Method, device and system for correcting needle head of dispensing machine

Abstract

The invention provides a method, a device and a system for correcting a needle head of a dispensing machine. The method comprises the following steps: acquiring a first offset of the needle head in an X direction and a first offset of the needle head in a Y direction relative to a target position for receiving glue on a reference platform before replacement; the replaced needle head is moved by a first offset in the X direction and a first offset in the Y direction, so that the needle head is moved to a target position, and then glue is spitted to a reference platform; offset dx and dy of the center of the glue and the target position in the X direction and the Y direction are obtained; and according to the offset dx in the X direction and the offset dy in the Y direction, the distances between the replaced needle head and the operation position in the X direction and the Y direction are updated respectively. According to the device, the offset of the replaced needle in the X and Y directions can be automatically detected, the dispensing needle is adjusted according to the offset, correction is accurate, and the efficiency is high.

Description

Technical Field

[0001] The invention relates to the technical field of glue dispensing, and in particular to a glue dispensing machine needle correction method, device and system. Background Art

[0002] The glue dispensing machine is a mechatronic product that integrates motion control technology and glue dispensing technology. It is widely used in electronic component manufacturing, circuit board assembly, integrated circuit packaging and other industries.

[0003] During use, the dispensing needle on the dispensing machine needs to be disassembled, reinstalled or replaced for various reasons, such as regular maintenance and cleaning, needle collision, etc. After reinstalling or replacing the dispensing needle, the needle tip position needs to be manually corrected, which is time-consuming and labor-intensive, and requires a high level of skill for the process adjustment personnel, affecting the accuracy and consistency of production operations. Summary of the invention

[0004] One of the purposes of the present invention is to provide a method, device and system for calibrating the needle of a dispensing machine to solve the problems existing in the prior art.

[0005] The technical solution provided by the present invention is as follows:

[0006] A method for calibrating a dispensing machine needle, comprising:

[0007] Obtain a first offset deltaX in the X direction and a first offset deltaY in the Y direction of the needle before replacement relative to the target position of the glue on the reference platform;

[0008] The replaced needle is moved by a first offset deltaX in the X direction and a first offset deltaY in the Y direction to move it to the target position, and then glue is spitted onto the reference platform;

[0009] Get the offset of the center of the glue relative to the target position in the X direction and the Y direction;

[0010] According to the offset in the X direction and the offset in the Y direction, the distances between the replaced needle and the working position in the X direction and the Y direction are updated respectively.

[0011] In some embodiments, obtaining the offset of the center of the glue relative to the target position in the X direction and the Y direction includes:

[0012] The center position of the glue is obtained by a visual detector;

[0013] The offset of the center of the glue relative to the target position in the X and Y directions is obtained according to the target position and the center position of the glue.

[0014] In some embodiments, obtaining the center position of the glue by a visual detector includes:

[0015] The visual detector is a camera with a cross mark on the camera screen;

[0016] Move the camera in the X and Y directions so that the cross mark on the camera screen coincides with the center of the glue, and record the movement distance in the X and Y directions;

[0017] The center position of the glue is determined according to the moving distance in the X and Y directions and the initial position of the camera.

[0018] In some embodiments, a first height value Z1 of the needle before replacement relative to the Z direction detector is obtained;

[0019] Obtain a second height value Z2 of the replaced needle relative to the Z direction detector, and obtain an offset dz of the replaced needle relative to the needle before replacement in the Z direction according to the second height value Z2 and the first height value Z1;

[0020] According to the offset dz in the Z direction, the height value between the replaced needle and the product working surface is updated.

[0021] In some embodiments, including:

[0022] The height H2 between the height detector and the product working surface, and the height H1 between the height detector and the Z direction detector are obtained through the height detector;

[0023] According to the height H1 between the height detector and the Z direction detector and the height H2 between the height detector and the product working surface, a third height value of the product working surface relative to the Z direction detector is obtained;

[0024] Obtain a second height value Z2 of the replaced needle relative to the Z-direction detector;

[0025] The height value between the replaced needle and the product working surface is obtained according to the second height value Z2 and the third height value Z3.

