

[0109] As shown in the automatic dispensing machine needle head YZ plane needle alignment process, the process specifically includes: Figure 3

[0110] ​​​S104, moving the Y-axis assembly of the automatic dispensing machine to Y1 position, and moving the Z-axis assembly of the automatic dispensing machine to Z1 position; moving the Z-axis assembly of the automatic dispensing machine from Z1 position to Z2 position, and reciprocating the Y-axis assembly of the automatic dispensing machine between Y1 position and Y2 position;

[0111] S105, judging whether the needle of the automatic dispensing machine is successfully aligned in the XZ plane X axis, if yes, saving the alignment data of the needle of the automatic dispensing machine in the XZ plane X axis, that is, when the needle of the automatic dispensing machine passes through the YZ plane alignment sensor, obtaining the alignment data of the needle of the automatic dispensing machine in the YZ plane Y axis through the YZ plane alignment sensor, if no, ending the alignment process.

[0112] In an embodiment of the present application, as shown in Figure 9 The second acquisition module 20 can be a human-computer interaction device (for example, a touch screen composed of an embedded control system), and the second acquisition module 20, that is, the human-computer interaction device, can be specifically used for setting the preset dispensing path data and the preset compensation data of the automatic dispensing machine, so as to determine the preset dispensing path data and the preset compensation data of the automatic dispensing machine; in addition, the second acquisition module 20, that is, the human-computer interaction device, can also be used for inputting the original data of the workpiece to be dispensed (for example, the graphic data in DXF format of the workpiece to be dispensed) and the processing process parameters of the workpiece to be dispensed. The preset dispensing path data can include a multi-station multi-dispensing path mode, and the preset compensation data can include system compensation data and Z-axis compensation data of the automatic dispensing machine.

[0113] For example, as shown in Figure 4 The preset dispensing path data can include three types of station path modes, that is, a first type of station path mode a, a second type of station path mode b and a third type of dispensing path mode c; further, as shown in FIGS. 5(a), 5(b), 5(c), 5(d), 5(e) and 5(f), in each station, the preset dispensing path data can include six dispensing path modes, that is, a first type of dispensing path mode (horizontal positive arch-shaped dispensing path mode), a second type of dispensing path mode (horizontal negative arch-shaped dispensing path mode), a third type of dispensing path mode (horizontal positive Z-shaped dispensing path mode), a fourth type of dispensing path mode (vertical positive arch-shaped dispensing path mode), a fifth type of dispensing path mode (vertical positive arch-shaped dispensing path mode) and a sixth type of dispensing path mode (vertical positive Z-shaped dispensing path mode).

[0114] Therefore, the preset dispensing path data can include multiple station path modes, and in each station, multiple dispensing path modes can also be included, and a multi-station multi-dispensing path mode can be formed by combination of the multiple station path modes and the multiple dispensing path modes. For example, referring to Figure 6In each station, the dispensing path mode can select a first dispensing path mode (transverse positive arch dispensing path mode), and the second dispensing path mode b can be selected for the stations 1, 3, 6, 8, 10 and 11 to be processed.

[0115] In one embodiment of the present application, as shown in Figure 9 The third acquisition module 30 can include a machine vision device 301 and a height measuring sensor 302. The machine vision device 301 can include an industrial camera 3011, a light source 3012, a lens 3013, a data processing unit 3014 and a photographing control unit 3015. The dispensing control module 40 can control the machine vision device 301 to move according to the preset dispensing path data, so as to photograph the pose data of each dispensing workpiece one by one (for example, using a continuous shooting mode), and can also control the height measuring sensor 302 to measure the height data of each dispensing workpiece according to the preset dispensing path data. Then, the pose data and the height data of each dispensing workpiece can be stored together, wherein the pose data of the dispensing workpiece can include position data and angle data of the dispensing workpiece. By measuring the height, the problem of dispensing operation deviation caused by inconsistent placement height of the dispensing workpiece can be solved, so as to ensure the accuracy of the dispensing operation.

