Dispensing system and method capable of achieving inclined calibration and storage medium

Abstract

The invention discloses an adhesive dispensing system and method capable of achieving inclined calibration and a storage medium. The adhesive dispensing method capable of achieving inclined calibration comprises the steps that the first rotation angle and the second rotation angle of a vertical rotation driving part and the second rotation angle of a transverse rotation driving part are obtained correspondingly; according to the first rotation angle and the second rotation angle, the offset between the glue point and the axis of the vertical rotation driving part and the compensation amount in the vertical direction are calculated through a first calculation formula; according to the offset amount and the compensation amount obtained through calculation, the corresponding glue point positions of the vertical rotation driving piece at the first rotation angle and the transverse rotation driving piece at the second rotation angle are determined; and controlling a nozzle to dispense glue according to the determined glue point position.

Description

Technical Field

[0001] The present invention relates to the technical field of dispensing, and particularly to a dispensing system, method and storage medium capable of tilt calibration. Background Art

[0002] With the rapid progress of electronic technology, electronic circuits are developing towards ultra-small and miniaturized directions, which puts higher and higher requirements on packaging technology. The dispensing technology was born in the electronic packaging industry. Although there are many packaging forms, the dispensing technology is required for effective operation of micro wafers on the production line.

[0003] Currently, the dispensing machine can rotate around the Z-axis of the space rectangular coordinate system and can also drive the dispensing valve to tilt. However, before using the existing dispensing machine, a one-to-one correspondence relationship between the rotation angle along the Z-axis, the tilt angle of the dispensing valve and the position of the glue dot formed during dispensing must be established in the system. For the rotation angle along the Z-axis and the tilt angle of the dispensing valve that are not pre-stored in the system, their corresponding glue dot positions cannot be determined, which brings great inconvenience in use.

[0004] The above content is only used to assist in understanding the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of the present invention is to provide a dispensing system, method and storage medium capable of tilt calibration, aiming to solve the above technical problems in the prior art.

[0006] To achieve the above purpose, the present invention provides a dispensing system capable of tilt calibration, and the dispensing system capable of tilt calibration includes:

[0007] A mounting member;

[0008] A vertical rotation driving member, extending in the vertical direction and rotatable along its axial direction, and the vertical rotation driving member is mounted on the mounting member;

[0009] A horizontal rotation driving member, extending in the horizontal direction and rotatable along its axial direction, and the horizontal rotation driving member is mounted on the vertical rotation driving member to be driven to rotate along the axial direction by the vertical rotation driving member;

[0010] A dispensing valve, mounted on the horizontal rotation driving member and used to be driven to rotate by the horizontal rotation driving member, and a nozzle is provided on the dispensing valve;

[0011] A photographing device, mounted on the mounting member;

[0012] An altitude measuring device, mounted on the vertical rotation driving member;

[0013] A controller, electrically connected to the vertical rotation driving member, the horizontal rotation driving member, the photographing device, and the height measuring device respectively, and the controller is configured to:

[0014] Obtain the first rotation angle of the vertical rotation driving member and the second rotation angle of the horizontal rotation driving member respectively;

[0015] According to the first rotation angle and the second rotation angle, use a first calculation formula to calculate the offset between the glue point and the axis of the vertical rotation driving member, and the compensation amount along the vertical direction;

[0016] According to the calculated offset and compensation amount, determine the glue point position corresponding to the vertical rotation driving member at the first rotation angle and the horizontal rotation driving member at the second rotation angle;

[0017] Wherein, the first calculation formula is:

[0018] ;

[0019] ;

[0020] ;

[0021] Wherein, △x and △y are the offsets of the glue point relative to the axis of the vertical rotation driving member along the x-axis and y-axis directions respectively;

[0022] △z is the compensation amount along the vertical direction;

[0023] r is the rotation radius of the horizontal rotation driving member, that is, the distance from the nozzle to the axis of the horizontal rotation driving member;

[0024] R is the rotation radius of the vertical rotation driving member, that is, the distance from the nozzle to the axis of the vertical rotation driving member;

[0025] u and ν are the rotation angles of the vertical rotation driving member and the horizontal rotation driving member respectively;

[0026] h is the dispensing height.

