Dispensing compensation mechanism, dispensing machine and dispensing compensation method

Abstract

The invention discloses a dispensing compensation mechanism, a dispensing machine and a dispensing compensation method, and relates to a dispensing technology. Comprising the steps that the dispensing compensation mechanism moves along a preset path to perform dispensing on a test product, and the standard dispensing amount, meeting the dispensing condition, of the test product is obtained; obtaining the dispensing length of the to-be-processed product, and dividing the dispensing length into a plurality of dispensing intervals; and in response to the dispensing compensation mechanism, dispensing a product to be processed, obtaining a first interval dispensing amount, calculating to obtain a compensation dispensing amount by combining the standard dispensing amount and the first interval dispensing amount, and if the compensation dispensing amount exceeds a preset range, configuring the dispensing compensation mechanism to adjust the dispensing speed. Whether the dispensing amount meets related requirements or not can be monitored in real time in the dispensing process of the product, and the dispensing process of the product is adjusted through an automatic compensation function, so that the dispensing precision and the machining efficiency of the product are improved.

Description

Technical Field

[0001] The present application relates to the technical field of glue dispensing, and in particular to a glue dispensing compensation mechanism, a glue dispensing machine and a glue dispensing compensation method. Background Art

[0002] Glue dispensing machine is a professional equipment used to replace manual glue dispensing, and is widely used in industrial production, such as integrated circuits, printed circuit boards, electronic components, automotive parts and other fields. The wide application of this equipment has greatly improved production efficiency, while also improving product quality, and can achieve some processes that cannot be completed by manual glue dispensing.

[0003] In some related technologies, in the process of dispensing glue through some dispensing equipment with a low degree of automation, due to the difference in the use of dispensing valves, the glue is sprayed unstably, resulting in a deviation between the glue on the product and the total amount of glue actually required, which has an adverse effect on the product's processing technology. In addition, the staff can only find out whether the dispensing quality is qualified after the dispensing product operation process is completed, which greatly reduces the product processing quality and processing efficiency in production. Summary of the invention

[0004] In order to solve at least one of the problems mentioned in the above background technology, the present application provides a dispensing compensation mechanism, a dispensing machine and a dispensing compensation method, which can realize real-time monitoring of whether the dispensing amount meets the relevant requirements during the dispensing process of the product, and adjust the dispensing process of the product through the automatic compensation function to improve the dispensing accuracy and processing efficiency of the product.

[0005] The specific technical solutions provided by the embodiments of this application are as follows:

[0006] In a first aspect, a dispensing compensation mechanism is provided, comprising: a base, a manipulator assembly mounted on the upper portion of the base, and a horizontal module arranged on the base, a glue spraying valve and a visual assembly being slidably mounted on a side of the horizontal module away from the base, and an outlet end of the glue spraying valve corresponds to a product to be processed;

[0007] The visual component is used to photograph and calculate the glue dispensing area of ​​the product to be processed. A height detection component is also provided on the side of the visual component away from the glue spray valve. The height detection component is used to detect the glue dispensing height on the product to be processed. The manipulator component is used to drive the glue dispensing compensation mechanism to dispense glue on the product to be processed along a preset path.

[0008] In a specific embodiment, a guide shaft is connected to the upper portion of the base, and a fixing plate is connected through one end of the guide shaft away from the base. The fixing plate is arranged parallel to the surface of the base, and a connecting seat is also arranged between the fixing plate and the base. A mounting seat is arranged at the connection between the guide shaft and the fixing plate, and the guide shaft is connected to the fixing plate through the mounting seat.

[0009] In a specific embodiment, a driving component is also connected to the base, and the driving component is used to adjust the visual component and / or the glue spray valve to move along the horizontal module to a preset interval.

[0010] In a second aspect, a dispensing compensation method based on the dispensing compensation mechanism as described above is provided, wherein the dispensing compensation mechanism includes a visual component and a height detection component, and the method includes:

[0011] The dispensing compensation mechanism moves along a preset path to dispense glue to the test product, and obtains a standard dispensing amount of the test product that satisfies the dispensing conditions;

[0012] Obtaining a dispensing length of the product to be processed, and dividing the dispensing length into a plurality of dispensing intervals;

[0013] In response to the glue dispensing compensation mechanism dispensing glue on the product to be processed, the first glue dispensing height of the first glue dispensing interval is obtained by the height detection component, and the first glue dispensing area of ​​the first glue dispensing interval is obtained by the visual component to calculate the glue dispensing amount of the first interval;

[0014] The compensation dispensing amount is calculated by combining the standard dispensing amount and the first interval dispensing amount. If the compensation dispensing amount exceeds a preset range, the dispensing compensation mechanism is configured to adjust the dispensing speed.

