Multi-station gluing mechanism displacement conversion method and multi-station gluing device

Abstract

This application relates to the field of dispensing technology, and in particular to a height conversion method for a multi-station dispensing mechanism. The method includes: obtaining a virtual compensation value X1 for the simulated needle; obtaining a conversion compensation value X2 for the dispensing needle; obtaining an actual compensation value X3 based on the virtual compensation value X1 and the conversion compensation value X2; adjusting the vertical displacement of the dispensing needle according to the actual compensation value X3; wherein the virtual compensation value X1 is the vertical compensation value of the simulated needle during dispensing simulation, and the conversion compensation value X2 is the vertical compensation value of the dispensing needle during dispensing simulation; the reference position of the simulated needle during dispensing simulation is the same as the reference position of the dispensing needle during dispensing simulation. A multi-station dispensing device includes a vision mechanism and multiple dispensing mechanisms. This application enables the unification of the vertical position reference of the dispensing mechanism and the vision mechanism, avoiding height errors from affecting the dispensing operation.

Description

Technical Field

[0001] This application relates to the field of dispensing technology, and in particular to a method for displacement conversion of a multi-point dispensing mechanism and a multi-point dispensing device. Background Technology

[0002] During the manufacturing process of electronic modules, steel sheets are typically attached to enhance their structural strength. In the steel sheet attachment industry, adhesive is applied to the back of the electronic module before the steel sheet is encapsulated. The encapsulation process involves applying silver and black adhesives followed by thermosetting the steel sheet. However, with the reduction in chip and package sizes, and the increasing demands for gap precision and UPH (Units Per Hour), multiple dispensing stations with multiple shuttles are required. Dispensing machines are complex and precise systems, with strict requirements for the mixing of silver and black adhesives; they cannot be mixed. Therefore, traditional placement equipment incorporates vision cameras to capture the boundary between the electronic module and the steel sheet, calculating and adjusting the dispensing position to accurately apply the desired adhesive pattern. Currently, one dispensing robot is paired with one vision camera; however, to increase UPH, the industry is increasing the number of dispensing robots, leading to increased costs associated with multiple vision cameras.

[0003] To address the cost associated with multiple vision cameras, existing technologies separate the camera robot from the dispensing robot and provide it with its own power source, enabling one camera robot to work with multiple dispensing robots. This means the camera robot moves to a specific position to collect the pose information (including but not limited to height information) of the electronic module, and the multiple dispensing robots then perform the dispensing operation based on this pose information. However, a crucial issue in this architecture is ensuring that the reference points between the camera robot and the dispensing robots are consistent or mutually convertible to guarantee accurate positioning of the dispensing robots. Inconsistent reference points leading to height errors can severely impact the accuracy of the dispensing pattern and consequently, the yield rate of the electronic module. Summary of the Invention

[0004] Therefore, it is necessary to provide a displacement conversion method and a multi-workpoint dispensing device that can achieve unified and mutual conversion of the dispensing mechanism and the vision mechanism.

[0005] To solve the above-mentioned technical problems, the first aspect of this application provides the following technical solution:

[0006] A displacement conversion method for a multi-workstation dispensing mechanism, the dispensing device including a vision mechanism and multiple dispensing mechanisms, wherein the vision mechanism is used to collect the pose information of a target object on a shuttle, and the multiple dispensing mechanisms can perform dispensing operations on the corresponding target object based on the pose information; wherein, the vision mechanism includes a ranging element and a simulated needle, the simulated needle and the ranging element being fixed relative to each other, and each dispensing mechanism includes a dispensing needle; the displacement conversion method for the multi-workstation dispensing mechanism includes:

[0007] Obtain the virtual compensation value X1 of the simulated needle;

[0008] Obtain the conversion compensation value X2 of the dispensing needle;

[0009] Based on the virtual compensation value X1 and the conversion compensation value X2, the actual compensation value X3 is obtained;

[0010] Adjust the vertical displacement of the dispensing needle according to the actual compensation value X3;

[0011] Wherein, the virtual compensation value X1 is the vertical compensation value of the simulated needle in the dispensing simulation process, and the conversion compensation value X2 is the vertical compensation value of the dispensing needle in the dispensing simulation process; and the reference position of the simulated needle dispensing simulation process is the same as the reference position of the dispensing needle in the dispensing simulation process.