[0027] Preferably, in the tiltable calibration dispensing system, the controller is further configured to:

[0028] According to the calculated offset and compensation amount, and the offset between the axis of the vertical rotation driving member and the photographing device, determine the glue point position corresponding to the vertical rotation driving member at the first rotation angle and the horizontal rotation driving member at the second rotation angle, and the formula is as follows:

[0029] Glue point position = (x0 + x1 + △x, y0 + y1 - R + △y, △z);

[0030] Among them, (x0, y0) is the coordinate of the shooting device;

[0031] (x1, y1) is the offset between the axis of the vertical rotation driving member and the shooting device.

[0032] Preferably, in the tilt-calibratable dispensing system, the controller is further configured to:

[0033] Control the vertical rotation driving member and the horizontal rotation driving member to return to zero, and only control the vertical rotation driving member to rotate to form at least three different first positions at different angles in the axial direction of the vertical rotation driving member of the dispensing valve, corresponding to at least three glue point positions;

[0034] Determine the coordinates of the at least three dispensing positions according to the images of the at least three glue point positions captured by the shooting device;

[0035] Calculate the rotation radius R of the vertical rotation driving member and the offset between the axis of the vertical rotation driving member and the shooting device according to the coordinates of the at least three glue point positions.

[0036] Preferably, in the tilt-calibratable dispensing system, the controller is further configured to:

[0037] Control the vertical rotation driving member and the horizontal rotation driving member to return to zero, and only control the horizontal rotation driving member to rotate to form at least one set of position data at different angles in the axial direction of the horizontal rotation driving member of the dispensing valve, and each set of position data includes two second positions and respectively corresponds to a first glue point and a second glue point;

[0038] Calculate the rotation radius of the horizontal rotation driving member according to the first glue point and the second glue point, and the calculation formula is as follows:

[0039] ;

[0040] Among them, (x , , ,

[0045] , , B , , A , ,

[0041] , ,

[0040] , , ,

[0039] ,

[0038] , , ,

[0044] , B ,

[0043] ,

[0037] , A ,

[0042] ,

[0036] , ,

[0035] , , , y A ) is the coordinate of the first glue point obtained when the horizontal rotation driving member rotates by an angle α;

[0041] (x B , y B ) is the coordinate of the second glue point obtained when the horizontal rotation driving member rotates by an angle β, where β > α;

[0042] k1 = H1 - S;

[0043] [[ID=4�]]k2 = H2 - S;

[0044] ;

[0045] ;

[0046] S is the height difference between the nozzle and the height measuring device when the horizontal rotation driving member returns to zero;

[0047] H1 and H2 are the heights of the height measuring device and the dispensing surface when the horizontal rotation driving member rotates by angles α and β respectively;

[0048] k1 and k2 are the distances between the nozzle and the dispensing surface when the horizontal rotation driving member rotates by angles α and β respectively.

[0049] Preferably, in the tilt-calibratable dispensing system, the controller is further configured to:

[0050] Average the calculated radii of rotation of the horizontal rotation driving member for at least one set of position data;

[0051] Use the calculated average value as the radius of rotation of the horizontal rotation driving member.

[0052] Preferably, in the tilt-calibratable dispensing system, the controller is further configured to:

[0053] Determine the distance L between the first glue dot and the second glue dot according to the images of the first glue dot and the second glue dot captured by the imaging device, obtaining the following formula (1):

[0054] ; (1)

[0055] Calculate the distance between the vector first glue dot and the second glue dot, obtaining the following formula (2):

[0056] ; (2)

[0057] Combine formula (1) and formula (2) to obtain:

[0058] ;

[0059] Simplify to obtain:

[0060] .

