Dispensing needle correction method, device, equipment and storage medium

Abstract

The present application relates to the technical field of dispensing, and in particular to a dispensing needle correction method, device, equipment and storage medium. The method comprises rotating the dispensing needle head in a first direction, obtaining a measured bevel angle of at least one dispensing needle head, selecting a target bevel angle meeting preset requirements from the measured bevel angle; obtaining a target bevel area corresponding to the target bevel angle, obtaining an optimal bevel angle from the target bevel area, and performing angle calibration on the needle head according to the optimal bevel angle; calibrating a reference angle of the dispensing needle head according to the optimal bevel angle, obtaining a dispensing center position according to the reference angle and a preset glue dropping angle interval, and performing position calibration on the dispensing needle head according to the center position. The present application performs double calibration on the angle and position of the dispensing needle head, so that the dispensing needle can realize accurate dispensing, greatly improving the dispensing yield of products.

Description

Technical Field

[0001] This invention relates to the field of dispensing technology, and in particular to a dispensing needle calibration method, apparatus, equipment, and storage medium. Background Technology

[0002] As product processes demand higher precision in dispensing, it is often necessary to accurately control the dispensing needle to dispense adhesive in four directions at the product's dispensing location to ensure stable dispensing process requirements are met.

[0003] To ensure smooth glue dispensing, most dispensing needles have an angled tip. During dispensing, the angle of this angle affects the glue volume and flow direction, significantly impacting dispensing accuracy. When the dispensing needle rotates to the four directions of the product to be glued, the needle tip will deviate from its rotational position. This deviation causes uneven glue distribution, weak adhesion, and even glue to areas not intended for dispensing.

[0004] The existing dispensing needles have not been calibrated in terms of bevel angle and dispensing position, resulting in low dispensing accuracy and low dispensing yield. Summary of the Invention

[0005] The technical problem to be solved by the embodiments of the present invention is to provide a dispensing needle calibration method, device, equipment and storage medium to solve the problems in the prior art where the bevel angle and dispensing position of the dispensing needle are not calibrated, resulting in low dispensing accuracy and low yield of dispensing products.

[0006] An embodiment of the present invention provides a method for calibrating a dispensing needle, comprising: rotating the dispensing needle in a first direction to obtain at least one measuring bevel angle of the dispensing needle; selecting a target bevel angle that meets preset requirements from the measuring bevel angles; obtaining a target bevel region corresponding to the target bevel angle; obtaining an optimal bevel angle from the target bevel region; calibrating the needle angle according to the optimal bevel angle; calibrating a reference angle of the dispensing needle according to the optimal bevel angle; obtaining the dispensing center position according to the reference angle and a preset dispensing angle interval; and calibrating the position of the dispensing needle according to the center position.

[0007] Optionally, the step of obtaining the target bevel region corresponding to the target bevel angle and obtaining the optimal bevel angle from the target bevel region includes: obtaining a standard bevel angle; obtaining the target bevel region based on a first difference between the target bevel angle and the standard bevel angle; obtaining a scanning interval based on the target bevel angle; driving the dispensing needle to rotate at intervals of the scanning interval within the target bevel region; obtaining a scanning bevel angle corresponding to each scanning interval; and obtaining the optimal bevel angle based on the scanning bevel angle.

[0008] Optionally, the step of obtaining the optimal bevel angle based on the scanning bevel angle includes: obtaining the trend of the scanning bevel angle change; if the trend is increasing, taking the position corresponding to the most recent scanning bevel angle as the starting position, driving the dispensing needle to rotate in the first direction at intervals of the scanning interval, and obtaining the first maximum trend angle; if the trend is decreasing, taking the largest of the scanning bevel angles as the starting bevel angle, obtaining a new target bevel region based on the second difference between the starting bevel angle and the standard bevel angle, obtaining a new scanning interval based on the starting bevel angle, taking the position corresponding to the starting bevel angle as the starting position, setting the new target bevel region in a second direction opposite to the first direction, driving the dispensing needle to rotate in the second direction at intervals of the new scanning interval within the new target bevel region, and obtaining the second maximum trend angle; obtaining the optimal bevel angle based on the first maximum trend angle and the second maximum trend angle.

[0009] Optionally, the smaller the first difference, the smaller the range of the target bevel region; the larger the target bevel angle or the starting bevel angle, the smaller the scanning interval.