[0012] In one embodiment, the step of "obtaining the virtual compensation value X1 of the simulated needle" includes:

[0013] Obtain the distance e that the simulated needle tip lifts after moving vertically and triggering the reference position;

[0014] Obtain the distance f between the ranging device and the reference position;

[0015] Obtain the length g of the simulated needle tip protruding from the measuring device at one end in the vertical direction near the reference position;

[0016] Based on distance e, distance f, and length g, the virtual compensation value X1 is obtained.

[0017] In one embodiment, the step of "obtaining the conversion compensation value X2 of the dispensing needle" includes:

[0018] Obtain the distance c between the dispensing needle and the reference position;

[0019] Based on distance c, distance f, and length g, the virtual compensation value X2 is obtained;

[0020] In one embodiment, the reference position is set as a contact displacement sensor; wherein the step of "obtaining the virtual compensation value X1 of the simulated needle" further includes:

[0021] Obtain the compression amount d of the simulated needle triggering the contact displacement sensor in the vertical direction;

[0022] Based on the compression amount d, distance e, distance f, and length, the virtual compensation value X1 is obtained.

[0023] The step of “obtaining the conversion compensation value X2 of the dispensing needle” includes:

[0024] The compression amount b of the contact displacement sensor triggered by the dispensing needle in the vertical direction is obtained;

[0025] Based on the compression amount b, distance c, distance f, and length, the virtual compensation value X2 is obtained.

[0026] A second aspect of this application also provides the following technical solution:

[0027] A multi-workstation dispensing device includes a vision mechanism and multiple dispensing mechanisms. The vision mechanism is used to collect the position and pose information of a target object on a shuttle, and the multiple dispensing mechanisms can perform dispensing operations on the corresponding target object based on the position and pose information.

[0028] Each of the dispensing mechanisms includes a dispensing needle for dispensing adhesive. The vision mechanism includes a rangefinder and a simulated needle. The rangefinder is used to measure distance, and the simulated needle is used to mimic the movement of the dispensing needle. The simulated needle and the rangefinder are relatively fixed and move synchronously.

[0029] In one embodiment, the vision mechanism further includes a base and a sliding stage. The sliding stage is mounted on one side of the base, and the rangefinder and the simulated needle are both mounted on the sliding stage and can move vertically under the drive of the sliding stage.

[0030] In one embodiment, the vision mechanism is disposed between two adjacent dispensing mechanisms; the vision mechanism is capable of moving along a first direction and a second direction, the dispensing mechanism is capable of moving along the second direction, the first direction and the second direction intersect, and the vertical direction is perpendicular to the plane formed by the first direction and the second direction;

[0031] The vision mechanism further includes a camera unit mounted on the base. Along the second direction, the width of the projection of the camera unit onto the base in the first direction is W1, and the width of the projection of the rangefinder onto the base in the first direction is W2, where W2 ≤ W1.

[0032] Alternatively, W2 ≥ W1.

[0033] In one embodiment, the base has a first side and a second side disposed opposite to each other along the second direction, the camera unit is disposed on the first side of the base, and the rangefinder is disposed on the second side of the base.

[0034] In one embodiment, the plane formed by the vertical direction and the second direction is denoted as plane S, wherein the axis of the simulated needle and the axis of the rangefinder are arranged parallel to each other and located on the same plane S.

[0035] In one embodiment, the camera unit includes a camera and an adjustment plate, the adjustment plate being rotatably mounted on the base, and the camera being mounted on the adjustment plate.

[0036] Compared with the prior art, the method involved in this application sets up a simulated needle, thereby establishing a relationship between the simulated needle and the dispensing needle and the reference position respectively. This results in a virtual compensation value being formed by the simulated needle, and the virtual compensation value and the converted compensation value are then converted into an accurate compensation value. This ensures the uniformity of the vertical position reference of the dispensing mechanism and the vision mechanism, avoiding the impact of height errors on the dispensing operation. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the multi-point adhesive device provided in this application.

[0039] Figure 2 This is a structural schematic diagram of the multi-point adhesive device provided in this application from another perspective.

[0040] Figure 3 This application provides a schematic diagram of the layout between the vision mechanism and the dispensing mechanism.

[0041] Figure 4 This application provides a schematic diagram of the three-dimensional structure of the vision mechanism.

[0042] Figure 5 This application provides a schematic diagram of the visual mechanism from a single perspective.

[0043] Figure 6 A schematic diagram of the visual mechanism provided in this application from another perspective.

[0044] Figure 7 A schematic diagram of the motion process of the vision mechanism provided in this application.

[0045] Figure 8 A structural view of the dispensing mechanism provided for this application.

[0046] Figure 9 This is a schematic diagram of the dispensing needle movement process provided in this application.