[0026] In some embodiments, obtaining a height value of the needle relative to a Z-direction detector includes:

[0027] Move the needle parallel to the top of the detector in the Z direction;

[0028] The needle moves downward at a preset speed until it touches the Z direction detector. After receiving the touch signal, the Z direction detector notifies the needle to stop moving downward. The downward movement distance of the needle is the height value of the needle relative to the Z direction detector before movement.

[0029] The present invention also provides a dispensing machine needle correction device, comprising:

[0030] An acquisition module, used for acquiring a first offset deltaX in the X direction and a first offset deltaY in the Y direction of the needle before replacement relative to a target position of the needle receiving glue on the reference platform;

[0031] The driving module is used to move the replaced needle by the first offset deltaX in the X direction and the first offset deltaY in the Y direction, so that it moves to the target position, and then spits glue onto the reference platform; the processing module is used to obtain the offset of the center of the glue relative to the target position in the X direction and the offset in the Y direction; according to the offset in the X direction and the offset in the Y direction, the distance between the replaced needle and the working position in the X direction and the Y direction is updated respectively.

[0032] The present invention also provides a glue dispensing machine needle correction system, which is characterized by comprising the glue dispensing machine needle correction device of the aforementioned embodiment, a camera, a reference platform, and a glue dispensing mechanism;

[0033] The glue dispensing mechanism is used to move the glue dispensing needle to spit glue toward the reference platform;

[0034] The camera can move in three dimensions, and the position of the reference platform is fixed;

[0035] The reference platform is provided with a target position for receiving glue, and the reference platform is used to receive the glue spitted out by the replaced needle;

[0036] The camera is used to obtain the center position of the glue ejected by the needle after replacement.

[0037] In some embodiments, a Z-direction detector is also included;

[0038] The position of the Z direction detector is fixed, and is used to measure the height value of the needle head relative to the Z direction detector before replacement, and the height value of the needle head relative to the Z direction detector after replacement.

[0039] In some embodiments, further comprising a height detector;

[0040] The height detector is movable to measure the height between it and the product working surface, and the height between it and the Z direction detector.

[0041] The method, device and system for correcting the needle of a dispensing machine provided by the present invention can at least bring the following beneficial effects:

[0042] 1. The present invention measures the offset of the replaced needle in the X and Y directions relative to the needle before replacement by measuring the offset between the glue center and the target position in the X and Y directions, and then adjusts the dispensing needle accordingly. The offset measurement is accurate, the correction is precise and the efficiency is high.

[0043] 2. The present invention obtains the center position of the glue and calculates the offset of the glue center relative to the target position in the X and Y directions, and can automatically detect the offset of the replaced needle in the X and Y directions, thereby reducing manual operations and improving test efficiency and stability.

[0044] 3. The present invention also provides a method for measuring the offset dz of the needle in the Z direction, thereby achieving all-round correction of the replaced needle. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The following will explain the preferred implementation mode in a clear and understandable manner with reference to the accompanying drawings, and further explain the above-mentioned characteristics, technical features, advantages and implementation methods of a dispensing machine needle correction method, device and system.

[0046] Figure 1 is a flow chart of a method for calibrating a needle of a glue dispensing machine according to an embodiment of the present invention;

[0047] Figure 2 It is a structural schematic diagram of a needle correction device for a glue dispensing machine according to an embodiment of the present invention;

[0048] Figure 3 It is a structural schematic diagram of a needle calibration system for a glue dispensing machine according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0050] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0051] In one embodiment of the present invention, Figure 1 As shown, a method for calibrating a dispensing machine needle includes:

[0052] Step S100: obtaining a first offset deltaX in the X direction and a first offset deltaY in the Y direction of the needle before replacement relative to the target position of the glue receiving device on the reference platform;

[0053] Step S200: moving the replaced needle by a first offset deltaX in the X direction and a first offset deltaY in the Y direction to move it toward the target position, and then spitting glue onto the reference platform;

[0054] Step S300: obtaining the offset dx of the glue center relative to the target position in the X direction and the offset dy in the Y direction;

[0055] Step S400 updates the distances between the replaced needle and the working position in the X direction and the Y direction according to the offset dx in the X direction and the offset dy in the Y direction.