[0015] In a specific embodiment, obtaining the standard dispensing amount of the test product that meets the dispensing conditions specifically includes:

[0016] The dispensing height is read by the height detection component, and the dispensing area of ​​the test product that meets the dispensing conditions is obtained by the visual component, and the standard dispensing amount is calculated by combining the dispensing height and the dispensing area.

[0017] In a specific embodiment, the calculation formula (1) for calculating the standard glue dispensing amount by combining the glue dispensing height and the glue dispensing area is:

[0018] W=H*S(1)

[0019] Wherein, W represents the standard dispensing amount; H represents the dispensing height; S represents the dispensing area;

[0020] The calculation formula (2) for calculating the compensation glue dispensing amount by combining the standard glue dispensing amount and the first interval glue dispensing amount is:

[0021] D=WW 1 (2)

[0022] Where D represents the compensation dispensing amount; W represents the standard dispensing amount; W 1 Indicates the dispensing amount in the first interval;

[0023] Obtaining a dispensing length of the product to be processed, and combining the dispensing length, the standard dispensing amount, and the real-time dispensing amount to calculate a first dispensing speed for performing a dispensing operation in the first dispensing interval;

[0024] Among them, the calculation formula (3) of the first dispensing speed is:

[0025]

[0026] Among them, V 1 Indicates the dispensing speed; W indicates the standard dispensing volume; L indicates the dispensing length of the product to be processed; W 1 Indicates the dispensing amount in the first interval.

[0027] In a specific embodiment, in response to the ratio of the standard dispensing amount to the first interval dispensing amount being greater than a first preset threshold, an early warning is issued and the spray valve parameters in the dispensing compensation mechanism are reconfigured; or, in response to the ratio of the standard dispensing amount to the first interval dispensing amount being less than a second preset threshold, the dispensing compensation mechanism is set to stop the compensation dispensing operation, wherein the first preset threshold is greater than the second preset threshold.

[0028] In a specific embodiment, in response to the ratio of the standard dispensing amount to the first interval dispensing amount being greater than a first preset threshold, an early warning is issued and the spray valve parameters in the dispensing compensation mechanism are reconfigured; or, in response to the ratio of the standard dispensing amount to the first interval dispensing amount being less than a second preset threshold, the dispensing compensation mechanism is set to stop the compensation dispensing operation, wherein the first preset threshold is greater than the second preset threshold.

[0029] In a specific embodiment, obtaining the first glue dot area of ​​the first glue dot interval through the visual component specifically includes: taking a picture of the glued area on the product to be processed through the visual component; enlarging the picture of the glued area, and marking the glued area in the picture of the glued area based on the color depth difference between the glued area and the un-glueed area in the picture of the glued area; calculating the area of ​​the glued area, and setting the area of ​​the glued area as the first glue dot area.

[0030] In a third aspect, a glue dispensing machine is provided, the glue dispensing machine includes the glue dispensing compensation mechanism as described above, or the glue dispensing machine is used to implement the glue dispensing compensation method as described above.

[0031] The embodiments of the present application have the following beneficial effects:

[0032] 1. The glue dispensing compensation mechanism provided in the embodiment of the present application includes a robot arm assembly, a horizontal module, and a glue spray valve and a visual assembly slidably mounted on one side of the horizontal module, wherein the outlet end of the glue spray valve corresponds to the product to be processed, the robot arm assembly is used to dispense glue on the product to be processed according to a preset path and speed, the visual assembly is used to photograph the glue dispensing area on the product to be processed to calculate the glue dispensing area, and at the same time, the equipment parameters on the glue spray valve can be adjusted to uniformly control the uniform glue discharge, and also includes a high-speed detection assembly for detecting the glue dispensing height of the product, so as to adjust the glue dispensing speed of the robot arm assembly for the product according to the qualified product requirements.

[0033] 2. By setting a guide shaft and a fixed plate on the upper part of the base, the connection with the robot assembly is achieved through the fixed plate, and a connecting seat is set in the middle position between the fixed plate and the upper part of the base to connect and fix, and then the base and the dispensing valve of the base are adjusted through the guide shafts around the fixed plate to keep them horizontal and parallel with the dispensing area of ​​the product to be processed, so as to ensure the accuracy of dispensing.