[0116] Specifically, the dispensing control module 40 can control the machine vision device 301 to move according to the preset dispensing path data. When reaching the shooting position, the photographing control unit can control the industrial camera 3011, the light source 3012 and the lens 3013 to cooperate and act to shoot the dispensing workpiece at the corresponding position, and can send the shooting data to the data processing unit 3014 for processing. Finally, the processed data can be sent to the second acquisition module 20, that is, the man-machine interaction device for storage.

[0117] More specifically, the data shot by the machine vision device 301 can be converted into a two-dimensional array, that is, x camera [n][m], y camera [n][m], z camera [n][m], wherein x camera [n][m] represents the X-axis position of the machine vision device 301 corresponding to the n-row m-column dispensing workpiece, y camera [n][m] represents the Y-axis position of the machine vision device 301 corresponding to the n-row m-column dispensing workpiece, and z camera [n][m] represents the angle data of the machine vision device 301 coordinate system reference corresponding to the n-row m-column dispensing workpiece; at the same time, the height data of each dispensing workpiece measured by the height measuring sensor 302 can also be converted into a two-dimensional array, that is, z height [n][m], and z height[n][m] represents the height data of the coordinate system reference of the machine vision device 301 corresponding to the n rows and m columns of the workpiece to be dispensed.

[0118] In one embodiment of the present application, as shown in Figure 9 The dispensing control module 40 can include a data processor 401 (for example, a microprocessor chip of model STM32f407) and a multi-axis motion controller 402 (for example, a motion control chip of model PCL6045B). The data processor 401 can be specifically configured to obtain the transition dispensing path data of the workpiece to be dispensed according to the needle data, the pose data, the multi-station multi-dispensing path mode and the automatic dispensing machine Z-axis compensation data, and can obtain the final dispensing path data of the workpiece to be dispensed according to the height data, the automatic dispensing machine system compensation data and the transition dispensing path data, and then can be connected to the multi-axis motion controller 402 through serial communication based on the MODBUS protocol to send the final dispensing path data to the multi-axis motion controller 402; the multi-axis motion controller 402 can be specifically configured to control the automatic dispensing machine to perform adaptive dispensing operation on the workpiece to be dispensed according to the final dispensing path data.

[0119] Specifically, as shown in Figure 9 The dispensing control module 40 can be connected to the XZ face needle sensor 101, the YZ face needle sensor 102, the height measuring sensor 302 and the photographing control unit 3015 through the IO module, and the dispensing control module 40 can drive the X, Y and Z axis motors to move by controlling the X, Y and Z axis motor drivers, thereby realizing the X, Y and Z axis walking control of the automatic dispensing machine. The X, Y and Z axes of the automatic dispensing machine can also be provided with X axis position sensor 800, Y axis position sensor 900 and Z axis position sensor 1000 respectively to cooperate with the control of walking. Specifically, the X axis position sensor 800, Y axis position sensor 900 and Z axis position sensor 1000 can input the detected position information to the dispensing control module 40 through the IO module 100.

[0120] For example, taking i rows and j columns of workpieces to be dispensed as an example, the calculation process of obtaining the final dispensing path data of the workpiece to be dispensed according to the needle data, the pose data, the height data, the preset dispensing path data and the preset compensation data is described.

[0121] Firstly, the original position data of i rows and j columns of workpieces to be dispensed can be obtained, and then the original position data of i rows and j columns of workpieces to be dispensed can be converted into the machine vision device 301 coordinate system according to the shooting angle data of i rows and j columns of workpieces to be dispensed and the automatic dispensing machine Z-axis compensation data. Specifically, the original position data of i rows and j columns of workpieces to be dispensed can be converted by the following formula one:

[0122]

[0123] wherein z comp is the automatic dispensing machine Z-axis compensation data, (x file , y file ) is the original position data of the i-row j-column dispensing workpiece, z camera [i][j] is the height data of the i-row j-column dispensing workpiece.