[0056] Specifically, the reference platform is used for needle calibration, its position is fixed and cannot be moved, and its upper end surface is provided with a target position, and the position information of the target position can also be determined in advance.

[0057] A reference point may be set on the reference platform, or a separate reference point may be set, and an XYZ coordinate system may be constructed based on the reference point to determine the position of each object.

[0058] The target position of the reference platform is the standard glue center point, which is also the position of the glue center expected to be spit out by the replaced needle during the calibration process. If the center of the glue spit out by the replaced needle coincides with the target position, it means that the replaced needle has no offset in the X and Y directions relative to the needle before replacement, which means that the needle does not need to be calibrated in the X and Y directions, otherwise it needs to be calibrated.

[0059] The three-dimensional coordinates of the needle before replacement can be determined. According to the X and Y coordinates of the needle before replacement and the X and Y coordinates of the target position on the reference platform, the first offset deltaX in the X direction and the first offset deltaY in the Y direction of the needle before replacement relative to the target position can be obtained respectively.

[0060] Under the control of the driving mechanism, the replaced needle is moved by deltaX in the X direction and deltaY in the Y direction. If the replaced needle has no deviation in the X and Y directions from the needle before replacement, the needle should reach the top of the target position through the above movement, and the center of the glue spitted by the needle should coincide with the target position. If the center of the glue spitted by the needle does not coincide with the target position, it means that the center of the glue is offset in the X and Y directions relative to the target position, and the offset is equal to the offset of the reinstalled needle (i.e. the replaced needle) relative to the reinstalled needle (i.e. the replaced needle) in the X and Y directions.

[0061] One method is to obtain the center position of the glue spitted by the needle after replacement, and obtain the offset of the glue center relative to the target position in the X and Y directions based on the target position and the center position of the glue. The offset is the offset dx in the X direction and the offset dy in the Y direction of the needle after replacement relative to the needle before replacement.

[0062] The center position of the glue can be determined by a visual detector. The visual detector is a camera, such as a CMOS camera or a CCD camera, with a cross mark on the camera screen, which can help the operator accurately align the center position of the glue. In some embodiments, a circular mark is also superimposed on the camera screen, and the cross mark and the circular mark can help the user quickly and accurately align the center position of the glue.

[0063] The visual detector is attached to the driving mechanism. Under the control of the driving mechanism, the camera is moved in the X and Y directions so that the center of the cross mark on the camera screen coincides with the center of the glue and the circular mark covers the glue. The center position of the glue is then determined based on the moving distance in the X and Y directions and the initial position of the camera.

[0064] Another method is to use precision instruments to measure the offset of the glue center relative to the target position in the X and Y directions, such as using a visual detector.

[0065] Move the camera to the top of the target position, then shoot downward to obtain an image containing the glue and the target position, identify the target position and glue in the image, for example, the target position can be marked with a preset mark (such as the intersection of "+"-shaped lines, or a black dot, a black circle, a small triangle symbol, etc.), and the target position is determined by identifying the preset mark; identify the glue according to color or morphological characteristics. Measure the pixel offset of the center of the glue in the image relative to the target position in the X and Y directions. The pixel offset is the pixel distance, and then convert the pixel offset in the X and Y directions to the actual distance according to the conversion relationship between the pixel distance and the actual distance, that is, obtain the X-direction offset dx and the Y-direction offset dy. The conversion relationship between the pixel distance and the actual distance depends on the camera resolution, the object distance and the distance during shooting, which can be determined in advance.

