Dynamic filling and dispensing method

Abstract

The invention discloses a dynamic filling and dispensing method, and relates to the technical field of dynamic dispensing. The dynamic filling dispensing method specifically comprises the following steps: determining a dispensing filling area of a target dispensing object; obtaining three-dimensional point cloud data in the dispensing filling area; according to the obtained three-dimensional point cloud data in the dispensing filling area, obtaining a numerical value of a product of depth and width of each area in the dispensing filling area; and a depth data linear formula is established, the dispensing speed of the dispensing filling area is matched according to the numerical value of the product of the depth and the width of the dispensing filling area, and the glue amount is distributed according to the dispensing speed. According to the measured numerical value of the product of the depth and the width of the product filling area, the glue dispensing speed of the glue dispensing area is matched by utilizing the depth data linear formula, and the glue amount is distributed, so that the filling of the product filling area is more sufficient, the poor glue shortage is reduced, and the product yield is improved.

Description

Technical Field

[0001] The invention relates to the technical field of dynamic glue dispensing, in particular to a dynamic filling glue dispensing method. Background Art

[0002] When dispensing glue on the product, the depth and width of the glue filling area of ​​the product cannot be controlled due to the sealing position of the skin line area of ​​the module of the Varro project. The parameters are distributed using 3D scanning. In this dispensing mode, only the depth data of the product is extracted, and the glue-stripping area uses a fixed speed for glue-stripping. This parameter cannot cover the production of large quantities of products, and the product has the risk of insufficient glue, which is not conducive to process control. Summary of the invention

[0003] In order to solve the defects in the prior art, the present invention provides a dynamic filling dispensing method.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0005] The present invention provides a dynamic filling dispensing method, comprising the following steps:

[0006] Step 1: determine the dispensing filling area of ​​the target dispensing object; and obtain the three-dimensional point cloud data within the dispensing filling area;

[0007] Step 2: obtaining the value of the product of the depth and width of each area in the glue filling area according to the obtained three-dimensional point cloud data in the glue filling area;

[0008] Step 3: Establish a linear formula for depth data, match the glue dispensing speed of the glue dispensing filling area according to the value of the product of the depth × width of the glue dispensing filling area, and distribute the glue amount at the glue dispensing speed.

[0009] As a preferred technical solution of the present invention, the linear formula for establishing the depth data is to first divide the glue filling area into multiple glue filling areas according to the glue dispensing process of the glue filling area, and establish a different linear formula for the depth data for each glue dispensing area according to the different glue dispensing requirements of the glue dispensing process for each glue dispensing area.

[0010] As a preferred technical solution of the present invention, the operation of dividing the glue filling area into multiple glue filling areas is to first divide it into three filling areas A, B and C connected end to end according to the characteristics of the glue filling area, wherein the filling area A is the first distribution speed area, the filling area B is the constant speed area, and the filling area C is the second distribution speed area.

[0011] As a preferred technical solution of the present invention, the linear formula of the depth data of the filling area A is Y1=-4.18X1+5.8718, wherein 0.564mm≤x1≤0.77mm, X1 is the depth × width value of the filling area A, and Y1 is the glue scribing speed in the filling area A.

[0012] As a preferred technical solution of the present invention, when the depth × width value X1 of the filling area A>0.772mm, a glue scribing speed of 2.6mm / s is used; when the depth × width value X1 of the filling area A<0.564mm, a glue scribing speed of 3.5mm / s is used.

[0013] As a preferred technical solution of the present invention, the glue scribing speed in the filling area B is 2.7 mm.

[0014] As a preferred technical solution of the present invention, the linear formula of the depth data of the filling area C is Y2=-3.8561X2+5.4168 (0.483mm≤x2≤0.572mm), X2 is the depth × width value of the filling area A, and Y is the glue scraping speed in the filling area A.

[0015] As a preferred technical solution of the present invention, when the depth × width value of the filling area C is greater than 0.572 mm, a glue scribing speed of 2.9 mm / s is used; and when the depth × width value of the filling area C is less than 0.483 mm, a glue scribing speed of 3.6 mm / s is used.

[0016] As a preferred technical solution of the present invention, the method for obtaining three-dimensional point cloud data in the glue filling area is to utilize 3D scanning distribution technology, diffuse the laser into a line laser through the cylindrical objective lens in the 3D camera and then project it onto the glue filling area, and form diffuse reflection in the glue filling area, so that the reflected light is imaged on the CMOS, and then the displacement and shape are measured by detecting the changes in position and shape to obtain the three-dimensional point cloud data of the glue filling area.

[0017] As a preferred technical solution of the present invention, the actual depth of the dispensing position is measured by scanning with a 3D camera, positioning is performed according to a depth capture window, and the difference from the standard depth is calculated to obtain the measured depth.