[0124] Further, the starting position data of the i-row j-column dispensing workpiece can be obtained, and the starting position data can be added to the above formula one to obtain the following formula two:

[0125]

[0126] wherein (x istart , y istart ) is the starting position data of the i-row j-column dispensing workpiece.

[0127] Further, the row-column pitch data of the i-row j-column dispensing workpiece can be obtained, and the center position data of the i-row j-column dispensing workpiece can be calculated according to the row-column pitch data, and the center position data can be added to the above formula two to obtain the following formula three:

[0128]

[0129] wherein (x ij , y ij ) is the center position data of the i-row j-column dispensing workpiece.

[0130] Further, the pair needle compensation data can be obtained, and the pair needle compensation data and the pair needle data can be added to the above formula three to obtain the following formula four:

[0131]

[0132] wherein z″ run is the initial data of the Z-axis in the dispensing path, and the initial data can be set to 0, (x needlecomp , y needlecomp , z needlecopm ) is the pair needle compensation data, (x needle , y needle , z needle ) is the pair needle data.

[0133] Further, the coordinate conversion data of the machine vision device 301 coordinate system and the automatic dispensing machine coordinate system can be obtained, and the coordinate conversion data and the shooting position data of the i-row j-column dispensing workpiece can be added to the above formula four to obtain the following formula five, that is, the expression of the transition dispensing path data:

[0134]

[0135] wherein, (x camera ,y camera ) is the shooting position data of the i row j column workpiece to be dispensed, (x camerabase ,y camerabase ) is the coordinate conversion data of the machine vision device coordinate system and the automatic dispensing machine coordinate system.

[0136] Further, the dispensing height reference data of the automatic dispensing machine can be obtained, and the dispensing height reference data of the automatic dispensing machine, the system compensation data and the height data of the i row j column workpiece to be dispensed can be added to the above-mentioned formula five, that is, the expression of the transition dispensing path data, to obtain the following formula six, that is, the expression of the final dispensing path data:

[0137]

[0138] wherein, (x comp ,y comp ) is the system compensation data, z baseheight is the reference data of the dispensing height, z height [i][j] is the height data of the i row j column workpiece to be dispensed, (x run ,y run ,z run ) is the transition dispensing path data, (x run ,y run ,z run ) is the final dispensing path data.

[0139] Further, the final dispensing path data can be input into the multi-axis motion controller 402 of the automatic dispensing machine, so as to adjust and control the X, Y and Z axis assemblies of the automatic dispensing machine, so as to realize the adaptive movement of the needle of the automatic dispensing machine.

[0140] The implementation process of the control method of the automatic dispensing machine of the present application will be described in whole below taking the buzzer as an example in combination with Figure 7 the schematic diagram of the automatic dispensing machine.

[0141] S01, the XZ face needle sensor, the YZ face needle sensor, the human-computer interaction device, the machine vision device, the height measuring sensor and the multi-axis motion controller are self-checked, if there is no abnormality in the self-checking, steps S02, S03, S04 and S05 are executed, if there is an abnormality in the self-checking, the abnormality is handled, and specifically, the abnormality information can be fed back to the human-computer interaction device, and the human-computer interaction device can be used for alarming;

[0142] S02, the needle data is obtained through the XZ face needle sensor and the YZ face needle sensor;

[0143] S03, setting the preset dispensing path data and the preset compensation data through the human-computer interaction device;

[0144] S04, the machine vision device prepares and returns to the preparation state;

[0145] S05, the multi-axis motion controller prepares and returns to the preparation state;

[0146] S06, determining the photographing path according to the preset dispensing path data and sending to the multi-axis motion controller, the machine vision device and the height sensor;

[0147] S07, the machine vision device photographs the pose data of each dispensing workpiece according to the instruction of the photographing path;

[0148] S08, the height sensor acquires the height data of each dispensing workpiece according to the instruction of the photographing path;

[0149] S09, obtaining the final dispensing path data of the automatic dispensing machine according to the height data and the pose data of each dispensing workpiece;

[0150] S10, the multi-axis motion controller controls the X, Y and Z axes of the automatic dispensing machine according to the final dispensing path data.

