Dynamic dispensing system and method for filling gaps with different heights

Abstract

The invention discloses a dynamic dispensing system and method for filling gaps with different heights, and relates to the technical field of camera module processing, the dynamic dispensing system comprises a 3D scanning module, the 3D scanning module comprises a moving platform, the moving platform is provided with a visual identification system, a 3D camera, a first X-axis linear moving motor and a first Z-axis linear moving motor, the first X-axis linear moving motor and the first Z-axis linear moving motor are used for adjusting the X direction and the Z direction of the moving platform, the 3D camera is used for scanning and shooting images on the side faces of products, and the dispensing module is used for starting and executing the dispensing process after the dispensing speed is set by the software algorithm module. After the gap height of the area can be obtained through scanning measurement, the glue drawing speed of the area is obtained through comparison, and finally the glue drawing speed is output to the glue dispensing module to achieve accurate control over the glue drawing speed, so that the filling area of the product is filled more fully, glue overflowing, glue shortage and poor leakage are reduced, and the product yield is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of camera module processing, and in particular to a dynamic dispensing system for filling gaps of different heights. Background Art

[0002] Camera module side dispensing, where the gap heights on the sides of different products are inconsistent, has been applied to dispensing at Varo & MEMBSF stations;

[0003] like Figure 3 As shown, the Varo project requires the use of a baffle attached to the upper part of the product for protection. At the same time, the electrical signal connection between the baffle and the protective cover must be guaranteed. Therefore, silver glue is needed to fill the gap between the baffle and the protective cover to achieve conduction and sealing.

[0004] However, due to the influence of the baffle attachment accuracy of the machine, it is impossible to ensure that the gap between the baffle and the protective cover remains consistent after attachment. Figure 4 As shown, the consistency of A1, A2, A3, and A4 cannot be guaranteed. Therefore, the traditional dispensing process will cause gap leakage and overflow, which is no longer suitable for such dispensing situations. Therefore, we propose a dynamic dispensing system to solve the above technical problems by filling gaps of different heights. Summary of the Invention

[0005] In view of this, the main purpose of the present invention is to provide a dynamic dispensing system for filling gaps of different heights, which is to solve the above problems.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical solutions: including:

[0007] A 3D scanning module includes a mobile platform equipped with a visual recognition system, a 3D camera, a first X-axis linear motion motor, and a first Z-axis linear motion motor. The first X-axis linear motion motor and the first Z-axis linear motion motor are used to adjust the mobile platform in the X and Z directions. The 3D camera is used to scan and capture images of the side of the product.

[0008] A software algorithm module, wherein the software algorithm module is used to allocate corresponding glue drawing speeds to different height areas based on the height difference data and using a parameter comparison table verified by DOE;

[0009] A dispensing module, configured to start and execute a dispensing process after the dispensing speed is set by the software algorithm module;

[0010] The dispensing module includes:

[0011] A dispensing head for dispensing glue, wherein the dispensing head is provided with a second X-axis linear motion motor for precise movement in the X direction and a second Z-axis linear motion motor for precise movement in the Z direction;

[0012] The platform is used to fix the product and keep the product stable through vacuum adsorption. The platform is equipped with a Y-axis linear movement motor for moving in the Y direction, an R-axis motor for rotating the product, and a U-axis motor.

[0013] As a preferred solution, the R-axis motor is used to control the dispensing head to rotate 360 ​​degrees.

[0014] As a preferred solution, the U-axis motor is used to control the inclination of the dispensing head.

[0015] As a preferred solution, the dispensing head completes the dispensing of glue by increasing the air pressure.

[0016] As a preferred solution, the visual recognition system is used to identify the position of the product.

[0017] As a preferred solution, the 3D scanning module includes an internal software algorithm, and the internal software algorithm is used to analyze the image captured by the 3D camera.

[0018] As a preferred solution, the parameter comparison table includes the height and speed of product dispensing.

[0019] As a preferred solution, a dispensing method is included, and the dispensing method includes:

[0020] Step 1: The visual recognition system first identifies the product position, and the mobile platform moves to the initial position aligned with the product by adjusting the X-axis and Z-axis directions;

[0021] Step 2: Scan the entire side of the product with a 3D camera to obtain a 3D image of the side. The internal software algorithm analyzes the data of the 3D image to obtain the height difference of the gap on the side of the product and sends the height difference to the software algorithm module;

[0022] Step 3: After the software algorithm module obtains the gap height of the area, it compares it to the glue drawing speed of the area and finally outputs the glue drawing speed to the dispensing module to achieve precise control of the glue drawing speed;

[0023] Step 4: Use a dispensing module with five axial high-precision motors to precisely control the dispensing speed of the dispensing head and ensure complete coverage of the product side with dispensing even when the gap heights are different.