[0047] Figure 10 The flowchart of the displacement conversion method for the multi-workpoint adhesive mechanism provided in this application is shown.

[0048] Figure 11 The preferred flowchart of the multi-workpoint adhesive mechanism displacement conversion method provided in this application is shown.

[0049] Reference numerals: 100, multi-station dispensing device; 101, shuttle; 10, vision mechanism; 11, rangefinder; 12, simulated needle; 13, base; 131, first side; 132, second side; 14, sliding table; 15, camera unit; 151, camera; 152, adjustment plate; 153, light source; 16, contact displacement sensor; 20, dispensing mechanism; 21, dispensing needle. Detailed Implementation

[0050] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0051] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application's specification are for illustrative purposes only and do not represent the only possible implementation.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0053] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0054] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0055] like Figure 1 As shown, this application provides a multi-station adhesive dispensing device 100 for dispensing adhesive onto electronic modules. Here, the electronic module can be a camera module, a fingerprint module, or other objects requiring adhesive dispensing. In this application, a camera module is used as an example to specifically illustrate the structure and working principle of the multi-station adhesive dispensing device 100.

[0056] The multi-workstation dispensing device 100 includes a vision mechanism 10 and a dispensing mechanism 20. The vision mechanism 10 is mainly used to collect the pose information of the electronic module, and the dispensing mechanism 20 performs dispensing operations on the corresponding electronic module according to the pose information collected by the vision mechanism 10.

[0057] Please continue to refer to Figure 1The electronic modules to be dispensed are typically placed on the feed shuttle 101. Multiple slots can be set on the feed shuttle 101, each slot holding a corresponding electronic module. The vision mechanism 10 moves above the feed shuttle 101 and sequentially collects the pose information of the electronic modules in the slots on the feed shuttle 101. After the pose information of the electronic modules on the feed shuttle 101 is collected, the dispensing mechanism 20 reads the signals to perform the dispensing operation on the electronic modules on the feed shuttle 101 according to the corresponding pose information. It should be noted that, to avoid interference between the vision mechanism 10 and the dispensing mechanism 20, their movements are interlocked. Specifically, when the vision mechanism 10 is collecting pose information from the electronic module on the shuttle 101 at the corresponding dispensing station, the dispensing mechanism 20 will not move at that dispensing station; that is, the vision mechanism 10 and the dispensing mechanism 20 will not be simultaneously located at the same dispensing station. This is to prevent the vision mechanism 10 and the dispensing mechanism 20 from colliding during operation.

[0058] It needs further explanation that, on the same shuttle 101, the position where the vision mechanism 10 collects the pose information of the electronic module on the shuttle 101 is the same position where the dispensing mechanism 20 dispenses glue to the electronic module on the shuttle 101. Thus, the dispensing position of the dispensing mechanism 20 is always the same position where the vision mechanism 10 collects the product pose information, implementing the principle of dispensing where the information is collected, achieving consistency between the dispensing and collection positions, and avoiding deviations in dispensing accuracy caused by the movement of the shuttle 101. Therefore, it is further necessary to interlock the actions between the vision mechanism 10 and the dispensing mechanism 20 to prevent the dispensing mechanism 20 and the vision mechanism 10 from working in the same position.

[0059] In one embodiment, such as Figure 2 and Figure 3 As shown, the number of dispensing mechanisms 20 is set to at least two, and the vision mechanism 10 is arranged between at least two dispensing mechanisms 20. Each dispensing mechanism 20 can perform dispensing operations on the target object according to the pose information, and the vision mechanism 10 and the dispensing mechanism 20 are driven independently. That is, in this application, multiple dispensing mechanisms 20 can share one vision mechanism 10. At present, the industry uses a dispensing device equipped with a vision device, which integrates the dispensing device and the vision device into a module. In this way, the vision device also needs to be increased with the increase of dispensing devices, and the two are tied together. The camera device is very expensive, resulting in high operating costs. In this application, the vision mechanism 10 and the dispensing mechanism 20 are driven independently, so one vision mechanism 10 can match multiple dispensing mechanisms 20, thereby reducing the adaptation of the vision mechanism 10 and effectively reducing costs.

[0060] In one embodiment, multiple dispensing mechanisms 20 are spaced apart along the first direction (x direction) and are capable of simultaneously dispensing glue to target objects on a single shuttle. That is, a single shuttle 101 carries multiple target objects, and the multiple dispensing mechanisms 20 can simultaneously perform synchronous dispensing operations on multiple targets, thus effectively reducing dispensing time and increasing production capacity.

