Multi-point dispensing calibration method

Abstract

The present invention discloses a multi-point glue dispensing calibration method, the first step is parameter configuration; the second step is to start the calibration; the third step is to calculate the mechanical coordinates of the nozzle when dispensing glue on the axis perpendicular to the working plane; the fourth step is to dispense glue from the nozzle; the fifth step is to take a picture with a camera; the sixth step is to calculate the mechanical deviation between the mechanical center of the nozzle and the mechanical center of the camera in the working plane; the seventh step is to calculate the coordinates of the camera moved above any one of the glue dispensing positions in the glue dispensing matrix; the eighth step is to verify: manual visual observation, whether the center of the th glue point is approximately coincident with the center of the camera, if there is an obvious visual error, it indicates that there is a problem with the calibration, and the calibration is performed again; when all the glue points have no obvious visual error after observation, the calibration result is saved, and the calibration is completed. This method can effectively avoid the problem of abnormal calibration when the nozzle state is abnormal, and also avoids the problem of large calibration error caused by human visual observation errors.

Description

Technical Field

[0001] The invention relates to the technical field of using a nozzle to accurately spray glue after camera photography and matching, and in particular to a multi-point glue dispensing calibration method. Background Art

[0002] In the glue dispensing machine software system, you need to use the camera center to view the product and set the glue spraying route. However, when actually spraying glue, a nozzle is used for spraying glue. Although the nozzle and the camera center are in the XY plane of the machine, the two are not in the same position.

[0003] The camera is fixed in position when it is not disassembled. Each time the nozzle of the machine is installed, there will be a slight position change. Therefore, each time the nozzle is installed, the camera center / nozzle center must be calibrated to confirm its deviation in the XY plane.

[0004] The common practice in the industry is to move the nozzle to a certain position in the pre-set process area, spray a drop of glue, and then use the camera center to visually align it with the center of the glue, record the camera position at this time, calculate the xy coordinate deviation of the glue spraying position and the camera position, and keep a record for subsequent use.

[0005] However, in the traditional method, when the nozzle is in an abnormal state (for example, there is glue hanging), the position of the glue sprayed will be offset. If calibration is performed at this time, it will lead to abnormal calibration results. Or, when the user uses the center of the camera to observe the center of the glue dot, if the center of the glue dot is not carefully confirmed, it will cause a large deviation in the calibration. These situations will affect the dispensing effect and thus affect the product process quality. Summary of the invention

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0007] To this end, the present invention proposes a multi-point dispensing calibration method, which can effectively avoid the problem of abnormal calibration when the nozzle state is abnormal (such as glue hanging), and also avoid the problem of large calibration errors caused by human visual observation errors.

[0008] The multi-point dispensing calibration method according to an embodiment of the present invention comprises the following steps:

[0009] Step 1: Parameter configuration: Configure parameters in the job control flow module of the software system.

[0010] On the work plane, set up a glue matrix ,in, is a positive integer greater than 1, is a positive integer greater than 1; at the same time, set a mechanical coordinate of the glue spraying position, and the glue spraying position is the glue spraying matrix Upper left corner coordinates; set the glue matrix The distance between the rows is mm; Setting the glue matrix The distance between the columns is mm;

[0011] Set the nozzle spray height to mm, the glue spraying height is the height difference between the nozzle end and the glue spraying surface;

[0012] Set the glue point number to Drops, among them, is a positive integer greater than or equal to 1;

[0013] Set the mechanical deviation between the tool setting surface and the glue spraying surface on the axis perpendicular to the working plane;

[0014] Step 2, start calibration: After starting calibration, the dispensing machine obtains the set initial tool setting position and performs the normal tool setting process. On the axis perpendicular to the working plane, the mechanical coordinates of the nozzle when the nozzle is in contact with the surface of the tool setting instrument are obtained;

[0015] Step 3: Calculate the mechanical coordinates of the nozzle when discharging glue on the axis perpendicular to the working plane;