[0024] As a preferred solution, in step 4, after the side of the product is fully covered with glue, return to step 2 to confirm that the glue on the product is fully covered, and output the product after confirming that the product is fully covered with glue.

[0025] As a preferred solution, the dispensing method is dynamic dispensing.

[0026] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, it can be seen from the above technical solution that:

[0027] This system uses a 3D scanning module, which includes a PR visual recognition system, a 3D camera, an X-axis linear motion motor, and a Z-axis linear motion motor, which together form a mobile platform. The visual recognition system identifies the position of the camera module and aligns the mobile platform with the initial position of the camera module by adjusting the X-axis and Z-axis. The 3D camera scans the side of the camera module to obtain a 3D image. The internal software algorithm analyzes the 3D image, obtains the height difference of the side gap, and sends it to the software algorithm module.

[0028] The software algorithm module uses the height difference data provided by the 3D scanning module to assign corresponding dispensing speeds to different height areas using a height-speed comparison table. The height-speed comparison table, verified by DOE, supports customization and is applicable to a variety of products and glue types. The algorithm outputs the glue dispensing speed to achieve precise control of the dispensing speed.

[0029] The dispensing module consists of a dispensing head, a platform, an X-axis motor, a Z-axis motor, a Y-axis motor, an R-axis motor, and a U-axis motor. The dispensing head is precisely moved by the X-axis and Z-axis motors and dispenses glue under the control of the machine. The platform fixes the camera module and maintains stability through vacuum adsorption technology. It is connected to the Y-axis motor for Y-direction movement. The platform is connected to the R-axis and U-axis motors to enable 360° rotation of the camera module in a tilted state, ensuring that the glue evenly covers the sides of the module.

[0030] After scanning and measuring the gap height of the area, the glue painting speed of the area is obtained by comparison, and finally the glue painting speed is output to the dispensing module to achieve precise control of the glue painting speed, so that the product filling area is filled more fully, thereby reducing glue overflow, insufficient glue and gap defects, and improving product yield.

[0031] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the system flow of an embodiment of the present invention;

[0033] Figure 2is a height-speed comparison table of an embodiment of the present invention;

[0034] Figure 3 This is a schematic structural diagram of a painting glue product according to an embodiment of the present invention;

[0035] Figure 4 Schematic diagram of the original adhesive seam according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and implementation examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0037] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0038] See also Figures 1 to 2 The embodiment of the present invention provides a dynamic dispensing system for filling gaps of different heights, comprising:

[0039] A 3D scanning module includes a mobile platform equipped with a visual recognition system, a 3D camera, a first X-axis linear motion motor, and a first Z-axis linear motion motor. The first X-axis linear motion motor and the first Z-axis linear motion motor are used to adjust the mobile platform in the X and Z directions. The 3D camera is used to scan and capture images of the side of the product.

[0040] A software algorithm module, wherein the software algorithm module is used to allocate corresponding glue drawing speeds to different height areas based on the height difference data and using a parameter comparison table verified by DOE;

[0041] A dispensing module, configured to start and execute a dispensing process after the dispensing speed is set by the software algorithm module;

[0042] The dispensing module includes:

[0043] A dispensing head for dispensing glue, wherein the dispensing head is provided with a second X-axis linear motion motor for precise movement in the X direction and a second Z-axis linear motion motor for precise movement in the Z direction;

[0044] The platform is used to fix the product and keep the product stable through vacuum adsorption. The platform is equipped with a Y-axis linear movement motor for moving in the Y direction, an R-axis motor for rotating the product, and a U-axis motor.

[0045] When this system is used, product input: the product enters the system from the left input port;

[0046] 3D scanning and measurement: The 3D scanning module scans and measures the product gap height;

[0047] Data transmission: Output the height difference results obtained by scanning to the software algorithm module;

[0048] Dispensing speed calculation: The software algorithm module calculates the dispensing speed of different areas based on the height difference data;

[0049] Dynamic dispensing: The dispensing module executes the dispensing process according to the dispensing speed set by the software algorithm module;

[0050] Confirmation of dispensing effect: After dispensing is completed, return to the 3D scanning module to scan and confirm the dispensing effect;

[0051] Product output: After the dispensing effect is determined to be passed, the product is output from the system output end.