[0061] Furthermore, the dispensing mechanism 20 comprises multiple sets, and the number of vision mechanisms 10 is also multiple, with each vision mechanism 10 matched with at least one set of dispensing mechanisms 20; wherein each set of dispensing mechanisms 20 includes multiple dispensing devices. It is understood that by setting up multiple sets of dispensing mechanisms 20, this system can achieve different assemblies, thereby forming multiple production lines and further improving production capacity.

[0062] Here, a set of dispensing mechanisms 20 and a vision mechanism 10 can constitute a module, so that multiple modules can be arranged side by side to form a layout pattern of multiple sets of dispensing mechanisms 20 and multiple vision mechanisms 10.

[0063] In one embodiment, the number of dispensing mechanisms 20 can be 2, 3, 4, 6, 8, or other values. For example... Figure 3 As shown, in this embodiment, the number of dispensing mechanisms 20 is set to four, and the four dispensing mechanisms 20 form a rectangle in space, with the vision mechanism 10 located within this rectangular area. That is, the four dispensing mechanisms 20 share one vision mechanism 10.

[0064] like Figure 1 As shown, taking four dispensing mechanisms 20 as an example, they are configured in two groups. The two groups of dispensing mechanisms 20 are spaced apart along the second direction (y-direction) to perform dispensing operations on camera modules of different shuttles. Each group includes two dispensing mechanisms, which are spaced apart along the first direction (x-direction) to perform dispensing operations on camera modules on the same shuttle. It should be noted that the structure of the dispensing mechanism 20 is not the point of this invention, and its specific structure and principle are prior art, so it will not be described in detail here.

[0065] like Figure 4 and Figure 8As shown, the vision mechanism 10 includes a rangefinder 11 and a simulated needle 12. The rangefinder 11 is used to measure distance, and the simulated needle 12 is fixedly positioned relative to the rangefinder 11 and moves synchronously. The dispensing mechanism 20 includes a dispensing needle 21 for dispensing adhesive, and the simulated needle 12 is used to mimic the movement of the dispensing needle 21. Here, the structure of the dispensing mechanism 20 includes, but is not limited to, the dispensing needle 21, and also includes a liquid level sensor, a driving component, etc. The liquid level sensor is used to monitor the amount of adhesive inside the dispensing needle 21, and the driving component is used to drive the dispensing needle 21 to move. Here, the driving component can be a servo motor, a cylinder, etc.

[0066] like Figure 5 As shown, the vision mechanism 10 also includes a base 13 and a sliding table 14; the sliding table 14 is mounted on one side of the base 13, and the rangefinder 11 is mounted on the sliding table 14 and can move along the vertical direction under the drive of the sliding table 14, thereby adjusting the height value of the rangefinder 11 in the vertical direction.

[0067] like Figure 4 As shown, the plane formed by the vertical direction (z-direction) and the second direction (y-direction) is denoted as plane S, which is the yoz plane. The axis of the simulated needle 12 and the axis of the ranging device 11 are parallel and located on the same plane S. This ensures that the ranging device 11 provides real-time feedback on the height of the simulated needle 12. Of course, the axes of the simulated needle 12 and the ranging device 11 are not limited to the above-described embodiment.

[0068] like Figure 1 and Figure 3 As shown, the vision mechanism 10 can move along a first direction (x-direction) and / or a second direction (y-direction) to the position of the corresponding camera module. The dispensing mechanism 20 can move along the second direction, where the first and second directions intersect, and the vertical direction is perpendicular to the plane formed by the first and second directions. Preferably, the first and second directions are perpendicular. The vision mechanism 10 also includes a camera unit 15, which is mounted on the base 13. Along the second direction, the width of the projection of the vision mechanism 10 onto the base 13 in the first direction is W1, and the width of the projection of the rangefinder 11 onto the base 13 in the first direction is W2, where W2 ≤ W1 or W2 ≥ W1. The camera unit 15 is used to collect first information of the camera module, and the rangefinder 11 is used to collect second information of the camera module. The first and second information together form pose information. Here, the first information is the xy position; the second information is information perpendicular to the plane formed by the first and second directions. Preferably, the first and second directions are perpendicular to each other.