[0061] Preferably, in the tilt-calibratable dispensing system, the imaging device is an imaging camera, and the height measuring device is a height measuring sensor.

[0062] To achieve the above object, the present invention provides a tilt-calibratable dispensing method, and the tilt-calibratable dispensing method includes:

[0063] Obtain the first rotation angle and the second rotation angle of the vertical rotation driving member and the horizontal rotation driving member respectively;

[0064] According to the first rotation angle and the second rotation angle, use the first calculation formula to calculate the offset between the glue point and the axis of the vertical rotation driving member, and the compensation amount along the vertical direction;

[0065] According to the calculated offset and compensation amount, determine the glue point position corresponding to the vertical rotation driving member at the first rotation angle and the horizontal rotation driving member at the second rotation angle;

[0066] According to the determined glue point position, control the nozzle to apply glue;

[0067] Among them, the first calculation formula is:

[0068] ;

[0069] ;

[0070] ;

[0071] Among them, △x and △y are the offsets of the glue point relative to the axis of the vertical rotation driving member along the x-axis and y-axis directions respectively;

[0072] △z is the compensation amount along the vertical direction;

[0073] r is the rotation radius of the horizontal rotation driving member, that is, the distance from the nozzle to the axis of the horizontal rotation driving member;

[0074] R is the rotation radius of the vertical rotation driving member, that is, the distance from the nozzle to the axis of the vertical rotation driving member;

[0075] u and ν are the rotation angles of the vertical rotation driving member and the horizontal rotation driving member respectively;

[0076] h is the glue application height.

[0077] To achieve the above object, the present invention provides a tilt-calibratable glue application system, and the tilt-calibratable glue application system includes:

[0078] At least one processor; and,

[0079] A memory communicatively connected to the at least one processor; wherein,

[0080] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above tilt-calibratable glue application method.

[0081] To achieve the above object, the present invention provides a computer-readable storage medium storing a computer program, characterized in that when the computer program is executed by a processor, the above-described tilt-calibrated dispensing method is implemented.

[0082] The present invention has at least the following beneficial effects:

[0083] For the tilt-calibrated dispensing method provided by the present invention, the first rotation angle of the vertical rotation driving member and the second rotation angle of the horizontal rotation driving member are respectively obtained; according to the first rotation angle and the second rotation angle, a first calculation formula is used to calculate the offset between the dispensing point and the axis of the vertical rotation driving member, as well as the compensation amount along the vertical direction; according to the calculated offset and compensation amount, the dispensing point position corresponding to the vertical rotation driving member at the first rotation angle and the horizontal rotation driving member at the second rotation angle is determined; according to the determined dispensing point position, the nozzle is controlled to perform dispensing, so that the dispensing point position corresponding to the vertical rotation driving member at the first rotation angle and the horizontal rotation driving member at the second rotation angle can be accurately calculated. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] Figure 1 It is a schematic diagram of an embodiment of the tilt-calibrated dispensing system provided by the present invention;

[0085] Figure 2 is Figure 1 a schematic diagram of the tilt-calibrated dispensing system in the home position;

[0086] Figure 3 is Figure 2 a schematic diagram of the tilt-calibrated dispensing system when switching from the home position to the position where only the horizontal rotation driving member reaches position 1;

[0087] Figure 4 is Figure 3 a schematic diagram of the tilt-calibrated dispensing system when switching from position 1 to position 2;

[0088] Figure 5 is Figure 3 and Figure 4 a schematic diagram of the principle of rotation of only the horizontal rotation driving member;

[0089] Figure 6 It is a schematic diagram of the tilt-calibrated dispensing method provided by the present invention;

[0090] Figure 7 is a schematic diagram of an embodiment where only the vertical rotation driving member rotates and the horizontal rotation driving member does not rotate;

[0091] Figure 8Schematic diagram of another embodiment where only the vertical rotation driving member is rotated and the horizontal rotation driving member does not rotate;