[0016] Step 4: Glue discharge from nozzle: Calculate the mechanical coordinates of all glue spraying points according to the parameters set in step 1, adjust the nozzle to the coordinate position calculated in step 3, and use the nozzle to discharge glue at all glue spraying points in turn according to the set number of glue discharge points. Glue out;

[0017] Step 5: Take a photo with the camera: After the glue spraying is completed, the camera moves to the glue spraying matrix Above the glue spraying point in the upper left corner, move the xyz axis and make a manual visual judgment so that the camera center is aligned with the glue spraying matrix The center of the glue spraying point in the upper left corner coincides, and the camera coordinates at this time are recorded;

[0018] Step 6: Calculate the mechanical deviation between the nozzle mechanical center and the camera mechanical center in the working plane: The mechanical deviation is calculated by the glue matrix The coordinates of the glue spraying point in the upper left corner minus the camera coordinates obtained in step 5 are obtained;

[0019] Step 7: Calculate the camera coordinates to move to any glue spraying position in the glue spraying matrix: The glue spraying coordinates of the points and the mechanical deviation calculated in step 6 are used to reverse the camera movement to the The coordinates of the point above and move the camera to that coordinate;

[0020] Step 8: Verification: Manual visual observation, Check whether the center of each glue dot is approximately coincident with the center of the camera. If there is an obvious visual error, it means that there is a problem with the calibration. At this time, you need to clean and confirm the nozzle status, wipe off the glue dots that have been sprayed, and re-calibrate. When all glue dots have no obvious visual errors after observation, save the calibration results and the calibration is completed.

[0021] The beneficial effect of the present invention is that, within the working plane, the first point in the upper left corner of the glue spraying matrix is ​​used to calibrate the nozzle center and camera center deviations, and the subsequent points are checked. When the nozzle state is abnormal, the glue spraying path changes irregularly, and multi-point calibration can detect such changes, thereby reminding the user to confirm the nozzle state. At the same time, multi-point calibration allows the user to visually confirm multiple times, which can effectively avoid the problem of large calibration errors caused by careless visual observation.

[0022] According to one embodiment of the present invention, when the camera and the nozzle are both installed vertically, the working plane is the XY plane.

[0023] According to one embodiment of the present invention, in the first step, an XY coordinate of a glue spraying position is set. ; Set the mechanical deviation between the tool setting surface and the glue spraying surface in the Z-axis direction to mm;

[0024] In the second step, the Z-axis coordinate of the nozzle when the nozzle is attached to the tool setting instrument surface is obtained. ;

[0025] In the third step, the Z-axis coordinate of the nozzle when discharging glue is calculated :according to , and , calculate the Z-axis coordinate of the nozzle during calibration ;

[0026] In step 4, the xy coordinates of all the spray points are calculated. ,in, yes and The product of height, and use the nozzles in sequence Glue is sprayed on these glue spraying points;

[0027] In step 5, the camera moves to the glue matrix Glue point at the upper left corner Above, move the xyz axis and make a manual visual judgment so that the center of the camera is aligned with the glue point in the upper left corner. The centers coincide and the camera coordinates are recorded. ;

[0028] In step 6, calculate the nozzle mechanical center and camera mechanical center Mechanical deviation , The calculation formula is as follows:

[0029]

[0030] In the seventh step, according to The spraying coordinates of the points and the mechanical deviation calculated in step 6 ,in, is less than or equal to A positive integer, reverse the camera to move to The coordinates of the point above are , and move the camera to coordinates ; The calculation formula is as follows:

[0031] .

[0032] According to one embodiment of the present invention, when the tool setting instrument surface is at the same height as the glue spraying surface, that is, When .

[0033] According to one embodiment of the present invention, in the third step, when the tool setting instrument surface is higher than the glue spraying surface, .

[0034] According to one embodiment of the present invention, in the third step, when the tool setting instrument surface is lower than the glue spraying surface, .

[0035] According to one embodiment of the present invention, in the fourth step, The calculation formula is as follows:

[0036] .

[0037] According to one embodiment of the present invention, when the camera and the nozzle are both installed horizontally, and the axis of the camera and the axis of the nozzle are parallel to the Y axis, the working plane is the XZ plane.