[0069] In this application, multiple dispensing mechanisms 20 located in the first direction simultaneously dispense glue to the camera modules in the material pits on a shuttle 101 to increase production capacity. To enable simultaneous dispensing by these mechanisms, a predetermined distance needs to be set between adjacent dispensing mechanisms 20. This predetermined distance is related to the number of material pits; for example, it can be set to two or four material pits. In this case, the distance allowed for the movement of the intermediate vision mechanism 10 needs to be reduced by a safety margin, resulting in very limited usable space. In the second direction, W2 ≤ W1 or W2 ≥ W1, meaning either the width of the projection of the vision mechanism 10 in the first direction is greater than or equal to the width of the projection of the rangefinder 11 in the first direction, or the width of the projection of the rangefinder 11 in the first direction is greater than or equal to the width of the projection of the vision mechanism 10 in the first direction. This results in the width (maximum size) in the first direction being equal to the size of the vision mechanism 10 itself, the rangefinder 11, or the base 13. Correspondingly, other structures in the first direction are covered by the structure with the largest width. This reduces the space occupied by the vision mechanism 10 in the first direction, improves the structural compactness, and provides more space for the movement of the vision mechanism 10.

[0070] Here, it needs to be explained that when the projection of the vision mechanism 10 has its maximum width in the first direction, the widths of both the rangefinder 11 and the base 13 in the first direction are smaller than those of the vision mechanism 10. This indicates that the largest size in the first direction is the vision mechanism 10 itself, and no other structure protrudes from the vision mechanism 10 in the first direction. When the projection of the rangefinder 11 has its maximum width in the first direction, the widths of both the vision mechanism 10 and the base 13 in the first direction are smaller than those of the vision mechanism 10. This indicates that the largest size in the first direction is the rangefinder 11 itself, and no other structure protrudes from the vision mechanism 10 in the first direction. When the width of the base 13 is maximum in the first direction, this indicates that neither the vision mechanism 10 nor the rangefinder 11 protrudes from the base 13 in the width direction.

[0071] In one embodiment, such as Figure 5 and Figure 6As shown, along the second direction, the base 13 has a first side 131 and a second side 132, with the camera unit 15 and the rangefinder 11 respectively disposed on the first side 131 and the second side 132 of the base 13. This arrangement allows the camera unit 15 and the rangefinder 11 to be mounted facing opposite directions, resulting in a compact overall vision mechanism 10 and maximizing space saving in both the first and second directions. Furthermore, it allows the two sides of the base 13 to be relatively symmetrical, reducing instability during movement caused by a single cantilever. Of course, in other embodiments, both the camera unit 15 and the rangefinder 11 may be disposed on either the first side 131 or the second side 132.

[0072] like Figure 6 As shown, preferably, the central axis of the camera unit 15 and the central axis of the rangefinder 11 are arranged in the same plane along the second direction (y direction). This further improves the compactness of the vision mechanism 10 structure and reduces the space occupied by the vision mechanism 10 in the first direction (x direction).

[0073] Furthermore, such as Figure 4 As shown, the camera unit 15 includes a camera 151 and an adjustment plate 152, which serves as a support plate and is mounted on the base 13. The camera 151 is mounted on the adjustment plate 152.

[0074] In one embodiment, the adjustment plate 152 is rotatably mounted on the base 13, allowing the adjustment plate 152 to be adjusted in rotational freedom relative to the base 13. This allows the imaging angle of the camera 151 to be adjusted during testing and use.

[0075] Of course, in addition to the rangefinder 11, simulated needle 12, base 13, sliding stage 14, and camera 151, the vision mechanism 10 also includes a light source 153 and a driving component (not shown). The light source 153 is mounted on the base 13 and positioned below the camera 151. The function of the light source 153 is to provide sufficient visible light to highlight the details on the surface of the camera module, thereby facilitating the camera 151 to acquire the xy position information (image information) of the camera module. Furthermore, the position of the light source 153 on the base 13 is generally adjustable, that is, the distance between the light source 153 and the camera module can be adjusted to ensure that the light illuminating the surface of the camera module is in optimal condition, thereby improving the clarity of the information acquired by the camera from the surface of the camera module. Here, the light source 153 is generally set as a supplementary light. The driving component serves as a power source to drive the movement of the vision mechanism 10 in the x and y directions. Here, the driving component can be a servo motor or a cylinder, etc.