[0034] 3. First, the robot assembly dispenses glue on the test product according to the initial path and speed to obtain the dispensing height parameters and dispensing area parameters that meet the dispensing requirements, thereby calculating the standard dispensing amount of qualified products. In the subsequent dispensing process of the product to be processed, the dispensing amount of the first interval in the corresponding dispensing interval is obtained, and compared with the standard dispensing amount to obtain the compensation dispensing amount. When the required compensation dispensing amount exceeds the preset range, the dispensing compensation mechanism is configured to adjust the dispensing speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 The overall structural schematic diagram of the dispensing compensation structure according to the present application is shown;

[0037] Figure 2 A schematic diagram showing the structure of a base and specific components on the base according to the present application;

[0038] Figure 3A schematic diagram showing a dispensing compensation method according to the present application;

[0039] Figure 4 A schematic diagram showing a dispensing zone of a product to be processed according to the present application;

[0040] Figure 5 A schematic diagram showing the dispensing interval and its corresponding dispensing speed according to the present application is shown;

[0041] Figure 6 A schematic diagram showing a picture of a glue-dispensed area according to the present application;

[0042] In the figure, 1, base; 2, manipulator assembly; 3, spray valve; 4, visual assembly; 401, first mounting bracket; 402, lens; 403, light source; 6, horizontal module; 7, second mounting bracket; 8, height detection assembly; 9, cover plate; 10, guide shaft; 11, fixing plate; 12, mounting seat; 13, connecting seat; 14, conveyor belt; 15, fixing seat; 16, fixing hole; 17, driving assembly. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0046] The “upper” and “lower” involved in the embodiments of this application are all Figure 1 and Figure 2 The orientation shown in is the reference.

[0047] Embodiment 1

[0048] A dispensing compensation mechanism, such as Figure 1 and Figure 2 As shown, it includes a base 1, a manipulator assembly 2, a glue spraying valve 3 and a visual assembly 4 installed on the base 1, wherein the manipulator assembly 2 is detachably connected to the base 1 through a connecting piece, and the manipulator can drive the base 1 to move along the X-axis, Y-axis and Z-axis directions. A horizontal module 6 is fixedly connected to one side of the base 1, wherein the glue spraying valve 3 and the visual assembly 4 can be slidably installed on the horizontal module 6 in sequence, wherein the outlet end of the glue spraying valve 3 is vertically downward corresponding to the product to be processed. The visual assembly 4 includes a first mounting frame 401, a lens 402 installed on one side of the first mounting frame 401, a light source 403 and a controller, wherein the first mounting frame 401 is slidably installed on one side of the horizontal module 6, so as to adjust the movement of the visual assembly 4 along the horizontal module 6 through the first mounting frame 401, and at the same time, a second mounting frame 7 can also be slidably installed on the horizontal module 6, and the second mounting frame 7 is connected to the glue spraying valve 3 on the side away from the horizontal module 6, so as to adjust the glue spraying valve 3 along the horizontal module 6 to a required position through the second mounting frame 7.

[0049] Among them, the lens 402 can be adjusted to face the product under the glue spray valve 3, and the light source 403 can be adjusted to illuminate the product, so as to ensure that the product in the glue dispensing process is clearly photographed by the visual component 4, and the photographed picture is transmitted to the controller for picture processing to calculate the glue dispensing area of ​​the product; the visual component 4 is also provided with a height detection component 8 on the side away from the glue spray valve 3. The height detection component 8 in this embodiment includes but is not limited to a height sensor. The height detection component 8 detects the glue dispensing height on the product to be processed and transmits it to the controller to obtain the glue dispensing amount and the required glue dispensing speed in combination with the glue dispensing height and the glue dispensing area, and the robot component 2 drives the glue dispensing compensation mechanism to dispense glue on the product to be processed along a preset path based on the obtained glue dispensing speed.

[0050] In a specific embodiment, in order to improve the precision adjustment of the dispensing compensation mechanism by the robot assembly 2 to the processed product, such as Figure 2As shown, a cover plate 9 is fixedly connected to the upper part of the base 1, and the cover plate 9 is arranged parallel to the surface of the base 1. A guide shaft 10 is passed through the cover plate 9, and the guide shaft 10 vertically penetrates the cover plate 9 and is arranged around the cover plate 9. A fixing plate 11 is also connected to the guide shaft 10 away from the base 1, and the guide shaft 10 penetrates the fixing plate 11. A mounting seat 12 is sleeved at the connection between the guide shaft 10 and the fixing plate 11, and the guide shaft 10 is connected to the fixing plate 11 through the mounting seat 12. The fixing plate 11 is arranged parallel to the upper surface of the base 1, and a connecting seat 13 is also arranged between the fixing plate 11 and the base 1, and the connecting seat 13 is used to achieve a stable connection between the fixing plate 11 and the base 1. During actual use, first adjust the base 1 and the fixed plate 11 through the connecting seat 13 and fix them together, and then adjust the connection position between each guide shaft 10 and the upper cover plate 9 of the base 1 to ensure that the base 1 remains in a horizontal direction, thereby ensuring the accuracy of the glue dispensing of the product by the glue valve 3 on one side of the base 1.