[0010] Optionally, the step of obtaining the optimal bevel angle based on the first maximum trend angle and the second maximum trend angle includes: when the first maximum trend angle or the second maximum trend angle is equal to the standard bevel angle, the standard bevel angle is set as the optimal bevel angle; when the first maximum trend angle or the second maximum trend angle is less than the standard bevel angle, the step of obtaining the second maximum trend angle is repeated at least three times to obtain the maximum value of the second maximum trend angle during the rotation process, and the maximum value of the second maximum trend angle is set as the optimal bevel angle.

[0011] Optionally, the step of obtaining the dispensing center position based on the reference angle and the preset dispensing angle interval includes: obtaining the center position of the area where the material is to be dispensed; maintaining the reference angle, moving the dispensing needle to the center position of the area; performing preliminary position calibration on the dispensing needle; obtaining a first center position of the dispensing needle; driving the dispensing needle to rotate at the preset dispensing angle interval; obtaining a reference center position of the needle after rotating at each preset dispensing angle interval; at least two preset dispensing angle intervals are provided; determining the center position based on the first center position and any three of the multiple reference center positions, and setting the center position as the dispensing center position.

[0012] Optionally, the step of selecting a target bevel angle that meets the preset requirements from the measured bevel angles includes: setting a preset threshold; when the measured bevel angle is greater than the preset threshold, controlling the dispensing needle to stop rotating, and setting the measured bevel angle at this time as the target bevel angle; when the measured bevel angle is less than the preset threshold, controlling the dispensing needle to continue rotating, obtaining the maximum value of the measured bevel angle within one revolution of the dispensing needle, and setting the maximum value of the measured bevel angle as the target bevel angle.

[0013] Another technical solution adopted by the present invention to solve its technical problem is: providing a dispensing device, including a dispensing needle for dispensing glue to a workpiece; a rotary motor on which the dispensing needle is mounted, and the rotary motor can drive the dispensing needle to rotate; a side camera disposed on the side of the dispensing needle for acquiring a side image of the dispensing needle, the side image being used to obtain an optimal bevel angle; a bottom camera disposed on the glue outlet side of the dispensing needle for acquiring a bottom image of the dispensing needle, the bottom image being used to obtain the dispensing center position; and a control terminal connected to the rotary motor, the side camera, and the bottom camera for implementing the above-mentioned dispensing needle correction method.

[0014] Another technical solution adopted by the present invention to solve its technical problem is: to provide a dispensing correction device, including a memory and a processor coupled to each other, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method described above.

[0015] Another technical solution adopted by the present invention to solve its technical problem is: a storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the method described above.

[0016] Compared with existing technologies, the beneficial effects of the dispensing needle calibration method provided in this invention are as follows: This invention drives the dispensing needle to rotate in a first direction, acquires the measured bevel angle of at least one dispensing needle, selects a target bevel angle that meets preset requirements from the measured bevel angles, and achieves preliminary identification of the bevel angle of the dispensing needle. The target bevel area corresponding to the target bevel angle is acquired, the optimal bevel angle is obtained from the target bevel area, and the needle is calibrated according to the optimal bevel angle. In this way, the needle dispensing can maintain the optimal bevel angle, control the optimal dispensing amount and speed, and ensure dispensing accuracy.

[0017] After completing the angle calibration, the reference angle of the needle is calibrated according to the optimal bevel angle. The dispensing center position is obtained according to the reference angle and the preset dispensing angle interval. Keeping the reference angle of the needle unchanged, the dispensing center position of the needle at each preset dispensing angle interval is obtained. The dispensing needle is moved to the dispensing center position for position calibration, thereby ensuring the accuracy of the needle dispensing position and the uniform distribution of glue.

[0018] This invention enables precise dispensing by performing dual calibration of the angle and position of the dispensing needle, thereby greatly improving the dispensing yield of products. Attached Figure Description

[0019] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. In the accompanying drawings:

[0020] Figure 1 This is a flowchart illustrating an embodiment of the dispensing needle calibration method provided by the present invention;

[0021] Figure 2 This is a schematic diagram of an embodiment of the dispensing correction device provided by the present invention;

[0022] Figure 3 This is a schematic diagram of an embodiment of the dispensing correction device provided by the present invention;

[0023] Figure 4 This is a schematic diagram of an embodiment of the storage medium provided by the present invention.