[0076] like Figure 10As shown, this application provides a displacement conversion method for a multi-workstation adhesive device, implemented based on the aforementioned multi-workstation adhesive device 100. The specific structure of the multi-workstation adhesive device 100 can be found in the preceding description and will not be repeated here. The displacement conversion method for the multi-workstation adhesive device includes the following steps:

[0077] Step S10: Obtain the virtual compensation value X1 of the simulated needle 12;

[0078] Step S20: Obtain the conversion compensation value X2 of the dispensing needle 21;

[0079] Step S30: Based on the virtual compensation value X1 and the converted compensation value X2, the actual compensation value X3 is obtained;

[0080] Step S40: Adjust the vertical displacement value of the dispensing needle 21 according to the actual compensation value X3; the virtual compensation value X1 is the vertical compensation value of the simulated needle 12 in the dispensing simulation process, and the converted compensation value X2 is the vertical compensation value of the dispensing needle in the dispensing simulation process; and the reference position of the simulated needle 12 in the dispensing simulation process is the same as the reference position of the dispensing needle in the dispensing simulation process.

[0081] It needs to be explained that, under the new architecture, the vision mechanism 10 and the dispensing mechanism 20 operate independently, and multiple dispensing mechanisms 20 share a single vision mechanism 10. The reference for the electronic mold pose information acquired by the vision mechanism 10 needs to be consistent with or mutually convertible with the dispensing reference of the dispensing mechanism 20 to ensure the accuracy of the dispensing position. In this method, a simulated needle 12 is set up, thereby establishing a relationship between the simulated needle 12 and the dispensing needle 21 and the reference position. A virtual compensation value is formed by the simulated needle 12, and a conversion compensation value is formed by the dispensing needle 21. Based on this, the virtual compensation value and the conversion compensation value are combined to form an accurate compensation value, so as to unify or convert the position reference of the dispensing mechanism and the vision mechanism in the vertical direction, avoiding the impact of height error on the dispensing operation.

[0082] Meanwhile, under the new architecture, after replacing the dispensing needle 21, errors such as installation and manufacturing processes will occur, leading to inconsistencies in the height between the dispensing needle 21, the rangefinder 11, and the camera 151. This error causes a deviation between the theoretical and actual height of the dispensing needle 21, affecting the accuracy of the dispensing pattern. More precisely, it has a fatal impact on the mixing of various adhesives, such as black and silver glue, on the camera module, resulting in abnormal conductivity and thus affecting the defect rate of the dispensing needle 21. This method can also achieve a conversion of the height of the dispensing needle 21 to eliminate errors at various stages (such as errors after needle replacement, manufacturing assembly errors, and measurement errors), thereby achieving high-precision dispensing operations.

[0083] Specifically, the multi-station dispensing device 100 has a simulation station (not shown). At this simulation station, the dispensing mechanism 20 can simulate the dispensing process, thereby adjusting the actual positions of the vision mechanism 10 and the dispensing mechanism 20 through interactive actions at the simulation station. Here, the simulation station is the reference position. The simulation station can be set on the frame (not shown) included in the multi-station dispensing device 100 or on other components of the structure included in the multi-station dispensing device 100. There is no specific limitation here, as long as it can realize the simulated dispensing process of the dispensing mechanism 20.

[0084] It should be noted that there is no specific order between steps S10 and S20; step S10 can be performed first, or step S20 can be performed first. The simulated needle 12 and the ranging device 11 are on the same plane. Therefore, the ranging device 11 can provide real-time feedback on the actual height of the simulated needle.

[0085] In one embodiment, step S10, obtaining the virtual compensation value X1 of the simulated needle 12, specifically includes:

[0086] Step S11: Obtain the distance e by which the simulated needle 12 is lifted after moving vertically and triggering the reference position;

[0087] Step S12: Obtain the distance f between the ranging device 11 and the reference position;

[0088] Step S13: Obtain the length g of the end of the simulated needle 12 that protrudes from the measuring component 11 in the vertical direction near the reference position.

[0089] Step S14: Based on distance e, distance f, and length, obtain the virtual compensation value X1.

[0090] It should be noted that the distance f is actually measured by the rangefinder 11, that is, the rangefinder 11 is used to measure the vertical distance between the rangefinder 11 and the reference position. The length g can be obtained through a three-dimensional data model or measured in the actual process. Taking the end face of the rangefinder 11 facing the reference position as the starting point, the length of the simulated needle 12 protruding from this end face in the vertical direction near the reference position is the length g. Here, the rangefinder 11 is set as a laser rangefinder, and the light-emitting surface of the laser rangefinder is the starting point. Of course, the rangefinder 11 is not limited to the structure of a laser rangefinder; it can also be an infrared rangefinder, etc. The distance f and the length g are certain known values, and the lifting distance e, distance f, and length g will satisfy a relationship, which is expressed as follows:

[0091] e = f - g + X1 ①

[0092] Furthermore, such as Figure 7 As shown, the reference position is set as the contact displacement sensor 16, which is compressed a certain distance after being contacted. Here, the contact displacement sensor 16 can be set in the frame (not shown) included in the multi-point adhesive applicator 100 or in other locations. Step 10, obtaining the virtual compensation value X1 of the simulated needle 12, further includes:

[0093] Step 15: Obtain the compression amount d of the simulated needle 12 triggering the contact displacement sensor 16 in the vertical direction;

[0094] Step 16: Based on the compression amount d, distance e, distance f, and length g, obtain the virtual compensation value X1.