[0092] Figure 9 For Figure 2 、 Figure 7 、 Figure 8 Top view of the corresponding three dispensing positions and the imaging device;

[0093] Figure 10 Schematic diagram when the rotation angle of the horizontal rotation driving member is 0;

[0094] Figure 11 Schematic diagram when the rotation angle of the horizontal rotation driving member is ν;

[0095] Figure 12 Simplified diagram when only the horizontal rotation driving member is rotated and the rotation angle is ν;

[0096] Figure 13 Top view simplified diagram when the horizontal rotation driving member is rotated with a rotation angle of ν and the vertical rotation driving member is rotated with a rotation angle of u;

[0097] Figure 14 Schematic diagram of the tilt-calibratable dispensing system provided by the present invention.

[0098] 100 - Tilt-calibratable dispensing system, 1 - Mounting member, 2 - Vertical rotation driving member, 3 - Horizontal rotation driving member, 4 - Dispensing valve, 41 - Nozzle.

[0099] The implementation, functional features, and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0100] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the drawings and embodiments. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0101] In the embodiments of the present invention, the term "and / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0102] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and do not necessarily describe a specific order or sequence.

[0103] In the embodiments of the present invention, the term "a plurality of" refers to two or more, and other quantifiers are similar thereto.

[0104] In the present invention, unless otherwise specified, the orientation terms such as "upper, lower, top, bottom" are usually in reference to the direction shown in the drawings, or in reference to the vertical, perpendicular or gravitational direction of the component itself; similarly, for the sake of easy understanding and description, "inner, outer" refer to the inner and outer of the contour of each component itself, but the above orientation terms are not used to limit the present invention.

[0105] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will elaborate on each embodiment of the present invention with reference to the drawings. However, those of ordinary skill in the art can understand that in each embodiment of the present invention, many technical details are provided to help readers better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed by the present invention can still be implemented. The division of the following embodiments is for convenience of description and should not constitute any limitation to the specific implementation of the present invention. The various embodiments can be combined and cross-referenced with each other on the premise of no contradiction.

[0106] Figure 1 The schematic diagram of the dispensing system with tilt calibration provided by the present invention is shown. Please refer to Figure 1 , the present invention provides a dispensing system 100 with tilt calibration. The dispensing system 100 with tilt calibration includes a mounting member 1, a vertical rotation driving member 2, a horizontal rotation driving member 3, a dispensing valve 4, a photographing device, a height measuring device, and a controller.

[0107] Among them, the mounting member 1 is used to mount other components, and the mounting member 1 can be used to mount the vertical rotation driving member 2 and the dispensing valve 4.

[0108] The vertical rotation driving member 2 extends in the vertical direction and can rotate along its axis. The vertical rotation driving member 2 is mounted on the mounting member 1. In some embodiments, the vertical rotation driving member 2 can be a first driving shaft extending in the Z-axis direction and a first driving motor drivingly connected to the first driving shaft. When the vertical rotation driving member 2 includes the first driving shaft and the first driving motor, the axis of the vertical rotation driving member 2 mentioned in the present invention can be understood as the axis of the first driving shaft.

[0109] The lateral rotation driving member 3 extends in the lateral direction and is rotatable about its axial direction. The lateral rotation driving member 3 is mounted on the vertical rotation driving member 2 to be driven by the vertical rotation driving member 2 to rotate about the axial direction (Z-axis direction). In some embodiments, the lateral rotation driving member 3 may be a second driving shaft extending in the lateral direction and a second driving motor drivingly connected to the second driving shaft. When the lateral rotation driving member 3 includes the second driving shaft and the second driving motor, the axis of the lateral rotation driving member 3 mentioned in the present invention may be understood as the axis of the second driving shaft. When both the vertical rotation driving member 2 and the lateral rotation driving member 3 are in the original position (zero return position), the second driving shaft extends in the X-axis direction.