[0151] The beneficial effects of the present application are as follows:

[0152] The present application can automatically adjust the dispensing path angle of the automatic dispensing machine according to the photographing data of the machine vision device, and can automatically adjust the dispensing path height of the automatic dispensing machine according to the height data of the dispensing workpiece, so as to ensure the product quality and reduce the intervention degree of manual adjustment, thereby improving the product quality and production efficiency.

[0153] In the description of the present application, the terms "first", "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included one or more of the features. The meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0154] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0155] In the present application, unless explicitly specified and limited, a first feature is "on" or "under" a second feature can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "over", "above" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature "under", "below" and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0156] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or more embodiments or examples. Furthermore, the skilled person in the art can combine and combine the features of different embodiments or examples described in the present application and the features of different embodiments or examples, without contradiction.

Claims

1. A control method for an automatic dispensing machine, characterized in that, Includes the following steps: Obtain needle alignment data for the automatic dispensing machine needles; Acquire the preset dispensing path data and preset compensation data of the automatic dispensing machine. The preset dispensing path data includes a multi-station multi-dispensing path mode, and the preset compensation data includes the system compensation data and Z-axis compensation data of the automatic dispensing machine. The pose and height data of the workpiece to be glued are obtained based on the preset dispensing path data. The automatic dispensing machine is controlled to perform dispensing operations on the workpiece to be dispensed based on the needle alignment data, the pose data, the height data, the preset dispensing path data, and the preset compensation data. Specifically, the transition dispensing path data of the workpiece to be dispensed is obtained based on the needle alignment data, the pose data, the multi-station multi-dispensing path mode, and the Z-axis compensation data of the automatic dispensing machine. The final dispensing path data of the workpiece to be dispensed is obtained based on the height data, the automatic dispensing machine system compensation data, and the transition dispensing path data. The automatic dispensing machine is then controlled to perform adaptive dispensing operations on the workpiece to be dispensed based on the final dispensing path data. The calculation process for obtaining the transition dispensing path data of the workpiece to be dispensed based on the needle alignment data, the pose data, the multi-station multi-dispensing path mode, and the Z-axis compensation data of the automatic dispensing machine is as follows: For the workpiece in row i and column j to be glued, obtain the original position data of the workpiece in row i and column j. Then, based on the shooting angle data of the workpiece in row i and column j and the Z-axis compensation data of the automatic dispensing machine, convert the original position data of the workpiece in row i and column j to the coordinate system of the machine vision device. The original position data of the workpiece in row i and column j to be glued is converted using the following formula: Among them, z comp For the Z-axis compensation data of the automatic dispensing machine, (x file ,y file () represents the original position data of the workpiece to be glued in row i and column j, z camera [i][j] represents the height data of the workpiece to be glued in row i and column j. Furthermore, obtain the starting position data of the station where the workpiece to be glued is located in row i and column j, and add this starting position data to Formula 1 above to obtain the following Formula 2: Among them, (x istart ,y istart () represents the starting position data of the workpiece to be glued in row i and column j at the workstation. Furthermore, obtain the row and column spacing data of the workpiece to be glued in row i and column j, calculate the center position data of the workpiece to be glued in row i and column j based on the row and column spacing data, and add the center position data to the above formula two to obtain the following formula three: Among them, (x ij ,y ij () represents the center position data of the workpiece to be glued in row i and column j. Furthermore, obtain the needle compensation data, and add the needle compensation data and the needle data to Formula 3 above to obtain the following Formula 4: Among them, z″ run This is the initial data for the Z-axis in the dispensing path, (x needlecomp ,y needlecomp ,z needlecopm (x) represents needle compensation data. needle ,y needle ,z needle (This refers to needle alignment data.) Furthermore, the coordinate transformation data between the machine vision device coordinate system and the automatic dispensing machine coordinate system is obtained, and this coordinate transformation data and the shooting position data of the workpiece to be dispensed in row i and column j are added to Formula 4 above to obtain the following expression for the transition dispensing path data: Among them, (x camera [i][j],y camera [i][j]) represents the image position data of the workpiece to be glued in row i and column j, (x camerabase ,y camerabase This refers to the coordinate transformation data between the coordinate system of the machine vision device and the coordinate system of the automatic dispensing machine.