[0095] It should be noted that when using the contact displacement sensor 16, the lifting distance e, compression amount d, distance f, and length g will satisfy a relationship, which is expressed as follows:

[0096] ed=f-g+X1 ②

[0097] In one embodiment, step 20, obtaining the conversion compensation value X2 of the dispensing needle 21, includes:

[0098] Step 21, obtain the distance c between the dispensing needle and the reference position;

[0099] Step 22 yields the virtual compensation value X2 based on distance c, distance f, and length g.

[0100] It should be noted that in step 22, the distance c, the distance f, and the length g satisfy the following relationship:

[0101] c = f - g + X² ③

[0102] Therefore, after replacing the dispensing needle 21, the actual compensation value X3 = X1 + X2. Combining formulas ① and ③, we get:

[0103] X3 = c + e - 2(fg)

[0104] In one embodiment, such as Figure 9 As shown, the reference position is set as the contact displacement sensor 16. Here, the contact displacement sensor 16 can be set in the frame (not shown) included in the multi-point dispensing device 100, or in other locations; wherein, step 20, the further step of obtaining the conversion compensation value X2 of the dispensing needle 21, includes:

[0105] Step 23: Obtain the compression amount b of the dispensing needle 21 triggering the contact displacement sensor 16 in the vertical direction;

[0106] Step 24: Based on the compression amount b, distance c, distance f, and length g, obtain the virtual compensation value X2.

[0107] When using contact displacement sensor 16, the compression amount b, distance c, distance f, and length g satisfy a relationship, which is expressed as follows:

[0108] cb=f-g+X1 ④

[0109] Therefore, after replacing the dispensing needle 21, the actual compensation value X3 = X1 + X2. Combining formulas ② and ④, we get:

[0110] X3=c+e-2f+2g-bd ⑤

[0111] Since the reference position is the same, let c = e, thus simplifying X3 = c + e - 2f + 2g - bd, we get the final X3 = 2(c + gf) - bd.

[0112] The present embodiment will now be described and illustrated through preferred embodiments.

[0113] Figure 11 This is a flowchart illustrating the displacement conversion method of the multi-point adhesive mechanism in this preferred embodiment. Figures 7 to 11 As shown, the displacement conversion method for a multi-point adhesive mechanism includes the following steps:

[0114] Step 101: The dispensing needle 21 moves to the simulation station and descends. The needle of the dispensing needle 21 touches the contact displacement sensor 16 at the simulation station. The compression amount of the contact displacement sensor 16 is b.

[0115] Step 102: The dispensing needle 21 is lifted, and the encoder of the servo motor records the distance c of the lifting.

[0116] Step 103: The dispensing needle 21 moves away from the simulation workstation, and the vision mechanism 10 moves to the simulation workstation of the camera module;

[0117] Step 104: The simulated needle 12 descends and the needle tip of the simulated needle 12 contacts the displacement sensor 16. The compression amount of the contact displacement sensor 16 is d.

[0118] Step 105: Simulate needle tip 12 is raised, and the encoder of the servo motor records the raising distance e;

[0119] Step 106: The ranging device 11 moves to the simulation station and measures the distance f between the ranging device 11 and the contact displacement sensor 16;

[0120] Step 107: Store the measured data and obtain the virtual compensation value X1 and the conversion compensation value X2.

[0121] Step 108: Based on the virtual compensation value X1 and the converted compensation value X2, obtain the actual compensation value X3 and transmit it to the host computer;

[0122] Step 109: The host computer controls the corresponding dispensing mechanism 20 and vision mechanism 10 to operate according to the actual compensation value X3.

[0123] It should be noted that this application includes multiple dispensing mechanisms 20. During the initial working phase, the displacement of each dispensing mechanism 20 needs to be adjusted and converted. The conversion method can refer to the steps described above, and will not be repeated here.

[0124] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0125] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the patent protection scope of this application should be determined by the appended claims.