[0052] The 3D scanning module includes a PR visual recognition system, a 3D camera, an X-axis linear motion motor, and a Z-axis linear motion motor, which together form a mobile platform. The visual recognition system identifies the position of the camera module and aligns the mobile platform with the initial position of the camera module by adjusting the X and Z axes. The 3D camera scans the side of the camera module to obtain a 3D image. The internal software algorithm analyzes the 3D image, obtains the height difference of the side gap, and sends it to the software algorithm module;

[0053] The software algorithm module uses the height difference data provided by the 3D scanning module to assign corresponding dispensing speeds to different height areas using a height-speed comparison table. The height-speed comparison table, verified by DOE, supports customization and is applicable to a variety of products and glue types. The algorithm outputs the glue dispensing speed to achieve precise control of the dispensing speed.

[0054] The dispensing module consists of a dispensing head, a platform, an X-axis motor, a Z-axis motor, a Y-axis motor, an R-axis motor and a U-axis motor. The dispensing head achieves precise movement through the X-axis and Z-axis motors and completes glue discharge under the control of the machine. The platform fixes the camera module, maintains stability through vacuum adsorption technology, and is connected to the Y-axis motor to achieve Y-direction movement. The platform is connected to the R-axis and U-axis motors to enable the camera module to rotate 360° in a tilted state, ensuring that the glue evenly covers the sides of the module.

[0055] The system consists of three main modules: a 3D scanning module, a software algorithm module, and a dispensing module. The system precisely measures the gap height between the product (the baffle and the protective cover) and dynamically adjusts the dispensing speed based on the measurement results, achieving precise dispensing operations and ensuring that the gaps between the products are effectively filled.

[0056] See also Figures 1 to 2 The R-axis motor is used to control the dispensing head to rotate 360 ​​degrees.

[0057] When used in this system, the R-axis motor, commonly known as the rotary axis motor, is a key component in the dispensing machine. It is responsible for controlling the rotation of the dispensing head. Through the rotation of the R-axis motor, the dispensing head can rotate 360 ​​degrees continuously in the horizontal plane, thereby realizing a full range of dispensing operations. The R-axis motor can accurately control the rotation angle and speed of the dispensing head to ensure that the flow and distribution of glue during the dispensing process meet the precise requirements. The 360-degree rotation capability enables the dispensing head to adapt to different dispensing modes, such as circular, elliptical or irregularly shaped paths, to meet the dispensing needs of complex products.

[0058] See also Figures 1 to 2 The U-axis motor is used to control the inclination of the dispensing head.

[0059] When used in this system, the U-axis motor, which is a tilting axis motor or a swinging axis motor, is an actuator in the dispensing system used to adjust the tilt angle of the dispensing head. It allows the dispensing head to tilt at different working stages to adapt to different dispensing angle requirements. The U-axis motor can adjust the tilt angle of the dispensing head according to preset programs or real-time feedback to adapt to the different heights and shapes of the workpiece surface. By changing the inclination of the dispensing head, the flow path of the glue can be optimized to ensure that the glue is accurately filled into the target gap, especially in three-dimensional surfaces or irregular gaps.

[0060] The U-axis motor typically works in conjunction with the X, Y, Z, and R-axis motors to form a multi-axis linkage control system. This allows the dispensing head to not only move in three dimensions but also adjust its tilt angle, achieving high-precision and efficient dispensing. When dispensing camera modules, the U-axis motor can control the dispensing head to rotate 360 ​​degrees while tilting, ensuring that the glue evenly covers the sides of the module and creates a seal.

[0061] See also Figures 1 to 2 The dispensing head completes the dispensing of glue by increasing the air pressure.

[0062] When this system is used, the dispensing head is the end effector in the dispensing system. It is in direct contact with the glue and applies it to the workpiece. The dispensing head usually contains one or more glue outlets and a channel connected to the glue supply system. By increasing the air pressure, the glue flows out from the glue outlet under the action of pressure to complete the dispensing action. When the air pressure increases to a certain level, the glue is pushed out of the dispensing head under the action of the pressure difference. The size of the air pressure directly affects the flow rate and amount of glue. The air pressure of the dispensing head is adjusted by an air pressure controller, which can receive instructions from the host computer or programmable logic controller. It is a mature existing technology and will not be described in detail in this article to achieve automatic control. The glue output, glue output speed and glue output mode of the dispensing head, continuous glue output, breakpoint glue output and timed glue output can all be adjusted by air pressure control to meet different dispensing needs.

[0063] See also Figures 1 to 2 , the visual recognition system is used to identify the location of the product.