[0024] The labels for the attached figures are as follows:

[0025] 20. Dispensing calibration device; 21. Dispensing needle; 22. Rotary motor; 23. Side camera; 24. Bottom camera;

[0026] 30. Dispensing calibration equipment; 31. Processor; 32. Memory;

[0027] 40. Storage medium; 41. Computer program. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0029] Please see Figure 1 , Figure 1 This is a schematic flowchart of an embodiment of the dispensing needle calibration method provided by the present invention. The dispensing needle calibration method provided by the present invention includes the following steps:

[0030] S101: Rotate the dispensing needle in the first direction to obtain the measuring bevel angle of at least one dispensing needle, and select the target bevel angle that meets the preset requirements from the measuring bevel angles.

[0031] Specifically, when calibrating the dispensing needle angle, the dispensing needle needs to be rotated one full turn to obtain its bevel angle. The first angle division rule is to divide the 360-degree angle of the dispensing needle rotation into several uniform angle intervals to facilitate the zoned measurement of the bevel angle. In a specific implementation scenario, the 360-degree angle can be divided into six 60-degree angle intervals, each forming a measurement interval. Based on the measurement interval, the dispensing needle is driven to rotate in the first direction. Within the measurement interval, the dispensing needle is identified using a side camera to obtain the measured bevel angle, and a target bevel angle that meets the preset requirements is selected from the measured bevel angles.

[0032] When obtaining the target bevel angle, a preset threshold needs to be set in advance. The measured bevel angles are then filtered based on this threshold to select the target bevel angle that meets the preset requirements. In a specific implementation scenario, during dispensing, the acceptable range for the bevel angle of the dispensing needle is between 9 and 13 degrees, and the dispensing volume and speed of the dispensing needle must also meet requirements. It should be noted that the acceptable range for the bevel angle is determined based on the actual dispensing effect during the dispensing process; different specifications of dispensing needles have different acceptable ranges for the bevel angle. The preset threshold needs to be set based on the acceptable range of the dispensing needle's bevel angle. The preset threshold can be set to 7 degrees. This allows the measured bevel angle to be judged based on the preset threshold, initially locking in the vicinity of the optimal bevel angle, facilitating precise selection of the optimal bevel angle and reducing the time required to obtain it.

[0033] Specifically, when the measured bevel angle is greater than a preset threshold, the measured bevel angle is set as the target bevel angle. In a specific implementation scenario, if the measured bevel angle is greater than the preset threshold, it is determined that the region of the bevel angle of the dispensing needle has been found, the dispensing needle is controlled to stop rotating, and the measured bevel angle is set as the target bevel angle.

[0034] Specifically, when the measured bevel angle is less than a preset threshold, the dispensing needle continues to rotate. If no measured bevel angle greater than the preset threshold appears after one full rotation of the dispensing needle, the maximum measured bevel angle within one full rotation is obtained and set as the target bevel angle. In a specific implementation scenario, if the measured bevel angle is less than the preset threshold, the dispensing needle continues to rotate to obtain the measured bevel angle within each 60-degree detection interval. If the measured bevel angle in all detection intervals after one full rotation is less than the preset threshold, the maximum measured bevel angle within one full rotation is set as the target bevel angle. By obtaining the target bevel angle, the target bevel area is obtained, the optimal bevel angle position range is initially locked, and the dispensing needle undergoes preliminary angle calibration.

[0035] S102: Obtain the target bevel region corresponding to the target bevel angle, obtain the optimal bevel angle from the target bevel region, and calibrate the needle angle according to the optimal bevel angle.

[0036] Specifically, obtaining the target bevel area corresponding to the target bevel angle includes obtaining the standard bevel angle and obtaining the target bevel area based on the first difference between the target bevel angle and the standard bevel angle. For example, the standard bevel angle is 13 degrees. Within the acceptable range of bevel angles greater than 9 degrees and less than 13 degrees, the closer the bevel angle is to 13 degrees, the better the dispensing effect. Therefore, 13 degrees is set as the standard bevel angle.