[0038] According to one embodiment of the present invention, when the camera and the nozzle are both installed horizontally, and the axis of the camera and the axis of the nozzle are parallel to the X-axis, the working plane is the YZ plane.

[0039] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 It is a flow chart of the present invention. DETAILED DESCRIPTION

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

[0044] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by the terms “one side”, “the other side”, “both sides”, “between”, “middle”, “upper end”, “lower end”, etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The multi-point dispensing calibration method according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0047] See Figure 1 , a multi-point dispensing calibration method, comprising the following steps:

[0048] Step 1: Parameter configuration: Configure parameters in the job control flow module of the software system.

[0049] On the work plane, set up a glue matrix ,in, is a positive integer greater than 1, is a positive integer greater than 1; at the same time, set a mechanical coordinate of the glue spraying position, and the glue spraying position is the glue spraying matrix Upper left corner coordinates; set the glue matrix The distance between the rows is mm; Setting the glue matrix The distance between the columns is mm;

[0050] Set the nozzle spray height to mm, the glue spraying height is the height difference between the nozzle end and the glue spraying surface; It is a process parameter. The spraying surface can be the surface of the calibration plate or the surface of the product to be sprayed.

[0051] Set the glue point number to Drops, among them, Is a positive integer greater than or equal to 1; glue point number Freely set according to user needs: when the glue is relatively viscous, the circle formed by one drop of glue may be very small, then you need to spray a few more drops, and these drops of glue are sprayed on the same position. After these drops of glue flow, they can form a circle that meets the requirements; when the glue is relatively thin, perhaps the circle formed by one drop of glue flowing can meet the requirements.

[0052] Set the mechanical deviation between the tool setting surface and the glue spraying surface on the axis perpendicular to the working plane;

[0053] Step 2, start calibration: After starting calibration, the dispensing machine obtains the set initial tool setting position and performs the normal tool setting process. On the axis perpendicular to the working plane, the mechanical coordinates of the nozzle when the nozzle is in contact with the surface of the tool setting instrument are obtained;

[0054] Step 3: Calculate the mechanical coordinates of the nozzle when discharging glue on the axis perpendicular to the working plane;

[0055] Step 4: Glue discharge from nozzle: Calculate the mechanical coordinates of all glue spraying points according to the parameters set in step 1, adjust the nozzle to the coordinate position calculated in step 3, and use the nozzle to discharge glue at all glue spraying points in turn according to the set number of glue discharge points. Glue out;

[0056] Step 5: Take a photo with the camera: After the glue spraying is completed, the camera moves to the glue spraying matrix Above the glue spraying point in the upper left corner, move the xyz axis and make a manual visual judgment so that the camera center is aligned with the glue spraying matrix The center of the glue spraying point in the upper left corner coincides, and the camera coordinates at this time are recorded;

[0057] Step 6: Calculate the mechanical deviation between the nozzle mechanical center and the camera mechanical center in the working plane: The mechanical deviation is calculated by the glue matrix The coordinates of the glue spraying point in the upper left corner minus the camera coordinates obtained in step 5 are obtained;

[0058] Step 7: Calculate the camera coordinates to move to any glue spraying position in the glue spraying matrix: The glue spraying coordinates of the points and the mechanical deviation calculated in step 6 are used to reverse the camera movement to the The coordinates of the point above and move the camera to that coordinate;

[0059] Step 8: Manual visual observation Check whether the center of each glue dot is approximately coincident with the center of the camera. If there is an obvious visual error, it means that there is a problem with the calibration (the nozzle state is unstable, or there is a large error in the visual calibration of the first point). At this time, you need to clean and confirm the nozzle state, wipe off the glue dots that have been sprayed, and re-calibrate. When all glue dots have no obvious visual errors after observation, save the calibration results and the calibration is completed.

[0060] The multi-point dispensing calibration method is applicable to the case where the camera and the nozzle are both installed vertically, and is also applicable to the case where the camera and the nozzle are both installed horizontally.