[0064] When this system is in use, the visual recognition system consists of one or more high-resolution cameras, light sources, image processing units and corresponding image analysis software. This system captures the image of the product through the camera, and then uses image processing software to analyze the image to identify the location information of the product. By identifying the specific location of the product, the system can automatically calibrate and adjust the robot's motion path to ensure that each operation step can be executed accurately.

[0065] See also Figures 1 to 2 The 3D scanning module includes an internal software algorithm, which is used to analyze the image captured by the 3D camera.

[0066] When this system is used, the 3D camera is used to capture the image of the scanned object;

[0067] The light source system provides stable light to illuminate the scanned product, ensuring that the 3D camera can capture high-quality images;

[0068] The data processing unit is a built-in or external computer used to process the image data captured by the 3D camera.

[0069] See also Figure 2 , the parameter comparison table includes the height and speed of product dispensing.

[0070] See also Figures 1 to 2 , including a dispensing method, the dispensing method comprising:

[0071] Step 1: The visual recognition system first identifies the product position, and the mobile platform moves to the initial position aligned with the product by adjusting the X-axis and Z-axis directions;

[0072] Step 2: Scan the entire side of the product with a 3D camera to obtain a 3D image of the side. The internal software algorithm analyzes the data of the 3D image to obtain the height difference of the gap on the side of the product and sends the height difference to the software algorithm module;

[0073] Step 3: After the software algorithm module obtains the gap height of the area, it compares it to the glue drawing speed of the area and finally outputs the glue drawing speed to the dispensing module to achieve precise control of the glue drawing speed;

[0074] Step 4: Use a dispensing module with five axial high-precision motors to precisely control the dispensing speed of the dispensing head and ensure complete coverage of the product side with dispensing even when the gap heights are different.

[0075] When using this system, step one is to first identify the product position by the visual recognition system. The mobile platform adjusts the X-axis and Z-axis directions to move the entire mobile platform to the initial position aligned with the product. This step is the basis for ensuring the accuracy of the dispensing process. The visual recognition system determines the specific position of the product through image processing technology, and the adjustment of the mobile platform ensures that the dispensing head can start dispensing at the correct starting point. This alignment is crucial to the subsequent dispensing accuracy.

[0076] Step 2: Use a 3D camera to scan the entire side of the product and obtain a 3D image of the side. The internal software algorithm analyzes the 3D image data to obtain the height difference of the gap on the side of the product and sends this height difference to the software algorithm module. The 3D scan provides accurate three-dimensional information about the side of the product. This information is crucial for understanding the shape and height difference of the gap. The software algorithm module uses this data to determine the dispensing path and parameters to ensure that the glue can accurately fill the gap.

[0077] Step 3: After the software algorithm module obtains the gap height of the area, it compares it to the glue dispensing speed of the area and finally outputs the glue dispensing speed to the dispensing module to achieve precise control of the glue dispensing speed. The function of the software algorithm module is to optimize the dispensing parameters according to the gap height of the product. The glue dispensing speed is one of the key parameters affecting the quality and efficiency of glue dispensing. By adjusting the speed through the comparison table, it can ensure that uniform glue dispensing can be achieved on gaps of different heights.

[0078] When the dispensing head switches from one speed (V1) to another speed (V2), it needs to go through a process of acceleration or deceleration. During this process, the dispensing head will gradually change its speed over a specific distance until it reaches the new set speed. Use the formula S = (V1V2-V2V2) / (2*a) to calculate the distance used during the speed conversion process;

[0079] S is the distance traveled during the speed conversion process;

[0080] V1 is the initial speed, that is, the speed of the dispensing head in area 1;

[0081] V2 is the final speed, that is, the speed of the dispensing head in area 2;

[0082] a is the acceleration, that is, the acceleration of the dispensing head when it changes speed.

[0083] When the dispensing head needs to move from one speed zone (zone 1, speed V1) to another speed zone (zone 2, speed V2), it will gradually change its speed by accelerating or decelerating. The above formula can be used to calculate the distance (S) that the dispensing head needs to travel during the speed conversion process to ensure a smooth transition to the new speed without affecting the dispensing quality.

[0084] In the transition area between two speed zones, the dispensing head will use the speed setting value of the next zone (zone 2) to maintain the continuity and uniformity of dispensing;

[0085] Step 4. Through the dispensing module with five axial high-precision motors, the dispensing speed of the dispensing head is precisely controlled, and the side of the product can be fully covered with glue even when the gap height is different. The five axial motors provide highly flexible dispensing control, allowing the dispensing head to be fine-tuned according to the shape and height of the gap. This precise control ensures uniform and complete dispensing coverage even on complex or irregular surfaces.