[0051] In a specific embodiment, the present embodiment also includes a conveyor belt 14, which is arranged at the lower part of the dispensing compensation mechanism, and the conveyor belt 14 is used to transport the product to be processed; there are four guide shafts 10 in the present embodiment, and the four guide shafts 10 are vertically arranged and kept parallel. Before adjusting the base 1 to maintain a horizontal position through the guide shafts 10, the dispensing area on the product to be processed on the conveyor belt 14 is also adjusted to maintain a horizontal position to ensure that the plane where the base 1 is located is parallel to the plane where the product to be processed is located.

[0052] It should be noted that in this embodiment, a fixing seat 15 is also provided on the upper part of the fixing plate 11, and a plurality of fixing holes 16 are opened on the fixing seat 15. The fixing holes 16 and the manipulator assembly 2 are penetrated by connecting parts to ensure that the manipulator assembly 2 is stably connected to the base 1, thereby ensuring that the manipulator assembly 2 can drive the base 1 and the entire dispensing compensation mechanism to dispense glue to the product.

[0053] Further, such as Figure 2 As shown, a driving component 17 is provided at one end of the base 1 near the height detection component 8, and the driving component 17 is used to adjust the visual component 4 and / or the glue spraying valve 3 to move along the horizontal module 6 to a preset distance. Specifically, when the product requires a large amount of glue dispensing or the span of the glue dispensing area is large, the visual component 4 and the glue spraying valve 3 can be adjusted to move along the horizontal module 6 to achieve compensation adjustment of the distance between the visual component 4 and the glue spraying position.

[0054] Specific implementation process: When dispensing glue on the product to be processed, first adjust the distance between the visual component 4 and the glue spraying valve 3 according to the dispensing length of the product to be processed and the span between the dispensing positions, and select the field of view width of the lens 402 in the visual component 4 as a preset size based on the dispensing length. For example, if the length of the product is 200mm, it can be divided into 40 5mm, and the field of view of the lens 402 of the visual component 4 is selected to be 5mm. Then adjust the guide shaft 10 according to the dispensing position of the product, so that the base 1 and the glue spraying valve 3 on the base 1 are kept in the horizontal direction, and fixedly connected to the manipulator component 52 through the fixing plate 11.

[0055] After the robot assembly 2 drives the glue spraying valve 3 to move to the glue dispensing position, it is also necessary to set the air pressure and caliber in the glue spraying valve 3, and ensure that the glue is sprayed evenly. Then adjust the robot assembly 2 to start dispensing glue on the product to be processed according to the preset path and speed. The automatic compensation function of the glue dispensing compensation mechanism in this embodiment is used to adjust the product's dispensing process to improve the product's dispensing accuracy and processing efficiency.

[0056] Embodiment 2

[0057] Corresponding to the above embodiments, the present application provides a dispensing compensation method, such as Figure 3 and Figure 4 As shown, the method includes:

[0058] Step 101: The dispensing compensation mechanism moves along a preset path to dispense glue to a test product, and obtains a standard dispensing amount of the test product that meets dispensing conditions.

[0059] Wherein, obtaining the standard dispensing amount of the test product that meets the dispensing conditions specifically includes reading the dispensing height through the height detection component, obtaining the dispensing area of ​​the test product that meets the dispensing conditions through the visual component, and calculating the standard dispensing amount by combining the dispensing height and the dispensing area. Wherein, the height detection component is selected as a height sensor, and the height of the glue at the dispensing position is detected by the height sensor and the glue height.

[0060] In order to ensure that the dispensing height and dispensing amount on the product meet the relevant product requirements, before formally dispensing on the product to be processed, the test product is first dispensed through the dispensing compensation mechanism, and then various dispensing parameters that meet the preset dispensing conditions are obtained, and then the product is formally dispensed based on the obtained qualified parameters.