[0061] 1. When the camera and nozzle are installed vertically, the working plane is the XY plane, which includes the following steps:

[0062] Step 11: Parameter configuration: Configure parameters in the job control process module of the software system and set a glue spraying matrix on the work plane. ,in, is a positive integer greater than 1, Is a positive integer greater than 1; at the same time, set an XY coordinate of the glue spraying position , the glue spraying position is the glue spraying matrix Upper left corner coordinates; set the glue matrix The distance between the rows is mm; Setting the glue matrix The distance between the columns is mm; Set the nozzle spray height to mm, the glue spraying height is the height difference between the nozzle end and the glue spraying surface; set the glue discharge point number to Drops, among them, is a positive integer greater than or equal to 1; the mechanical deviation between the tool setting surface and the glue spraying surface in the Z-axis direction is set to mm;

[0063] Step 21, start calibration: After starting calibration, the dispensing machine obtains the set initial tool setting position and performs the normal tool setting process to obtain the Z-axis coordinate of the nozzle when the nozzle is attached to the surface of the tool setting instrument. ;

[0064] Step 31: Calculate the Z-axis coordinate of the nozzle when discharging glue :according to , and , calculate the Z-axis coordinate of the nozzle during calibration ;

[0065] Case 1: When the tool setting surface is at the same height as the glue spraying surface, When For example: when mm, mm, then Millimeters.

[0066] Case 2: When the tool setting surface is higher than the glue spraying surface, For example: when mm, mm, mm, then Millimeters.

[0067] Case 3: When the tool setting surface is lower than the glue spraying surface, For example: when mm, mm, mm, then Millimeters.

[0068] Step 41, nozzle glue discharge: Calculate the xy coordinates of all glue spraying points according to the parameters set in step 11 ,in, yes and The product of height, and use the nozzles in sequence The glue points are set according to the number of glue points. Spray glue; The calculation formula is as follows:

[0069] (1)

[0070] Step 51, camera photo: After the glue spraying is completed, the camera moves to the glue spraying matrix Glue spray point on the upper left corner Move the xyz axis and make a visual judgment to make the camera center and the glue matrix Glue spray point on the upper left corner The centers coincide and the camera coordinates are recorded. ;

[0071] Step 61: Calculate the nozzle mechanical center and camera mechanical center Mechanical deviation , The calculation formula is as follows:

[0072] (2)

[0073] Step 71: The spraying coordinates of the points and the mechanical deviation calculated in step 6 ,in, is less than or equal to A positive integer, reverse the camera to move to The coordinates of the point above are , and move the camera to coordinates ; The calculation formula is as follows:

[0074] (3)

[0075] Step 81: Manual Visual Observation, Check whether the center of each glue dot is approximately coincident with the center of the camera. If there is an obvious visual error, it means that there is a problem with the calibration (the nozzle state is unstable, or there is a large error in the visual calibration of the first point). At this time, you need to clean and confirm the nozzle state, wipe off the glue dots that have been sprayed, and re-calibrate. When all glue dots have no obvious visual errors after observation, save the calibration results and the calibration is completed.

[0076] 2. When the camera and the nozzle are installed horizontally, and the axis of the camera and the axis of the nozzle are parallel to the Y axis, the working plane is the XZ plane.

[0077] 3. When the camera and the nozzle are installed horizontally, and the axis of the camera and the axis of the nozzle are parallel to the X-axis, the working plane is the YZ plane.

[0078] The multi-point glue dispensing calibration method calibrates the nozzle center and camera center deviation at the first point in the upper left corner of the glue dispensing matrix in the working plane, and performs calibration at the subsequent points. When the nozzle state is abnormal, the glue dispensing path changes irregularly, and the multi-point calibration can detect this change, thereby reminding the user to confirm the nozzle state. At the same time, the multi-point calibration allows the user to visually confirm multiple times, which can effectively avoid the problem of large calibration errors caused by careless visual observation, that is, it can effectively avoid the problem of abnormal calibration when the nozzle state is abnormal (such as glue hanging), and also avoid the problem of large calibration errors caused by human visual observation errors.