[0037] After obtaining the target bevel area, the scanning interval needs to be determined based on the target bevel angle. Within the target bevel area, the dispensing needle is driven to rotate at intervals, acquiring the bevel angle corresponding to each scanning interval. The optimal bevel angle is then determined based on this angle. The scanning interval is set according to the size of the target bevel angle. For example, when the bevel angle is less than 9 degrees, the scanning interval is set to 3 degrees; when the bevel angle is greater than or equal to 9 degrees and less than 11 degrees, the scanning interval is set to 1 degree; and when the bevel angle is greater than or equal to 11 degrees and less than 13 degrees, the scanning interval is set to 0.5 degrees. The scanning interval is reduced based on how closely the obtained bevel angle approaches the standard bevel angle, ensuring that the obtained bevel angle continuously approximates the standard bevel angle.

[0038] Determining the optimal bevel angle based on the scanning bevel angle involves acquiring the trend of the scanning bevel angle's change. If the trend is increasing, the position corresponding to the most recent scanning bevel angle is used as the starting position. The dispensing needle is driven to rotate in a first direction at intervals of scanning intervals to obtain the first maximum angle of the trend. If the trend is decreasing, the largest of the scanning bevel angles is used as the starting bevel angle. A new target bevel region is obtained based on the second difference between the starting bevel angle and the standard bevel angle. A new scanning interval is obtained based on the starting bevel angle. Using the position corresponding to the starting bevel angle as the starting position, a new target bevel region is set along a second direction opposite to the first direction. Within the new target bevel region, the dispensing needle is driven to rotate in the second direction at intervals of the new scanning intervals to obtain the second maximum angle of the trend. The optimal bevel angle is then determined based on the first maximum angle of the trend and the second maximum angle of the trend.

[0039] Specifically, after obtaining the target bevel angle, the first difference between the target bevel angle and the standard bevel angle is taken as the target bevel area. The scanning interval is set according to the magnitude of the target bevel angle. The position corresponding to the target bevel angle is taken as the starting position. Within the target bevel area, the dispensing needle is driven to rotate in the first direction at intervals, obtaining the scanning bevel angle corresponding to each scanning interval. The trend of the scanning bevel angle change is obtained through the scanning bevel angle corresponding to the scanning interval. If the scanning bevel angle shows an increasing trend, the target bevel area and scanning interval remain unchanged, and the dispensing needle is driven to continue rotating in the first direction at intervals, obtaining the maximum angle of the first trend.

[0040] Specifically, a decreasing trend is determined only when the scanning bevel angle decreases consecutively over two scanning intervals. Using two scanning bevel angles increases the accuracy of trend determination, preventing deviations in a single scanning bevel angle from causing the dispensing needle to rotate in the second direction. Alternatively, a decreasing trend can also be determined by three or more consecutive decreasing scanning bevel angles. To ensure accuracy and shorten determination time, two consecutive scanning bevel angles are preferred.

[0041] When a decreasing trend appears, the target bevel region needs to be reset. The largest of the scanning bevel angles is taken as the starting bevel angle. The second difference between the starting bevel angle and the standard bevel angle is taken as the new target bevel region, and a new scanning interval is obtained based on the starting bevel angle. In this way, with each occurrence of a decreasing trend, the new target bevel region and the new scanning interval will gradually decrease, thereby increasing the bevel angle detection accuracy and causing the obtained maximum angles of the first and second trends to gradually approach the standard bevel angle.

[0042] When obtaining the maximum angles of the first and second trends, the smaller the first difference, the smaller the target bevel region; the larger the target bevel angle or the initial bevel angle, the smaller the scanning interval, and the smaller the second difference, the smaller the new target bevel region. In other words, the larger the obtained target bevel angle and initial bevel angle, the smaller the second difference, the smaller the new target bevel region, and the smaller the scanning interval. Thus, in the process of obtaining the optimal bevel angle, as the initial bevel angle continuously increases, the new target bevel region and the scanning interval will become smaller, the scanning accuracy will become more precise, and the final optimal bevel angle will be closer to the standard bevel angle.

[0043] Obtaining the optimal bevel angle based on the first and second maximum trend angles involves setting the standard bevel angle as the optimal bevel angle when either the first or second maximum trend angle equals the standard bevel angle. When either the first or second maximum trend angle is less than the standard bevel angle, the step of obtaining the second maximum trend angle is repeated at least three times to obtain the maximum value of the second maximum trend angle during the rotation process, and this maximum value is set as the optimal bevel angle.