[0018] The beneficial effects of the present invention are:

[0019] 1. This dynamic filling and dispensing method specifically determines the dispensing and filling area of ​​the target dispensing object; and obtains the three-dimensional point cloud data in the dispensing and filling area; obtains the value of the depth × width product of each area in the dispensing and filling area according to the three-dimensional point cloud data obtained in the dispensing and filling area; establishes a linear formula for depth data, matches the dispensing speed of the dispensing and filling area according to the value of the depth × width product of the dispensing and filling area, and distributes the glue amount at the dispensing speed. This method uses the linear formula for depth data to match the dispensing speed of the dispensing area according to the value of the depth × width product of the measured product filling area, and distributes the glue amount based on this, so that the product filling area is filled more fully, the defect of insufficient glue is reduced, and the product yield is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0021] In the attached picture:

[0022] Figure 1 It is a work flow chart of a dynamic filling and dispensing method of the present invention;

[0023] Figure 2 It is a schematic diagram of the area division of the glue dispensing filling area of ​​a dynamic filling glue dispensing method of the present invention;

[0024] Figure 3 It is a schematic diagram of the distribution of glue drawing speed in the glue dispensing area of ​​a dynamic filling glue dispensing method of the present invention;

[0025] Figure 4 It is a schematic diagram of the proportional relationship between the product width and depth and the glue drawing speed of a dynamic filling and dispensing method of the present invention;

[0026] Figure 5 It is a schematic diagram of glue dispensing speed in area A in a dynamic filling glue dispensing method of the present invention;

[0027] Figure 6 It is a schematic diagram of glue stripping speed in area C in a dynamic filling glue dispensing method of the present invention;

[0028] Figure 7 It is a schematic diagram of the area division of the glue dispensing filling area in an embodiment of a dynamic filling glue dispensing method of the present invention;

[0029] Figure 8 It is a schematic diagram of the width and depth position of a glue filling area in a dynamic filling glue dispensing method of the present invention. DETAILED DESCRIPTION

[0030] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0031] Example: Figures 1 to 8 As shown, the present invention provides a dynamic filling dispensing method, comprising the following steps:

[0032] Step 1: determine the dispensing filling area of ​​the target dispensing object; and obtain the three-dimensional point cloud data within the dispensing filling area;

[0033] Step 2: obtaining the value of the product of the depth and width of each area in the glue filling area according to the obtained three-dimensional point cloud data in the glue filling area;

[0034] Step 3: Establish a linear formula for depth data, match the dispensing speed of the dispensing filling area according to the value of the product of the depth × width of the dispensing filling area, and distribute the glue amount at the dispensing speed. According to the value of the product of the depth × width of the measured product filling area, use the linear formula for depth data to match the dispensing speed of the dispensing area, and use this to distribute the glue amount, so that the product filling area is filled more fully, reducing the defective glue shortage and improving the product yield.

[0035] Among them, the establishment of the depth data linear formula is to first divide the glue filling area into multiple glue filling areas according to the glue dispensing process of the glue filling area, and establish a different depth data linear formula for each glue dispensing area according to the different glue dispensing requirements of the glue dispensing process for each glue dispensing area. In this way, the glue dispensing area is divided to perform a specific depth data linear formula for each glue dispensing area, which facilitates precise glue drawing.

[0036] The operation of dividing the glue filling area into a plurality of glue filling areas is to first divide the glue filling area into three filling areas A, B and C connected end to end according to the characteristics of the glue filling area, wherein Figure 7As shown, the width of area A is 2.27mm, the width of area B is 6.15mm, and the width of area A is 2.07mm, wherein the filling area A is the first distribution speed zone, the filling area B is the constant speed zone, and the filling area C is the second distribution speed zone. Among them, the linear formula of the depth data of the filling area A is Y1=-4.18X1+5.8718, where 0.564mm≤x1≤0.77mm, X1 is the depth × width value of the filling area A, and Y1 is the glue stripping speed in the filling area A. Among them, when the depth × width value X1 of the filling area A>0.772mm, a glue stripping speed of 2.6mm / s is used; when the depth × width value X1 of the filling area A<0.564mm, a glue stripping speed of 3.5mm / s is used. Among them, the glue stripping speed of the filling area B is 2.7mm. The linear formula of the depth data of the filling area C is Y2=-3.8561X2+5.4168 (0.483mm≤x2≤0.572mm), X2 is the depth × width value of the filling area A, and Y is the glue-scratching speed in the filling area A. When the depth × width value of the filling area C>0.572mm, use a glue-scratching speed of 2.9mm / s, and when the depth × width value of the filling area C<0.483mm, use a glue-scratching speed of 3.6mm / s. A different linear formula of depth data is established for each of the dispensing areas, and the dispensing areas are divided in this way to perform a specific linear formula of depth data on each of the dispensing areas, so as to facilitate accurate glue-scratching.

[0037] The specific glue parameters can be Figures 3 to 6 to view it.