[0110] The dispensing valve 4 is mounted on the lateral rotation driving member 3 for being driven to rotate by the lateral rotation driving member 3. A nozzle 41 is provided on the dispensing valve 4.

[0111] The photographing device is mounted on the mounting member 1. When the vertical rotation driving member 2 rotates, the photographing device will rotate together. The distance between the photographing device and the rotation center of the vertical rotation driving member 2 remains unchanged. In some embodiments, the photographing device is a photographing camera.

[0112] The height measuring device is mounted on the vertical rotation driving member 2. In some embodiments, the height measuring device is a height measuring sensor.

[0113] Figure 2 Schematically shows a schematic diagram of the tilt-calibratable dispensing system 100 in the zero return state. Figure 3 Schematically shows a schematic diagram of the tilt-calibratable dispensing system 100 when switching from the zero return state to the position where only the lateral rotation driving member 3 reaches position 1. Figure 4 Schematically shows a schematic diagram of the tilt-calibratable dispensing system 100 when switching from position 1 to position 2. Please refer to Figures 2 to 4 , for the convenience of explaining the dispensing principle when only the lateral rotation driving member 3 rotates, the following will be described with specific examples. As Figure 2 shown, when the vertical rotation driving member 2 and the lateral rotation driving member 3 are in the zero return state, the nozzle 41 is arranged downward and close to the dispensing surface. As Figure 3 shown, from the zero return state, switch to the state where the vertical rotation driving member 2 does not rotate and only the lateral rotation driving member 3 reaches position 1. At this time, the whole will descend along the Z direction so that the nozzle 41 is close to the dispensing surface. As Figure 4As shown, when only the lateral rotation drive member 3 rotates and switches from position 1 to position 2 (position 1 and position 2 are on both sides of the zeroing state), at this time, the dispensing valve 4 needs to be lifted as a whole first. After the dispensing valve 4 passes through the position of the zeroing state, then the dispensing valve 4 is lowered (this is mainly to prevent interference between the dispensing valve 4 and the dispensing surface during rotation). In this way, when reaching position 2, the nozzle 41 is close to the dispensing surface. Therefore, the heights calibrated at position 1 and position 2 may be different, as Figure 5 shown.

[0114] It should be noted that Figure 5 the dispensing surface 1 and the dispensing surface 2 in the figure are actually the same dispensing surface. Since the height of the dispensing valve 4 may be different when the lateral rotation drive member 3 rotates from position 1 to position 2, in order to facilitate reflecting the different heights of the dispensing valve 4 at both, when the lateral rotation drive member 3 is drawn from position 1 to position 2 on the same drawing, two dispensing surfaces are presented. Among them, P1 and P2 are the positions of the nozzle 41 at position 1 and position 2 respectively, and point A and point C are the corresponding glue dots of the nozzle 41 at position 1 and position 2 respectively.

[0115] It is worth noting that the glue dot mentioned in the present invention is the dot formed when the nozzle 41 dispenses glue on the dispensing surface.

[0116] Figure 6 schematically shows the process of the tiltable calibration dispensing method provided by the present invention. This process can be executed by the above-mentioned controller, or can be executed by any other suitable computer device.

[0117] Among them, at step S2100, the first rotation angle of the vertical rotation drive member 2 and the second rotation angle of the lateral rotation drive member are respectively obtained.

[0118] At step S2200, according to the first rotation angle and the second rotation angle, a first calculation formula is used to calculate the offset between the glue dot and the axis of the vertical rotation drive member 2, and the compensation amount along the vertical direction.

[0119] Among them, the first calculation formula is:[[]]

[0120] ;

[0121] ;

[0122] ;

[0123] Among them, △x and △y are the offsets of the glue dot relative to the axis of the vertical rotation drive member 2 along the x-axis and y-axis directions respectively;

[0124] △z is the compensation amount along the vertical direction;

[0125] r is the rotation radius of the lateral rotation driving member 3, that is, the distance from the nozzle 41 to the axis of the lateral rotation driving member 3;

[0126] R is the rotation radius of the vertical rotation driving member 2, that is, the distance from the nozzle 41 to the axis of the vertical rotation driving member 2;

[0127] u and ν are the rotation angles of the vertical rotation driving member 2 and the lateral rotation driving member 3 respectively;

[0128] h is the dispensing height.