[0044] Specifically, during the angle recognition process, when the maximum angle of the first trend or the maximum angle of the second trend equals the standard bevel angle, it indicates that the optimal bevel angle has been obtained, and angle correction can be terminated. When the maximum angle of the first trend or the maximum angle of the second trend is less than the standard bevel angle, the steps of obtaining the maximum angle of the first trend and the maximum angle of the second trend are repeated, and the scanning interval is reduced so that the obtained maximum angle of the first trend or the maximum angle of the second trend continuously approaches the standard bevel angle to obtain a better bevel angle. Among these steps, the step of obtaining the maximum angle of the second trend is repeated at least three times.

[0045] Repeat the process of obtaining the maximum angle of the second trend three times, and then stop searching for the angle. After obtaining the maximum angle of the second trend three times, the maximum value of the obtained maximum angle of the second trend is close to the standard bevel angle.

[0046] After obtaining the optimal bevel angle, the position of the dispensing needle corresponding to the optimal bevel angle needs to be calibrated to ensure that the dispensing needle maintains the optimal bevel angle for dispensing, thereby completing the angle calibration of the dispensing needle.

[0047] S103: The reference angle of the dispensing needle is calibrated according to the optimal bevel angle. The dispensing center position is obtained according to the reference angle and the preset dispensing angle interval. The position of the dispensing needle is calibrated according to the center position.

[0048] Specifically, by calibrating the reference angle of the dispensing needle with the optimal bevel angle, it is possible to ensure that the dispensing needle maintains the reference angle during position calibration, and to ensure that position calibration is based on angle calibration. This allows for dual calibration of the dispensing needle's angle and position, enabling the dispensing needle to achieve precise dispensing and greatly improving the product's dispensing yield.

[0049] The dispensing center position is obtained based on a reference angle and preset dispensing angle intervals. This includes obtaining the center position of the area where the material is to be dispensed, moving the dispensing needle to the center position while maintaining the reference angle, performing preliminary position calibration on the dispensing needle, and obtaining the first center position of the dispensing needle. The dispensing needle is then driven to rotate at preset dispensing angle intervals, and the reference center position of the needle is obtained after each preset dispensing angle interval; at least two preset dispensing angle intervals are set. The center position is determined based on the first center position and any three of the multiple reference center positions, and this center position is set as the dispensing center position.

[0050] Specifically, the bottom camera identifies the material and obtains the center position of the area where adhesive is to be applied. Maintaining a reference angle, the dispensing needle is moved to the center of this area. During this movement, the bottom camera continuously acquires the position of the dispensing needle to ensure alignment between the needle and the center of the area, completing the initial position calibration and obtaining the first center position of the needle.

[0051] In one implementation scenario, starting from a first center position, the dispensing needle is driven to rotate at preset dispensing angle intervals. Each time it rotates by a preset dispensing angle interval, the center position of the needle at that interval is acquired and set as the reference center position. A center position is determined based on the first center position and any three of the multiple reference center positions, and this center position is set as the dispensing center position. The center position of the dispensing needle is moved to the dispensing center position, and the bottom camera continuously identifies and aligns the center position of the dispensing needle with the dispensing center position, completing the position calibration.

[0052] Specifically, the first center position and each reference center position are the dispensing positions of the dispensing needle. During dispensing, the dispensing needle needs to be rotated to these positions to ensure that the adhesive is evenly distributed at the dispensing points and to guarantee the dispensing effect. Since the dispensing needle is mounted on a rotary motor, when the rotary motor directly drives the dispensing needle to rotate at preset dispensing angle intervals to move it to these dispensing positions, there will inevitably be rotational deviations. By determining the center of these dispensing positions using any three of these positions, and moving the dispensing needle to the center position, when the rotary motor drives the dispensing needle to rotate at preset dispensing angle intervals, the dispensing needle will be able to accurately move to each dispensing position, thus ensuring adhesive accuracy.

[0053] The system uses a 360-degree evenly spaced, preset dispensing angle interval, with at least two such intervals to ensure at least two reference center positions for determining the center of the circle. In a specific implementation scenario, three preset dispensing angle intervals are used, meaning the dispensing needle rotates once every 90 degrees to dispense adhesive. This allows for dispensing in four directions on the material to be dispensed, ensuring even distribution of adhesive and avoiding the need for multiple rotations due to excessive dispensing points, thus improving dispensing efficiency.