[0038] The method for obtaining the three-dimensional point cloud data in the glue filling area is to use the 3D scanning distribution technology, diffuse the laser into a line laser through the cylindrical objective lens in the 3D camera and then project it on the glue filling area, and form diffuse reflection in the glue filling area, so that the reflected light is imaged on the CMOS, and then the displacement and shape are measured by detecting the change of position and shape to obtain the three-dimensional point cloud data of the glue filling area; in this way, the three-dimensional space coordinates of the glue filling area can be determined, and the filling area can be divided conveniently, and the filling area A is the first distribution speed area, the filling area B is the constant speed area, and the filling area C is the second distribution speed area. Among them, the linear formula of the depth data of the filling area A is Y1=-4.18X1+5.8718, where 0.564mm≤x1≤0.77mm, X1 is the depth × width value of the filling area A, and Y1 is the glue drawing speed in the filling area A. Among them, when the depth × width value X1 of the filling area A>0.772mm, use a glue scrubbing speed of 2.6mm / s; when the depth × width value X1 of the filling area A<0.564mm, use a glue scrubbing speed of 3.5mm / s. Among them, the glue scrubbing speed of the filling area B is 2.7mm. The linear formula of the depth data of the filling area C is Y2=-3.8561X2+5.4168(0.483mm≤x2≤0.572mm), X2 is the depth × width value of the filling area A, and Y is the glue scrubbing speed in the filling area A. When the depth × width value of the filling area C>0.572mm, use a glue scrubbing speed of 2.9mm / s, and when the depth × width value of the filling area C<0.483mm, use a glue scrubbing speed of 3.6mm / s. A different depth data linear formula is established for each of the dispensing areas, so that the dispensing areas are divided, and a specific depth data linear formula is applied to each of the dispensing areas, so as to facilitate accurate dispensing. The actual depth of the dispensing position is measured by scanning with a 3D camera, and the depth is positioned according to the depth capture window, and the difference with the standard depth is calculated to obtain the measured depth.

[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dynamic filling dispensing method, characterized in that: The following steps are involved: Step 1: determine the dispensing filling area of ​​the target dispensing object; and obtain the three-dimensional point cloud data within the dispensing filling area; Step 2: obtaining the value of the product of the depth and width of each area in the glue filling area according to the obtained three-dimensional point cloud data in the glue filling area; Step 3: Establish a linear formula for depth data, match the glue dispensing speed of the glue dispensing filling area according to the value of the product of the depth×width of the glue dispensing filling area, and distribute the glue amount at the glue dispensing speed.

2. The dynamic filling dispensing method according to claim 1, characterized in that: The method of establishing the linear formula for depth data is to first divide the glue filling area into multiple glue filling areas according to the glue dispensing process of the glue filling area, and establish a different linear formula for depth data for each glue dispensing area according to the different glue dispensing requirements of the glue dispensing process for each glue dispensing area.

3. The dynamic filling dispensing method according to claim 2, characterized in that: The operation of dividing the glue filling area into multiple glue filling areas is to first divide it into three filling areas A, B and C connected end to end according to the characteristics of the glue filling area, wherein the filling area A is the first distribution speed area, the filling area B is the constant speed area, and the filling area C is the second distribution speed area.

4. The dynamic filling dispensing method according to claim 3, characterized in that: The linear formula of the depth data of the filling area A is Y1=-4.18X1+5.8718, wherein 0.564mm≤x1≤0.77mm, X1 is the depth×width value of the filling area A, and Y1 is the glue scrubbing speed in the filling area A.

5. The dynamic filling dispensing method according to claim 3, characterized in that: When the depth × width value X1 of the filling area A is greater than 0.772 mm, a glue scribing speed of 2.6 mm / s is used; when the depth × width value X1 of the filling area A is less than 0.564 mm, a glue scribing speed of 3.5 mm / s is used.

6. The dynamic filling dispensing method according to claim 3, characterized in that: The glue scribing speed in the filling area B is 2.7 mm.

7. The dynamic filling dispensing method according to claim 3, characterized in that: The linear formula of the depth data of the filling area C is Y2=-3.8561X2+5.4168 (0.483mm≤x2≤0.572mm), X2 is the depth×width value of the filling area A, and Y is the glue scrubbing speed in the filling area A.

8. The dynamic filling dispensing method according to claim 7, characterized in that: When the depth × width value of the filling area C is greater than 0.572 mm, a glue scribing speed of 2.9 mm / s is used; when the depth × width value of the filling area C is less than 0.483 mm, a glue scribing speed of 3.6 mm / s is used.

9. The dynamic filling dispensing method according to claim 1, characterized in that: The method for obtaining the three-dimensional point cloud data in the glue filling area is to use 3D scanning distribution technology, diffuse the laser into a line laser through the cylindrical objective lens in the 3D camera and then project it on the glue filling area, and form diffuse reflection in the glue filling area, so that the reflected light is imaged on the CMOS, and then the displacement and shape are measured by detecting the changes in position and shape to obtain the three-dimensional point cloud data of the glue filling area.

10. The dynamic filling dispensing method according to claim 9, characterized in that: The actual depth of the dispensing position is measured by scanning with a 3D camera, positioned according to the depth capture window, and the difference from the standard depth is calculated to obtain the measured depth.

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