[0061] Specifically, the process of dispensing glue on the test product includes first adjusting the distance between the visual component and the glue spray valve according to the dispensing length of the product to be processed and the span between the dispensing positions, and selecting the field of view width of the lens in the visual component as a preset size based on the dispensing length, and configuring the lens field of view in the visual component to be of an appropriate size. Next, the relevant settings are made for the air pressure and caliber in the glue spray valve, and after ensuring that the glue is sprayed evenly, the robot arm component is adjusted to start dispensing glue on the product to be processed according to the preset path and speed, and a complete dispensing action is simulated in the test product. The starting and ending points of the robot arm are debugged, and the running speed is recorded as the initial speed. A height sensor is then used to perform a height test, and the glue height of the current qualified product is recorded. The visual component running software is opened, and the visual algorithm is used to test the dispensing area of ​​the current qualified product, and then the standard click volume is calculated.

[0062] The calculation formula (1) for calculating the standard glue dispensing amount by combining the glue dispensing height and the glue dispensing area is:

[0063] W=H*S(1)

[0064] Among them, W represents the standard dispensing amount; H represents the dispensing height; S represents the dispensing area.

[0065] Step 102: Obtain the dispensing length of the product to be processed, and divide the dispensing length into a plurality of dispensing intervals.

[0066] Obtain the dispensing length of the product to be processed, and divide the dispensing length into several dispensing intervals based on the field of view size in the pre-selected visual component, such as Figure 4 and Figure 5 As shown, several dispensing areas are divided at equal distances along the length direction of the dispensing position of the product to be processed. One dispensing area corresponds to a dispensing operation of the spray valve, and at the same time corresponds to a height detection by the height sensor and a dispensing area detection by the visual component. The complete dispensing process of the product to be processed corresponds to the dispensing of all dispensing areas in sequence. Therefore, when starting to dispensing the product to be processed, it is necessary to ensure that the entire dispensing cycle is completed.

[0067] Step 103, in response to the glue dispensing compensation mechanism dispensing glue on the product to be processed, obtaining a first glue dispensing height of the first glue dispensing interval through the height detection component, obtaining a first glue dispensing area of ​​the first glue dispensing interval through the visual component, so as to calculate the glue dispensing amount of the first interval.

[0068] Among them, obtaining the first glue dot area of ​​the first glue dot interval through the visual component specifically includes: taking a picture of the glued area on the product to be processed through the visual component; enlarging the picture of the glued area, and marking the glued area in the picture of the glued area based on the color depth difference between the glued area and the un-glueed area in the picture of the glued area; calculating the area of ​​the glued area, and setting the area of ​​the glued area as the first glue dot area.

[0069] For example, Figure 6 As shown, when the visual component is photographed, there is a color difference between the glue-covered area and the uncovered area, so the image presented in the visual software has an obvious pixel difference. The image binarization principle in the visual software is used to enlarge and distinguish the area with glue, and the area with glue is presented in black. The area algorithm in the visual software is used to calculate the area of ​​the black area, that is, the first glue spot area is obtained.

[0070] Specifically, the dispensing amount in the first interval is calculated by the following formula (2):

[0071] W 1 =h 1 *s 1 (2)

[0072] Among them, W 1 Indicates the amount of glue dispensed in the first interval; h 1 Indicates the height of the first glue point; s 1 Indicates the first dispensing area.

[0073] Step 104: Calculate the compensation glue dispensing amount by combining the standard glue dispensing amount and the first interval glue dispensing amount. If the compensation glue dispensing amount exceeds a preset range, configure the glue dispensing compensation mechanism to adjust the glue dispensing speed.

[0074] The calculation formula (3) for calculating the compensation glue dispensing amount by combining the standard glue dispensing amount and the first interval glue dispensing amount is:

[0075] D=WW 1 (3)

[0076] Where D represents the compensation dispensing amount; W represents the standard dispensing amount; W 1 Indicates the dispensing amount in the first interval.

[0077] Obtaining a dispensing length of the product to be processed, and combining the dispensing length, the standard dispensing amount, and the dispensing amount in the first interval to calculate a first dispensing speed for performing a dispensing operation in the first dispensing interval;

[0078] Among them, the calculation formula (4) of the first dispensing speed is:

[0079]

[0080] Among them, V 1 Indicates the dispensing speed; W indicates the standard dispensing volume; L indicates the dispensing length of the product to be processed; W 1 Indicates the dispensing amount in the first interval.

[0081] If the compensation glue dispensing amount exceeds a preset threshold, the glue dispensing compensation mechanism is configured to adjust the glue dispensing speed, specifically including: if the compensation glue dispensing amount is greater than a preset range, the glue dispensing compensation mechanism is set to reduce the glue dispensing speed; if the compensation glue dispensing amount is less than the preset range, the glue dispensing compensation mechanism is set to increase the glue dispensing speed; if the compensation glue dispensing amount meets the preset range, the glue dispensing speed of the glue dispensing compensation mechanism is set not to adjust.