[0129] Figure 10 and Figure 11 are two situations when only the lateral rotation driving member 3 rotates. Among them, Figure 10 corresponds to the situation when the rotation angle of the lateral rotation driving member 3 is 0, Figure 11 corresponds to the situation when the rotation angle of the lateral rotation driving member 3 is ν. Usually, under normal circumstances, it is required that the nozzle 41 keeps a preset distance from the dispensing surface, such as Figure 10 ; however, since the height in the Z-axis direction changes when the lateral rotation driving member 3 rotates, such as Figure 11 , at this time, if it is still required that the nozzle 41 keeps a preset distance from the dispensing surface, then compensation needs to be carried out in the Z-axis direction. The compensation amount along the vertical direction is △z.

[0130] Figure 12 is a schematic diagram when only the lateral rotation driving member 3 rotates and the rotation angle is ν. Figure 13 is a top view when the lateral rotation driving member 3 rotates with a rotation angle of ν and the vertical rotation driving member 2 rotates with a rotation angle of u. Figure 12 and Figure 13 The position corresponding to point N in the figure is the position of the nozzle 41, and the position corresponding to point M is the position of the glue dot. Since the connection line between the nozzle 41 (point N) and the glue dot M is tangent to the circle where the vertical rotation driving member 2 rotates, that is, O2N is perpendicular to NM. PQ is △x, and the included angle θ between PN and MN is equal to u. Figure 12 The L1 in Figure 13 is actually the distance L2 between NM in the top view

[0131] In some embodiments, the calculation methods of the rotation radius R of the vertical rotation driving member 2 and the offset between the axis of the vertical rotation driving member 2 and the imaging device are as in step S2211, step S2212, and step S2213.

[0132] At step S2211, control the vertical rotation driving member 2 and the lateral rotation driving member 3 to return to zero, and only control the vertical rotation driving member 2 to rotate to form at least three different first positions with different angles between the dispensing valve 4 and the axis direction of the vertical rotation driving member 2, corresponding to at least three glue dot positions. For example, takeFigure 2 , Figure 7 and Figure 8 three positions, Figure 2 , Figure 7 and Figure 8 only the vertical rotation drive member 2 is rotated, and the horizontal rotation drive member 3 does not rotate. Figure 9 shows Figure 2 , Figure 7 , Figure 8 the corresponding three dispensing positions and a top view of the imaging device. Among them, point D corresponds to Figure 7 the dispensing position, point E corresponds to Figure 2 the dispensing position, point F corresponds to Figure 8 the dispensing position, point CA corresponds to the position of the imaging device, and point O2 corresponds to the rotation axis of the vertical rotation drive member 2. It should be noted that since only the vertical rotation drive member 2 is rotated at this time, at this time, from Figure 2 , Figure 7 , Figure 8 the top view, the projections of the dispensing positions D, E, and F coincide with the nozzle 41.

[0133] At step S2212, based on the images of at least three glue dot positions captured by the imaging device, determine the coordinates of the at least three dispensing positions. It should be understood that the images of at least three glue dot positions captured by the imaging device. Taking Figure 9 the three glue dot positions as an example, the distances between the dispensing positions D, E, and F and the origin O(0, 0, 0) can be obtained by the imaging device, and then by listing three equations, the coordinates of the dispensing positions D, E, and F can be obtained. The dispensing heights corresponding to these three glue dot positions are the same, that is, the heights of the nozzles 41 are the same, and the coordinates of the nozzles 41 corresponding to the three positions can be calculated from the coordinates of the dispensing positions D, E, and F; then, based on the coordinates of the nozzles 41 corresponding to the three glue dot positions, by listing three equations, the coordinates of point O1 and the rotation radius R of the vertical rotation drive member 2 can be calculated. By calculating the distance between points O1 and the imaging device, the offset between the axis of the vertical rotation drive member 2 and the imaging device can be obtained.