Claims

1. A method for displacement conversion of a multi-workpoint adhesive mechanism, characterized in that, The dispensing device includes a vision mechanism and multiple dispensing mechanisms. The vision mechanism is used to collect the pose information of a target object on the shuttle. The multiple dispensing mechanisms can perform dispensing operations on the corresponding target object based on the pose information. The vision mechanism includes a ranging element and a simulated needle, which are fixed relative to the ranging element. Each dispensing mechanism includes a dispensing needle. The displacement conversion method of the multi-workstation dispensing mechanism includes: Obtain the virtual compensation value X1 of the simulated needle; Obtain the conversion compensation value X2 of the dispensing needle; Based on the virtual compensation value X1 and the conversion compensation value X2, the actual compensation value X3 is obtained; Adjust the vertical displacement of the dispensing needle according to the actual compensation value X3; Wherein, the virtual compensation value X1 is the vertical compensation value of the simulated needle in the dispensing simulation process, and the conversion compensation value X2 is the vertical compensation value of the dispensing needle in the dispensing simulation process; and the reference position of the simulated needle dispensing simulation process is the same as the reference position of the dispensing needle in the dispensing simulation process.

2. The method according to claim 1, characterized in that, The steps of "obtaining the virtual compensation value X1 of the simulated needle" include: Obtain the distance e that the simulated needle tip lifts after moving vertically and triggering the reference position; Obtain the distance f between the ranging device and the reference position; Obtain the length g of the simulated needle tip protruding from the measuring device at one end in the vertical direction near the reference position; Based on distance e, distance f, and length g, the virtual compensation value X1 is obtained.

3. The method according to claim 2, characterized in that, The step of "obtaining the conversion compensation value X2 of the dispensing needle" includes: Obtain the distance c between the dispensing needle and the reference position; Based on distance c, distance f, and length g, the virtual compensation value X2 is obtained.

4. The method according to claim 3, characterized in that, The reference position is set as a contact displacement sensor; wherein, the step of "obtaining the virtual compensation value X1 of the simulated needle" further includes: Obtain the compression amount d of the simulated needle triggering the contact displacement sensor in the vertical direction; Based on the compression amount d, distance e, distance f, and length, the virtual compensation value X1 is obtained; The step of "obtaining the conversion compensation value X2 of the dispensing needle" includes: The compression amount b of the contact displacement sensor triggered by the dispensing needle in the vertical direction is obtained; Based on the compression amount b, distance c, distance f, and length, the virtual compensation value X2 is obtained.

5. A multi-point adhesive applicator, characterized in that, The dispensing device includes a vision mechanism and multiple dispensing mechanisms. The vision mechanism is used to collect the position and pose information of the target object on the shuttle, and the multiple dispensing mechanisms can perform dispensing operations on the corresponding target object based on the position and pose information. Each of the dispensing mechanisms includes a dispensing needle for dispensing adhesive. The vision mechanism includes a rangefinder and a simulated needle. The rangefinder is used to measure distance, and the simulated needle is used to mimic the movement of the dispensing needle. The simulated needle and the rangefinder are relatively fixed and move synchronously.

6. The multi-point adhesive applicator according to claim 5, characterized in that, The vision mechanism also includes a base and a sliding stage. The sliding stage is mounted on one side of the base. The rangefinder and the simulated needle are both mounted on the sliding stage and can move vertically under the drive of the sliding stage.

7. The multi-point adhesive applicator according to claim 6, characterized in that, The vision mechanism is located between two adjacent dispensing mechanisms; the vision mechanism is capable of moving along a first direction and a second direction, and the dispensing mechanism is capable of moving along the second direction. The first direction and the second direction intersect, and the vertical direction is perpendicular to the plane formed by the first direction and the second direction. The vision mechanism further includes a camera unit mounted on the base. Along the second direction, the width of the projection of the camera unit onto the base in the first direction is W1, and the width of the projection of the rangefinder onto the base in the first direction is W2, where W2 ≤ W1. Alternatively, W2 ≥ W1.

8. The multi-point adhesive applicator according to claim 7, characterized in that, The base has a first side and a second side disposed opposite to each other along the second direction, the camera unit is disposed on the first side of the base, and the rangefinder is disposed on the second side of the base.

9. The multi-point adhesive applicator according to claim 7, characterized in that, The plane formed by the vertical direction and the second direction is denoted as plane S; wherein the axis of the simulated needle and the axis of the distance measuring device are arranged parallel to each other and located on the same plane S.

10. The multi-point adhesive applicator according to claim 7, characterized in that, The camera unit includes a camera and an adjustment plate, the adjustment plate being rotatably mounted on the base, and the camera being mounted on the adjustment plate.

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