[0082] For example, the preset range is set to 0. When the compensation glue dispensing amount is greater than 0, the speed needs to be reduced and the glue dispensing quantity needs to be increased to meet the process requirements. Similarly, when the compensation glue dispensing amount is less than 0, it means that the speed needs to be increased and the glue dispensing quantity needs to be reduced to meet the process requirements. The amount of glue in the glue dispensing process is proportional to the injection time. The longer the injection time, the larger the glue dispensing amount, and the longer the injection time, the smaller the glue dispensing amount. When the compensation glue dispensing amount is equal to 0, it means that the glue dispensing amount at this time meets the glue dispensing requirements of qualified products.

[0083] Furthermore, in order to achieve hierarchical control during the dispensing process, in response to the ratio of the standard dispensing amount to the dispensing amount in the first interval being greater than a first preset threshold, an early warning is issued and the spray valve parameters in the dispensing compensation mechanism are reconfigured; or, in response to the ratio of the standard dispensing amount to the dispensing amount in the first interval being less than a second preset threshold, the dispensing compensation mechanism is set to stop the compensation dispensing operation, wherein the first preset threshold is greater than the second preset threshold.

[0084] Exemplarily, the first preset threshold is set to "1.5" and the second preset threshold is set to "0.5". When the ratio of the standard dispensing amount to the dispensing amount in the first interval is greater than 1.5, it means that the amount of glue discharged during the dispensing process is too low. The equipment will alarm and stop running, waiting for the engineer to check the spray valve. Because the glue valve has been operating for a long time, the glue outlet will be blocked, or the air pressure in the control box of the glue valve is insufficient.

[0085] When the ratio of the standard dispensing amount to the dispensing amount in the first interval is less than 0.5, it means that the actual dispensing amount is far greater than the required dispensing amount of the product. The equipment will immediately alarm, stop the automatic compensation function of the equipment, and notify the engineer to check the actual configuration parameters, or check whether there is any deviation in the feedback values ​​of the visual components and height detection components.

[0086] The specific definition of the glue dispensing compensation mechanism in the glue dispensing compensation method refers to the definition of the glue dispensing compensation mechanism in the above embodiment, which will not be repeated here. Through the glue dispensing compensation structure and the glue dispensing compensation method in this embodiment, it is possible to monitor in real time whether the glue dispensing amount meets the relevant requirements during the glue dispensing process of the product, and adjust the glue dispensing process of the product through the automatic compensation function to improve the glue dispensing accuracy and processing efficiency of the product.

[0087] Embodiment 3

[0088] Corresponding to the above embodiment, this embodiment provides a glue dispensing machine, which includes the above glue dispensing compensation mechanism, or the glue dispensing machine is used to implement the above glue dispensing compensation method.

[0089] In a specific embodiment, a glue dispensing compensation mechanism includes: a base, a manipulator assembly installed on the upper part of the base, and a horizontal module arranged on the base, wherein a glue spray valve and a visual assembly are slidably installed on a side of the horizontal module away from the base, and the outlet end of the glue spray valve corresponds to the product to be processed; the visual assembly is used to photograph and calculate the glue dispensing area of ​​the product to be processed, and a height detection assembly is also provided on the side of the visual assembly away from the glue spray valve, and the height detection assembly is used to detect the glue dispensing height on the product to be processed, and the manipulator assembly is used to drive the glue dispensing compensation mechanism to dispense glue on the product to be processed along a preset path.

[0090] In a specific embodiment, a guide shaft is connected to the upper portion of the base, and a fixing plate is connected through one end of the guide shaft away from the base. The fixing plate is arranged parallel to the surface of the base, and a connecting seat is also arranged between the fixing plate and the base. A mounting seat is arranged at the connection between the guide shaft and the fixing plate, and the guide shaft is connected to the fixing plate through the mounting seat.

[0091] In a specific embodiment, a driving component is also connected to the base, and the driving component is used to adjust the visual component and / or the glue spray valve to move along the horizontal module to a preset interval.

[0092] In a specific embodiment, the glue dispensing compensation method includes the glue dispensing compensation mechanism moving along a preset path to dispense glue to a test product, and obtaining a standard glue dispensing amount of the test product that meets the glue dispensing conditions; obtaining the glue dispensing length of the product to be processed, and dividing the glue dispensing length into a plurality of glue dispensing intervals; in response to the glue dispensing compensation mechanism dispensing glue to the product to be processed, obtaining a first glue dispensing height of the first glue dispensing interval through the height detection component, and obtaining a first glue dispensing area of ​​the first glue dispensing interval through the visual component to calculate the glue dispensing amount of the first interval; combining the standard glue dispensing amount and the first interval glue dispensing amount to calculate the compensated glue dispensing amount, and if the compensated glue dispensing amount exceeds the preset range, configuring the glue dispensing compensation mechanism to adjust the glue dispensing speed.