[0086] See also Figures 1 to 2 In step 4, after the side of the product is completely covered with glue, return to step 2 to confirm that the glue on the product is fully covered. After confirming that the product is fully covered with glue, output the product.

[0087] When this system is in use, after the dispensing module completes side dispensing, the system controls the mobile platform to reposition the 3D camera to the initial scanning position of the product. The 3D camera scans the side of the product a second time to obtain a 3D image after dispensing. The internal software algorithm compares and analyzes the 3D image after dispensing with the previous image to check for uncovered areas or excessive dispensing.

[0088] By returning to step two for full coverage confirmation, the quality control of the dispensing process can be ensured, which is an important measure to prevent defective products from entering the market. If incomplete dispensing is found, the system can automatically adjust the dispensing parameters or prompt the operator to manually intervene to optimize the dispensing process. This step reflects the closed-loop control capability of the automated dispensing system, that is, the system can self-check and correct, thereby improving the level of automation.

[0089] See also Figures 1 to 2, the dispensing method is dynamic dispensing.

[0090] When this system is used, during the dispensing process, the vision system tracks the position and shape of the product in real time, and the motion control system dynamically adjusts the position and speed of the dispensing head based on this information.

[0091] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A dynamic dispensing system for filling gaps of different heights, characterized in that: include: A 3D scanning module, the 3D scanning module includes a mobile platform, on which a visual recognition system, a 3D camera, a first X-axis linear moving motor and a first Z-axis linear moving motor are arranged, the first X-axis linear moving motor and the first Z-axis linear moving motor are used to complete the adjustment of the X-direction and the Z-direction of the mobile platform, and the 3D camera is used to scan and capture the image of the side of the product; A software algorithm module, wherein the software algorithm module is used to allocate corresponding glue drawing speeds to different height areas according to the height difference data and using a parameter comparison table verified by DOE; A dispensing module, which is used to start and execute the dispensing process after the software algorithm module sets the dispensing speed; The dispensing module comprises: A dispensing head for dispensing glue, wherein the dispensing head is provided with a second X-axis linear motion motor for precise movement in the X direction and a second Z-axis linear motion motor for precise movement in the Z direction; The platform is used to fix the product and keep the product stable through vacuum adsorption. The platform is provided with a Y-axis linear movement motor for moving in the Y direction, an R-axis motor and a U-axis motor for rotating the product.

2. The dynamic dispensing system for filling gaps of different heights according to claim 1 is characterized in that: The R-axis motor is used to control the dispensing head to rotate 360 ​​degrees.

3. The dynamic dispensing system for filling gaps of different heights according to claim 1 is characterized in that: The U-axis motor is used to control the inclination of the dispensing head.

4. The dynamic dispensing system for filling gaps of different heights according to claim 1 is characterized in that: The glue dispensing head completes glue dispensing by increasing air pressure.

5. The dynamic dispensing system for filling gaps of different heights according to claim 1 is characterized in that: The visual recognition system is used to identify the location of the product.

6. The dynamic dispensing system for filling gaps of different heights according to claim 1 is characterized in that: The 3D scanning module includes an internal software algorithm, and the internal software algorithm is used to analyze the image captured by the 3D camera.

7. The dynamic dispensing system for filling gaps of different heights according to claim 1 is characterized in that: The parameter comparison table includes the height and speed of product dispensing.

8. The dynamic dispensing system for filling gaps of different heights according to any one of claims 1 to 7, characterized in that: The invention comprises a dispensing method, wherein the dispensing method comprises: Step 1: First, the visual recognition system identifies the product position, and the mobile platform moves to the initial position aligned with the product by adjusting the X-axis and Z-axis directions; Step 2: Scan the entire side of the product with a 3D camera to obtain a 3D picture of the side. The internal software algorithm analyzes the data of the 3D picture to obtain the height difference of the gap on the side of the product, and sends the height difference to the software algorithm module; Step 3: After the software algorithm module obtains the gap height of the area, it compares it to obtain the glue painting speed of the area, and finally outputs the glue painting speed to the glue dispensing module to achieve precise control of the glue painting speed; Step 4: Use a dispensing module with five axial high-precision motors to accurately control the dispensing speed of the dispensing head, and ensure that the side of the product is fully covered when the gap height is different.

9. The dynamic dispensing system for filling gaps of different heights according to claim 8 is characterized in that: In step 4, after the side of the product is fully covered by the glue, the process returns to step 2 to confirm that the glue on the product is fully covered. After confirming that the product is fully covered by the glue, the product is output.

10. The dynamic dispensing system for filling gaps of different heights according to claim 8 is characterized in that: The dispensing method is dynamic dispensing.

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