[0066] Then, according to the offset dx in the X direction and the offset dy in the Y direction, the distance between the needle and the actual working position of the product in the X direction and the Y direction are adjusted respectively, and the subsequent dispensing work is compensated accordingly.

[0067] In this embodiment, the offset of the glue center relative to the target position in the X and Y directions is measured to equivalently measure the offset of the replaced needle relative to the needle before replacement, and the dispensing needle is adjusted accordingly. The offset measurement is accurate, the correction is precise, and the efficiency is high.

[0068] In one embodiment, step S300 obtains the offset of the glue center relative to the target position in the X direction and the Y direction, including:

[0069] Step S310: obtaining the center position of the glue ejected by the replaced needle through a visual detector;

[0070] Step S320 obtains the offset of the glue center relative to the target position in the X and Y directions according to the target position and the center position of the glue, which is the offset dx in the X direction and the offset dy in the Y direction of the replaced needle relative to the needle before replacement.

[0071] In one embodiment, it further includes:

[0072] Step S500 obtains a first height value Z1 of the needle before replacement relative to the Z direction detector;

[0073] Step S501: obtaining a second height value Z2 of the replaced needle relative to the Z direction detector, and obtaining an offset dz of the replaced needle relative to the needle before replacement in the Z direction according to the second height value Z2 and the first height value Z1;

[0074] Step S502 updates the height value between the replaced needle and the product working surface according to the offset dz in the Z direction.

[0075] This embodiment also provides a method for measuring the offset dz in the Z direction. The height between the needle and the product working surface is updated according to the offset dz, and the needle can be calibrated in three dimensions, which is more comprehensive.

[0076] In one embodiment, the method comprises:

[0077] Step S510: obtaining, by means of a height detector, a height H2 between the height detector and the product working surface, and a height H1 between the height detector and the Z direction detector;

[0078] Step S511 obtains a third height value of the product working surface relative to the Z direction detector according to the height H1 between the height detector and the Z direction detector and the height H2 between the height detector and the product working surface;

[0079] Step S512 obtains a second height value Z2 of the replaced needle relative to the Z direction detector;

[0080] Step S513 obtains the height value between the replaced needle and the product working surface according to the second height value Z2 and the third height value Z3.

[0081] If the product changes before and after the needle is replaced, the height of the product may change, so it is necessary to calibrate the work surface of the product and re-measure the height between the replaced needle and the work surface of the product. This embodiment uses a height detector, which is used to measure the height of the device on the platform and can be an optical sensor or an ultrasonic sensor.

[0082] In one embodiment, obtaining the height value of the needle relative to the Z direction detector in step S500 / step S501 / step S512 includes:

[0083] Move the needle parallel to the top of the detector in the Z direction;

[0084] The needle moves downward at a preset speed until it touches the Z direction detector. When the Z direction detector receives the touch signal, the needle is controlled to stop moving downward. The downward movement distance of the needle is the height value of the needle relative to the Z direction detector before movement.

[0085] One embodiment of the present invention, as Figure 2 As shown, a dispensing machine needle correction device 100 includes:

[0086] An acquisition module 110 is used to acquire a first offset deltaX in the X direction and a first offset deltaY in the Y direction of the needle before replacement relative to a target position of the needle receiving glue on the reference platform;

[0087] The driving module 120 is used to move the replaced needle by a first offset deltaX in the X direction and a first offset deltaY in the Y direction to move it to a target position, and then spit glue onto the reference platform;

[0088] The processing module 130 is used to obtain the offset dx of the glue center relative to the target position in the X direction and the offset dy in the Y direction; according to the offset dx in the X direction and the offset dy in the Y direction, adjust the distance between the replaced needle and the working position in the X direction and the Y direction respectively.

[0089] In one embodiment, the processing module is further used to obtain the center position of the glue; and obtain the offset of the center of the glue relative to the target position in the X and Y directions according to the center position of the glue and the target position.

[0090] In one embodiment, the visual detector is a camera with a cross mark on the camera screen.