[0093] In a specific embodiment, the standard dispensing amount of the test product that meets the dispensing conditions is obtained, specifically including: reading the dispensing height through a height detection component, and obtaining the dispensing area of ​​the test product that meets the dispensing conditions through a visual component, and combining the dispensing height and the dispensing area to calculate the standard dispensing amount.

[0094] In a specific embodiment, the calculation formula (1) for calculating the standard glue dispensing amount by combining the glue dispensing height and the glue dispensing area is:

[0095] W=H*S(1)

[0096] Wherein, W represents the standard dispensing amount; H represents the dispensing height; S represents the dispensing area;

[0097] The calculation formula (2) for calculating the compensation glue dispensing amount by combining the standard glue dispensing amount and the first interval glue dispensing amount is:

[0098] D=WW 1 (2)

[0099] Where D represents the compensation dispensing amount; W represents the standard dispensing amount; W 1 Indicates the dispensing amount in the first interval;

[0100] Obtaining a dispensing length of the product to be processed, and combining the dispensing length, the standard dispensing amount, and the dispensing amount in the first interval to calculate a first dispensing speed for performing a dispensing operation in the first dispensing interval;

[0101] Among them, the calculation formula (3) of the first dispensing speed is:

[0102]

[0103] Among them, V 1 Indicates the dispensing speed; W indicates the standard dispensing volume; L indicates the dispensing length of the product to be processed; W 1 Indicates the dispensing amount in the first interval.

[0104] In a specific embodiment, if the compensation dispensing amount exceeds a preset threshold, the dispensing compensation mechanism is configured to adjust the dispensing speed, specifically including: if the compensation dispensing amount is greater than a preset range, the dispensing compensation mechanism is set to reduce the dispensing speed; if the compensation dispensing amount is less than the preset range, the dispensing compensation mechanism is set to increase the dispensing speed; if the compensation dispensing amount satisfies the preset range, the dispensing speed of the dispensing compensation mechanism is set not to be adjusted.

[0105] In a specific embodiment, in response to the ratio of the standard dispensing amount to the first interval dispensing amount being greater than a first preset threshold, an early warning is issued and the spray valve parameters in the dispensing compensation mechanism are reconfigured; or, in response to the ratio of the standard dispensing amount to the first interval dispensing amount being less than a second preset threshold, the dispensing compensation mechanism is set to stop the compensation dispensing operation, wherein the first preset threshold is greater than the second preset threshold.

[0106] In a specific embodiment, obtaining the first glue dot area of ​​the first glue dot interval through the visual component specifically includes: taking a picture of the glued area on the product to be processed through the visual component; enlarging the picture of the glued area, and marking the glued area in the picture of the glued area based on the color depth difference between the glued area and the un-glueed area in the picture of the glued area; calculating the area of ​​the glued area, and setting the area of ​​the glued area as the first glue dot area.

[0107] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A dispensing compensation mechanism, characterized in that: include: A base (1), a manipulator assembly (2) mounted on the upper part of the base (1), and a horizontal module (6) arranged on the base (1); a glue spraying valve (3) and a visual assembly (4) are slidably mounted on a side of the horizontal module (6) away from the base (1); an outlet end of the glue spraying valve (3) corresponds to a product to be processed; The visual component (4) is used to photograph and calculate the glue spotting area of ​​the product to be processed. A height detection component (8) is also provided on the side of the visual component (4) away from the glue spraying valve (3). The height detection component (8) is used to detect the glue spotting height on the product to be processed. The manipulator component (2) is used to drive the glue spotting compensation mechanism to perform glue spotting on the product to be processed along a preset path.

2. The dispensing compensation mechanism according to claim 1, characterized in that: The upper part of the base (1) is connected to a guide shaft (10); the end of the guide shaft (10) away from the base (1) is connected to a fixing plate (11); the fixing plate (11) is arranged parallel to the surface of the base (1); a connecting seat (13) is also arranged between the fixing plate (11) and the base (1); a mounting seat (12) is arranged at the connection between the guide shaft (10) and the fixing plate (11); the guide shaft (10) is connected to the fixing plate (11) via the mounting seat (12).