2. The control method for the automatic dispensing machine according to claim 1, characterized in that, The needle alignment data of the automatic dispensing machine needle is obtained through the XZ-face needle sensor and the YZ-face needle sensor, wherein the XZ-face needle sensor is set corresponding to the XZ face of the automatic dispensing machine, and the corresponding setting position is as follows. The YZ-side needle sensor is positioned corresponding to the YZ-side of the automatic dispensing machine, and the corresponding position is as follows: Wherein, [X1, X2] is the movement range of the automatic dispensing machine needle on the XZ plane X-axis, [Y1, Y2] is the movement range of the automatic dispensing machine needle on the YZ plane Y-axis, and [Z1, Z2] is the movement range of the automatic dispensing machine needle on the YZ plane Z-axis or XZ plane Z-axis.

3. The control method for the automatic dispensing machine according to claim 2, characterized in that, The process of obtaining the needle alignment data of the automatic dispensing machine needle through the XZ-face needle sensor and the YZ-face needle sensor specifically includes the following steps: The needle alignment process of the automatic dispensing machine on the XZ surface: Control the X-axis assembly of the automatic dispensing machine to move to position X1, and control the Z-axis assembly of the automatic dispensing machine to move to position Z1; The Z-axis assembly of the automatic dispensing machine is controlled to move from position Z1 to position Z2, while the X-axis assembly of the automatic dispensing machine is controlled to reciprocate between positions X1 and X2. When the needle of the automatic dispensing machine passes the XZ face needle sensor, the needle alignment data of the automatic dispensing machine needle on the XZ face is obtained through the XZ face needle sensor. The needle alignment process of the automatic dispensing machine on the YZ plane: Control the Y-axis assembly of the automatic dispensing machine to move to position Y1, and control the Z-axis assembly of the automatic dispensing machine to move to position Z1; The Z-axis assembly of the automatic dispensing machine is controlled to move from position Z1 to position Z2, and the Y-axis assembly of the automatic dispensing machine is controlled to reciprocate between positions Y1 and Y2. When the needle of the automatic dispensing machine passes the YZ-plane needle sensor, the needle alignment data of the automatic dispensing machine needle on the YZ-plane is obtained through the YZ-plane needle sensor.

4. The control method for the automatic dispensing machine according to claim 1, characterized in that, The step of obtaining the pose and height data of the workpiece to be glued based on the preset dispensing path data specifically includes the following steps: The pose data of each workpiece to be glued is captured one by one according to the preset glue dispensing path data; Measure the height data of each workpiece to be glued according to the preset glue dispensing path data; The pose data and height data of each workpiece to be glued are stored together.

5. The control method for the automatic dispensing machine according to claim 1, characterized in that, The pose data of the workpiece to be glued includes the position data and angle data of the workpiece to be glued.

6. The control method for the automatic dispensing machine according to claim 1, characterized in that, The expression for the final dispensing path data is: Among them, (x comp ,y comp To supplement the system with data, z baseheight z serves as the baseline data for dispensing height. height [i][j] represents the height data of the workpiece to be glued in the i-th row and j-th column, (x″″) run ,y″″ run ,z″′ run (x) represents the transition dispensing path data. run ,y run ,z run ) represents the final dispensing path data.