[0091] The driving module is also used to move the camera in the X and Y directions so that the cross mark on the camera screen coincides with the center position of the glue, and record the moving distance in the X and Y directions;

[0092] The processing module is also used to determine the center position of the glue according to the moving distance in the X and Y directions and the initial position of the camera.

[0093] In one embodiment, the processing module is also used to obtain a first height value Z1 of the needle before replacement relative to the Z-direction detector; obtain a second height value Z2 of the needle after replacement relative to the Z-direction detector, and obtain an offset dz in the Z direction of the needle after replacement relative to before replacement based on the second height value Z2 and the first height value Z1; and update the height value between the replaced needle and the product working surface based on the offset dz in the Z direction.

[0094] In one embodiment, the processing module is also used to obtain the height H2 between the height detector and the product working surface, and the height H1 between the height detector and the Z-direction detector through the height detector; obtain the third height value of the product working surface relative to the Z-direction detector based on the height H1 between the height detector and the Z-direction detector and the height H2 between the height detector and the product working surface; obtain the second height value Z2 of the replaced needle relative to the Z-direction detector; and obtain the height value between the replaced needle and the product working surface based on the second height value Z2 and the third height value Z3.

[0095] It should be noted that the embodiment of the glue dispenser needle correction device provided by the present invention and the embodiment of the glue dispenser needle correction method provided above are based on the same inventive concept and can achieve the same technical effect. Therefore, other specific contents of the embodiment of the glue dispenser needle correction device can refer to the contents of the embodiment of the glue dispenser needle correction method provided above.

[0096] One embodiment of the present invention, as Figure 3 As shown, a dispensing machine needle correction system includes the dispensing machine needle correction device 100, the visual detector 200, the reference platform 300, and the dispensing mechanism 400 described in the above embodiments.

[0097] The dispensing mechanism is used to drive the dispensing needle to move and spit glue onto the reference platform.

[0098] The visual detector may be a camera, which can be moved in three dimensions. The reference platform is immovable and has a fixed position.

[0099] A target position for receiving glue is arranged on the reference platform, and the reference platform is used for receiving glue ejected by the replaced needle.

[0100] A visual detector is used to obtain the center position of the glue ejected by the needle after replacement.

[0101] In one embodiment, a Z-direction detector 500 is further included.

[0102] The Z direction detector is immovable and fixed in position, and is used to measure the height value of the needle before replacement relative to the Z direction detector, and the height value of the needle after replacement relative to the Z direction detector.

[0103] The Z-direction detectors include:

[0104] a switch, used for contacting the moving needle to obtain detection information;

[0105] The processor is used to control the movement of the needle in the Z direction, and to control the needle to stop moving according to the detection information, and to calculate the position difference between the needle and the switch in the Z direction according to the movement distance of the needle after receiving the detection information.

[0106] In one embodiment, a height detector 600 is also included.

[0107] The height detector is movable to measure the height between it and the product working surface, and the height between it and the Z direction detector.

[0108] The height detector can be an optical sensor or an ultrasonic sensor. An optical sensor calculates the distance by emitting a light beam (such as a laser) to the object being measured and receiving the reflected light, measuring the time or phase change required for the beam to travel back and forth. The working principle of an ultrasonic sensor is to send an ultrasonic pulse, measure the time it takes for the wave to reflect back from an object, and calculate the distance based on the propagation speed of the ultrasonic wave in the medium.

[0109] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A method for calibrating a dispensing machine needle, characterized in that: include: Obtain a first offset deltaX in the X direction and a first offset deltaY in the Y direction of the needle before replacement relative to the target position of the glue on the reference platform; The replaced needle is moved by a first offset deltaX in the X direction and a first offset deltaY in the Y direction to move it toward the target position, and then glue is spitted onto the reference platform; Obtaining an offset in the X direction and an offset in the Y direction of the center of the glue relative to the target position; According to the offset in the X direction and the offset in the Y direction dy, the distances between the replaced needle and the working position in the X direction and the Y direction are updated respectively.