[0054] As described above, in this embodiment, by driving the dispensing needle to rotate in a first direction, the measuring bevel angle of at least one dispensing needle is obtained. A target bevel angle that meets preset requirements is selected from the measured bevel angles to achieve preliminary location of the dispensing needle's bevel. The target bevel area corresponding to the target bevel angle is obtained, and the optimal bevel angle is obtained from the target bevel area. The needle is then calibrated based on the optimal bevel angle. This ensures that the needle dispensing maintains the optimal bevel angle, controls the optimal dispensing amount and speed, and guarantees dispensing accuracy. After angle calibration, the reference angle of the needle is calibrated based on the optimal bevel angle. The dispensing center position is obtained based on the reference angle and preset dispensing angle intervals. Keeping the reference angle of the needle unchanged, the dispensing center position of the needle at each preset dispensing angle interval is obtained. The dispensing needle is moved to the dispensing center position for position calibration, thereby ensuring the accuracy of the needle dispensing position and the uniform distribution of adhesive. This invention enables precise dispensing by performing dual calibration of the angle and position of the dispensing needle, thereby greatly improving the dispensing yield of products.

[0055] Please see Figure 2 , Figure 2 This is a schematic diagram of an embodiment of a dispensing calibration device 20 provided by the present invention. The dispensing calibration device 20 provided by the present invention includes a dispensing needle 21, a rotary motor 22, a side camera 23, a bottom camera 24, and a control terminal (not shown).

[0056] The dispensing needle 21 is used to dispense adhesive onto the workpiece. The dispensing needle 21 is mounted on a rotary motor 22, which drives the dispensing needle 21 to rotate. A side camera 23 is positioned on the side of the dispensing needle 21 to acquire a side image of the needle, which is used to determine the optimal bevel angle. A bottom camera 24 is positioned on the dispensing side of the dispensing needle 21 to acquire a bottom image of the needle, which is used to determine the dispensing center position. A control terminal is connected to the rotary motor 22, the side camera 23, and the bottom camera 24 to implement the dispensing needle calibration method described above. Detailed methods are described above and will not be repeated here.

[0057] Please see Figure 3 , Figure 3 This is a schematic diagram of an embodiment of the dispensing calibration device 30 provided by the present invention. The dispensing calibration device 30 includes a processor 31 and a memory 32. The processor 31 is coupled to the memory 32. The memory 32 stores a computer program, which the processor 31 executes during operation to achieve the following: Figure 1 The method is shown above. For detailed instructions, please refer to the above; they will not be repeated here.

[0058] Please see Figure 4 , Figure 4 This is a schematic diagram of a structure of an embodiment of the storage medium 40 provided by the present invention. The storage medium 40 stores at least one computer program 41, which is executed by the processor 31 to implement, for example... Figure 1 The method shown is detailed above and will not be repeated here. In one embodiment, the computer-readable storage medium 40 can be a storage chip in a terminal, a hard disk, or other readable and writable storage tools such as a portable hard disk, USB flash drive, or optical disc, or it can be a server, etc.

[0059] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0060] It should be noted that the limitations on each step involved in this solution are not considered as limiting the order of steps, provided that they do not affect the implementation of the specific solution. The steps listed first can be executed first, later, or even simultaneously. As long as this solution can be implemented, it should be considered to fall within the protection scope of this invention.

[0061] It should be understood that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Those skilled in the art can modify the technical solutions described in the above embodiments, or make equivalent substitutions for some of the technical features; and all such modifications and substitutions should fall within the protection scope of the appended claims of the present invention.

Claims

1. A method for calibrating a dispensing needle, characterized in that, include: Rotate the dispensing needle in the first direction to obtain at least one measuring bevel angle of the dispensing needle, and select a target bevel angle that meets the preset requirements from the measuring bevel angles. Obtain the target bevel region corresponding to the target bevel angle, obtain the optimal bevel angle from the target bevel region, and perform angle calibration on the needle according to the optimal bevel angle; The reference angle of the dispensing needle is calibrated according to the optimal bevel angle, the dispensing center position is obtained according to the reference angle and the preset dispensing angle interval, and the position of the dispensing needle is calibrated according to the center position. The step of obtaining the target bevel region corresponding to the target bevel angle and obtaining the optimal bevel angle from the target bevel region includes: Obtain the standard bevel angle, and obtain the target bevel region based on the first difference between the target bevel angle and the standard bevel angle; The scanning interval is obtained based on the target bevel angle. The dispensing needle is driven to rotate at intervals of the scanning interval within the target bevel area to obtain the scanning bevel angle corresponding to each scanning interval. The optimal bevel angle is obtained based on the scanning bevel angle.