[0079] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A multi-point dispensing calibration method, characterized in that: The following steps are involved: Step 1: Parameter configuration: Configure parameters in the job control flow module of the software system. On the work plane, set up a glue matrix ,in, is a positive integer greater than 1, is a positive integer greater than 1; at the same time, set an XY mechanical coordinate of the glue spraying position , the glue spraying position is the glue spraying matrix Upper left corner coordinates; set glue matrix The distance between the rows is mm; Setting the glue matrix The distance between the columns is mm; Set the nozzle spray height to mm, the glue spraying height is the height difference between the nozzle end and the glue spraying surface; Set the glue point number to Drops, among them, is a positive integer greater than or equal to 1; On the axis perpendicular to the working plane, set the first mechanical deviation between the tool setting surface and the glue spraying surface in the Z-axis direction to mm; Step 2: Start calibration: After starting calibration, the dispensing machine obtains the set initial tool setting position and performs the normal tool setting process. On the axis perpendicular to the working plane, the mechanical coordinate of the Z axis of the nozzle when the nozzle is attached to the surface of the tool setting instrument is obtained. ; Step 3: Calculate the Z-axis mechanical coordinate of the nozzle when discharging glue on the axis perpendicular to the working plane :according to , and , calculate the Z-axis coordinate of the nozzle during calibration ; Step 4: Nozzle dispensing: Calculate the xy mechanical coordinates of all dispensing points based on the parameters set in step 1 ,in, yes and The product of Height, and use the nozzle to sequentially discharge glue at all the glue spraying points according to the set number of glue discharge points Glue out; Step 5: Take a photo with the camera: After the glue spraying is completed, the camera moves to the glue spraying matrix Glue spray point on the upper left corner Move the xyz axis and make a visual judgment to make the camera center and the glue matrix Glue spray point on the upper left corner The centers coincide and the camera coordinates are recorded. ; Step 6: Calculate the nozzle mechanical center in the working plane and camera mechanical center The second mechanical deviation : The second mechanical deviation By spraying matrix Coordinates of the glue spraying point in the upper left corner Subtract the camera coordinates obtained in step 5 get; Step 7: Calculate the camera coordinates to move to any glue spraying position in the glue spraying matrix: The spraying coordinates of the points and the second mechanical deviation calculated in step 6 ,in, is less than or equal to A positive integer, reverse the camera to move to The coordinates of the points above , and move the camera to that coordinate , the coordinates By The spraying coordinates of the points Subtract the second mechanical deviation calculated in step 6 get; Step 8: Verification: Manual visual observation, Check whether the center of each glue dot is approximately coincident with the center of the camera. If there is an obvious visual error, it means that there is a problem with the calibration. At this time, you need to clean and confirm the nozzle status, wipe off the glue dots that have been sprayed, and re-calibrate. When all glue dots have no obvious visual errors after observation, save the calibration results and the calibration is completed.

2. The multi-point dispensing calibration method according to claim 1, characterized in that: When the camera and nozzle are both mounted vertically, the working plane is the XY plane.

3. The multi-point dispensing calibration method according to claim 2, characterized in that: When the tool setting surface is at the same height as the glue spraying surface, When .

4. The multi-point dispensing calibration method according to claim 2, characterized in that: In the third step, when the tool setting surface is higher than the glue spraying surface, .

5. The multi-point dispensing calibration method according to claim 2, characterized in that: In the third step, when the tool setting surface is lower than the glue spraying surface, .

6. The multi-point dispensing calibration method according to claim 2, characterized in that: In the fourth step, The calculation formula is as follows: 。 7. The multi-point dispensing calibration method according to claim 1, characterized in that: When the camera and the nozzle are installed horizontally, and the axis of the camera and the axis of the nozzle are parallel to the Y axis, the working plane is the XZ plane.

8. The multi-point dispensing calibration method according to claim 1, characterized in that: When the camera and the nozzle are installed horizontally, and the axis of the camera and the axis of the nozzle are parallel to the X-axis, the working plane is the YZ plane.

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