2. The method for calibrating the needle of a dispensing machine according to claim 1, characterized in that: The step of obtaining an offset of the center of the glue relative to the target position in the X direction and the Y direction includes: Acquire the center position of the glue by a visual detector; The offset of the center of the glue relative to the target position in the X and Y directions is obtained according to the target position and the center position of the glue.

3. The method for calibrating the needle of a dispensing machine according to claim 2, characterized in that: The obtaining of the center position of the glue by a visual detector comprises: The visual detector is a camera, and a cross mark is provided on the camera screen; Move the camera in the X and Y directions so that the cross mark on the camera screen coincides with the center position of the glue, and record the moving distance in the X and Y directions; The center position of the glue is determined according to the moving distances in the X and Y directions and the initial position of the camera.

4. The method for calibrating the needle of a dispensing machine according to claim 1, characterized in that: include: Acquire a first height value Z1 of the needle before replacement relative to the Z-direction detector; Obtain a second height value Z2 of the replaced needle relative to the Z direction detector, and obtain an offset dz of the replaced needle relative to the needle before replacement in the Z direction according to the second height value Z2 and the first height value Z1; According to the offset dz in the Z direction, the height value between the replaced needle and the product working surface is updated.

5. The method for calibrating the needle of a dispensing machine according to claim 1, characterized in that: include: Obtaining the height H2 between the height detector and the product working surface, and the height H1 between the height detector and the Z direction detector through the height detector; Obtaining a third height value of the product working surface relative to the Z direction detector according to a height H1 between the height detector and the Z direction detector and a height H2 between the height detector and the product working surface; Obtain a second height value Z2 of the replaced needle relative to the Z-direction detector; The height value between the replaced needle and the product working surface is obtained according to the second height value Z2 and the third height value Z3.

6. The method for calibrating the needle of a dispensing machine according to claim 4 or 5, characterized in that: Get the height value of the needle relative to the Z direction detector, including: Moving the needle in parallel to just above the Z-direction detector; The needle is moved downward at a preset speed until it touches the Z direction detector. After receiving the touch signal, the Z direction detector notifies the needle to stop moving downward. The downward movement distance of the needle is the height value of the needle relative to the Z direction detector before the movement.

7. A needle calibration device for a dispensing machine, characterized in that: include: An acquisition module, used for acquiring a first offset deltaX in the X direction and a first offset deltaY in the Y direction of the needle before replacement relative to a target position of the needle receiving glue on the reference platform; A driving module, used for moving the replaced needle by a first offset deltaX in the X direction and a first offset deltaY in the Y direction, so as to move the needle toward the target position, and then spit glue onto the reference platform; The processing module is used to obtain the offset of the center of the glue relative to the target position in the X direction and the Y direction; according to the offset in the X direction and the offset in the Y direction, the distance between the replaced needle and the working position in the X direction and the Y direction is updated respectively.

8. A dispensing machine needle calibration system, characterized in that: It includes the glue dispensing machine needle correction device, camera, reference platform and glue dispensing mechanism as described in claim 7; The glue dispensing mechanism is used to move the glue dispensing needle to spit glue toward the reference platform; The camera can move in three dimensions, and the reference platform is fixed in position; The reference platform is provided with a target position for receiving glue, and the reference platform is used to receive the glue spitted out by the replaced needle; The camera is used to obtain the center position of the glue ejected by the needle after replacement.

9. The glue dispensing machine needle calibration system according to claim 8, characterized in that: Also includes a Z-direction detector; The position of the Z direction detector is fixed, and the Z direction detector is used to measure the height value of the needle head relative to the Z direction detector before replacement, and the height value of the needle head relative to the Z direction detector after replacement.

10. The glue dispensing machine needle calibration system according to claim 9, characterized in that: Also included is an altitude detector; The height detector is movable and is used to measure the height between it and the product working surface, and the height between it and the Z-direction detector.

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