7. A control system for an automatic dispensing machine, characterized in that, include: The first acquisition module is used to acquire the needle alignment data of the needle of the automatic dispensing machine; The second acquisition module is used to acquire the preset dispensing path data and preset compensation data of the automatic dispensing machine. The preset dispensing path data includes a multi-station multi-dispensing path mode, and the preset compensation data includes the system compensation data and Z-axis compensation data of the automatic dispensing machine. The third acquisition module is used to obtain the pose data and height data of the workpiece to be glued based on the preset dispensing path data. A dispensing control module is provided, which controls the automatic dispensing machine to perform dispensing operations on the workpiece to be dispensed based on the needle alignment data, the pose data, the height data, the preset dispensing path data, and the preset compensation data. Specifically, the module obtains transitional dispensing path data for the workpiece based on the needle alignment data, the pose data, the multi-station multi-dispensing path mode, and the automatic dispensing machine's Z-axis compensation data; obtains final dispensing path data for the workpiece based on the height data, the automatic dispensing machine's system compensation data, and the transitional dispensing path data; and controls the automatic dispensing machine to perform adaptive dispensing operations on the workpiece based on the final dispensing path data. The calculation process for obtaining the transition dispensing path data of the workpiece to be dispensed based on the needle alignment data, the pose data, the multi-station multi-dispensing path mode, and the Z-axis compensation data of the automatic dispensing machine is as follows: For the workpiece in row i and column j to be glued, obtain the original position data of the workpiece in row i and column j. Then, based on the shooting angle data of the workpiece in row i and column j and the Z-axis compensation data of the automatic dispensing machine, convert the original position data of the workpiece in row i and column j to the coordinate system of the machine vision device. The original position data of the workpiece in row i and column j to be glued is converted using the following formula: Among them, z comp For the Z-axis compensation data of the automatic dispensing machine, (x file ,y file () represents the original position data of the workpiece to be glued in row i and column j, z camera [i][j] represents the height data of the workpiece to be glued in row i and column j. Furthermore, obtain the starting position data of the station where the workpiece to be glued is located in row i and column j, and add this starting position data to Formula 1 above to obtain the following Formula 2: Among them, (x istart ,y istart () represents the starting position data of the workpiece to be glued in row i and column j at the workstation. Furthermore, obtain the row and column spacing data of the workpiece to be glued in row i and column j, calculate the center position data of the workpiece to be glued in row i and column j based on the row and column spacing data, and add the center position data to the above formula two to obtain the following formula three: Among them, (x ij ,y ij () represents the center position data of the workpiece to be glued in row i and column j. Furthermore, obtain the needle compensation data, and add the needle compensation data and the needle data to Formula 3 above to obtain the following Formula 4: Among them, z″ run This is the initial data for the Z-axis in the dispensing path, (x needlecomp ,y needlecomp ,z needlecopm (x) represents needle compensation data. needle ,y needle ,z needle (This refers to needle alignment data.) Furthermore, the coordinate transformation data between the machine vision device coordinate system and the automatic dispensing machine coordinate system is obtained, and this coordinate transformation data and the shooting position data of the workpiece to be dispensed in row i and column j are added to Formula 4 above to obtain the following expression for the transition dispensing path data: Among them, (x camera [i][j],y camera [i][j]) represents the image position data of the workpiece to be glued in row i and column j, (x camerabase ,y camerabase This refers to the coordinate transformation data between the coordinate system of the machine vision device and the coordinate system of the automatic dispensing machine.

8. The control system of the automatic dispensing machine according to claim 7, characterized in that, The first acquisition module specifically obtains the needle alignment data of the automatic dispensing machine needle through the XZ-face needle sensor and the YZ-face needle sensor. The XZ-face needle sensor is positioned corresponding to the XZ face of the automatic dispensing machine. The YZ-side needle sensor is positioned corresponding to the YZ-side of the automatic dispensing machine, and the corresponding position is as follows: Wherein, [X1, X2] is the movement range of the automatic dispensing machine needle on the XZ plane X-axis, [Y1, Y2] is the movement range of the automatic dispensing machine needle on the YZ plane Y-axis, and [Z1, Z2] is the movement range of the automatic dispensing machine needle on the YZ plane Z-axis or XZ plane Z-axis.

Images