2. The dispensing needle calibration method according to claim 1, characterized in that, The step of obtaining the optimal bevel angle based on the scanning bevel angle includes: The trend of the change of the scanning bevel angle is obtained. If the trend is increasing, the position corresponding to the most recent scanning bevel angle is taken as the starting position, and the dispensing needle is driven to rotate in the first direction at intervals of the scanning interval to obtain the maximum angle of the first trend. If the trend of change is a decreasing trend, then the largest of the scanning bevel angles is taken as the starting bevel angle. A new target bevel region is obtained based on the second difference between the starting bevel angle and the standard bevel angle. A new scanning interval is obtained based on the starting bevel angle. The position corresponding to the starting bevel angle is taken as the starting position. The new target bevel region is set along a second direction opposite to the first direction. Within the new target bevel region, the dispensing needle is driven to rotate in the second direction at intervals of the new scanning interval to obtain the maximum angle of the second trend. The optimal bevel angle is obtained based on the maximum angle of the first trend and the maximum angle of the second trend.

3. The dispensing needle calibration method according to claim 2, characterized in that, The smaller the first difference, the smaller the range of the target bevel region; the larger the target bevel angle or the starting bevel angle, the smaller the scanning interval.

4. The dispensing needle calibration method according to claim 2, characterized in that, The step of obtaining the optimal bevel angle based on the first maximum trend angle and the second maximum trend angle includes: When the maximum angle of the first trend or the maximum angle of the second trend is equal to the standard bevel angle, the standard bevel angle is set as the optimal bevel angle; When the first maximum trend angle or the second maximum trend angle is less than the standard bevel angle, repeat the step of obtaining the second maximum trend angle at least three times to obtain the maximum value of the second maximum trend angle during the rotation process, and set the maximum value of the second maximum trend angle as the optimal bevel angle.

5. The dispensing needle calibration method according to claim 1, wherein the step of obtaining the dispensing center position based on the reference angle and the preset dispensing angle interval includes: Obtain the center position of the area where the material is to be dispensed, maintain the reference angle and move the dispensing needle to the center position of the area, perform preliminary position calibration of the dispensing needle, and obtain the first center position of the dispensing needle; The dispensing needle is driven to rotate at preset dispensing angle intervals to obtain the reference center position of the needle after each preset dispensing angle interval; at least two preset dispensing angle intervals are provided. The center position is determined based on any three of the first center position and the plurality of reference center positions, and the center position is set as the dispensing center position.

6. The dispensing needle calibration method according to any one of claims 1-4, wherein the step of selecting a target bevel angle that meets the preset requirements from the measured bevel angles includes: Set a preset threshold; When the measured bevel angle is greater than the preset threshold, the dispensing needle is controlled to stop rotating, and the measured bevel angle at this time is set as the target bevel angle. When the measured bevel angle is less than the preset threshold, the dispensing needle is controlled to continue rotating to obtain the maximum value of the measured bevel angle within one revolution of the dispensing needle, and the maximum value of the measured bevel angle is set as the target bevel angle.

7. A dispensing device, characterized in that, include: Dispensing needle, used to dispense adhesive onto the workpiece; A rotary motor, on which the dispensing needle is mounted, the rotary motor being able to drive the dispensing needle to rotate; A side camera is positioned on the side of the dispensing needle to acquire a side image of the dispensing needle, and the side image is used to obtain the optimal bevel angle. A bottom-mounted camera is positioned on the dispensing side of the dispensing needle to acquire a bottom image of the dispensing needle, which is used to obtain the center position of the dispensing. A control terminal, connected to the rotary motor, the side camera, and the bottom camera, is used to implement the dispensing needle correction method as described in any one of claims 1-6.

8. A dispensing calibration device, characterized in that, It includes a memory and a processor coupled to each other, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, causes the processor to perform the steps of the method as described in any one of claims 1 to 6.

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