3. The dispensing compensation mechanism according to claim 1 or 2, characterized in that: The base (1) is also connected to a driving component (17), and the driving component (17) is used to adjust the visual component (4) and / or the glue spray valve (3) to move along the horizontal module (6) to a preset interval distance.

4. A glue dispensing compensation method based on the glue dispensing compensation mechanism according to claim 1 or 2, characterized in that: The dispensing compensation mechanism comprises a visual component (4) and a height detection component (8), and the method comprises: The dispensing compensation mechanism moves along a preset path to dispense glue to the test product, and obtains a standard dispensing amount of the test product that satisfies the dispensing conditions; Obtaining a dispensing length of the product to be processed, and dividing the dispensing length into a plurality of dispensing intervals; In response to the glue dispensing compensation mechanism dispensing glue on the product to be processed, the first glue dispensing height of the first glue dispensing interval is obtained through the height detection component (8), and the first glue dispensing area of ​​the first glue dispensing interval is obtained through the visual component (4) to calculate the glue dispensing amount of the first interval; The compensation dispensing amount is calculated by combining the standard dispensing amount and the first interval dispensing amount. If the compensation dispensing amount exceeds a preset range, the dispensing compensation mechanism is configured to adjust the dispensing speed.

5. The dispensing compensation method according to claim 4, characterized in that: Obtaining the standard dispensing amount of the test product that meets the dispensing conditions, specifically including: The height of the glue dispensing is read by a height detection component (8), and the glue dispensing area of ​​the test product that meets the glue dispensing conditions is obtained by a visual component (4), and the standard glue dispensing amount is calculated by combining the glue dispensing height and the glue dispensing area.

6. The dispensing compensation method according to claim 4 or 5, characterized in that: The method further comprises: The calculation formula (1) for calculating the standard glue dispensing amount by combining the glue dispensing height and the glue dispensing area is: W=H*S (1) Wherein, W represents the standard dispensing amount; H represents the dispensing height; S represents the dispensing area; The calculation formula (2) for calculating the compensation glue dispensing amount by combining the standard glue dispensing amount and the first interval glue dispensing amount is: D=W-W1 (2) Wherein, D represents the compensation dispensing amount; W represents the standard dispensing amount; W1 represents the dispensing amount in the first interval; Obtaining a dispensing length of the product to be processed, and combining the dispensing length, the standard dispensing amount, and the dispensing amount in the first interval to calculate a first dispensing speed for performing a dispensing operation in the first dispensing interval; Among them, the calculation formula (3) of the first dispensing speed is: Among them, V1 represents the dispensing speed; W represents the standard dispensing amount; L represents the dispensing length of the product to be processed; and W1 represents the dispensing amount in the first interval.

7. The dispensing compensation method according to claim 4 or 5, characterized in that: If the compensation glue dispensing amount exceeds a preset threshold, configuring the glue dispensing compensation mechanism to adjust the glue dispensing speed specifically includes: If the compensation glue dispensing amount is greater than a preset range, the glue dispensing compensation mechanism is set to reduce the glue dispensing speed; If the compensation glue dispensing amount is less than a preset range, the glue dispensing compensation mechanism is set to increase the glue dispensing speed; If the compensation glue dispensing amount meets the preset range, the glue dispensing speed of the glue dispensing compensation mechanism is set not to be adjusted.

8. The dispensing compensation method according to claim 4 or 5, characterized in that: The method further comprises: In response to the ratio of the standard glue dispensing amount to the first interval glue dispensing amount being greater than a first preset threshold, an early warning is issued, and the glue spraying valve parameters in the glue dispensing compensation mechanism are reconfigured; Alternatively, in response to the ratio of the standard dispensing amount to the first interval dispensing amount being less than a second preset threshold, the dispensing compensation mechanism is set to stop the compensation dispensing operation, wherein the first preset threshold is greater than the second preset threshold.

9. The dispensing compensation method according to claim 4 or 5, characterized in that: The step of obtaining the first glue dispensing area of ​​the first glue dispensing interval by using the visual component specifically includes: Taking a picture of the glue-dispensed area on the product to be processed by the visual component; The glue-dispensed area image is enlarged, and the glue-dispensed area in the glue-dispensed area image is marked based on the color depth difference between the glue-dispensed area and the non-glue-dispensed area in the glue-dispensed area image; The area of ​​the glue-dispensed region is calculated, and the area of ​​the glue-dispensed region is set as the first glue-dispensing area.

10. A glue dispensing machine, characterized in that: The glue dispensing machine includes the glue dispensing compensation mechanism described in any one of claims 1 to 3, or the glue dispensing machine is used to implement the glue dispensing compensation method described in any one of claims 4 to 9.

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