[0134] In some embodiments, the calculation method of the rotation radius r of the horizontal rotation drive member 3 is as in steps S2221 and S2222.

[0135] At step S2221, control the vertical rotation drive member 2 and the horizontal rotation drive member 3 to return to zero, and only control the horizontal rotation drive member 3 to rotate to form at least one set of position data of different angles between the dispensing valve 4 and the axis direction of the horizontal rotation drive member 3, and each set of position data includes two second positions and respectively corresponds to a first glue dot and a second glue dot. Taking Figure 3and Figure 4 Calculate using two corresponding second positions as an example. Figure 5 Corresponds to Figure 3 and Figure 4 Two corresponding second positions. It should be noted that the dispensing surface 1 and the dispensing surface 2 are actually the same dispensing surface. It's just that in order to draw the Figure 3 and Figure 4 corresponding side views on the same drawing, two different dispensing surfaces are shown. The specific reason can be referred to the above description.

[0136] At step S2222, calculate the rotation radius of the lateral rotation driving member 3 according to the first glue dot and the second glue dot. The calculation formula is as follows:

[0137] ;

[0138] where, (x A , y A ) are the coordinates of the first glue dot obtained when the lateral rotation driving member 3 rotates by an angle α;

[0139] (x B , y B ) are the coordinates of the second glue dot obtained when the lateral rotation driving member 3 rotates by an angle β, and β > α;

[0140] k1 = H1 - S;

[0141] k2 = H2 - S;

[0142] ;

[0143] ;

[0144] S is the height difference between the nozzle 41 and the height measuring device when the lateral rotation driving member 3 returns to zero, usually a constant;

[0145] H1 and H2 are the heights of the height measuring device and the dispensing surface when the lateral rotation driving member 3 rotates by angles α and β respectively;

[0146] k1 and k2 are the distances between the nozzle 41 and the dispensing surface when the lateral rotation driving member 3 rotates by angles α and β respectively.

[0147] It should be noted that when the lateral rotation driving member 3 returns to zero, it is equivalent to the lateral rotation driving member 3 rotating by an angle of 0. When the lateral rotation driving member 3 rotates to the left from the zero return state, the rotation angle is negative. When the lateral rotation driving member 3 rotates to the right from the zero return state, the rotation angle is positive.

[0148] Among them, the calculation principle is from step S22221 to step S22224.

[0149] In step S22221, the distance L between the first glue point and the second glue point is determined based on the images of the first glue point and the second glue point captured by the camera, and the following formula (1) is obtained:

[0150] ; (1)

[0151] In step S22222, the distance between the first glue point and the second glue point is calculated to obtain the following formula (2):

[0152] ; (2)

[0153] In step S22223, equations (1) and (2) are combined to obtain:

[0154] ;

[0155] Step S22224 is simplified to:

[0156] .

[0157] Figure 10 and Figure 11 The diagram shows the corresponding parameters when the lateral rotation drive member 3 rotates at two different angles. The bottom end of the dispensing valve 4 is the nozzle 41, h n It should be noted that, in order to avoid interference between the nozzle 41 and the dispensing surface, the horizontal rotation drive member 3 usually moves the height of the Z axis as a whole when rotating. Therefore, the height of the height measuring device may change when the horizontal rotation drive member 3 rotates. Therefore, the corresponding H n It may be different.

[0158] In step S2213 , the rotation radius R of the vertical rotation driving member 2 and the offset between the axis of the vertical rotation driving member 2 and the photographing device are calculated based on the coordinates of the at least three glue point positions.

[0159] In some embodiments, the rotation radius of the transverse rotation driving member 3 calculated from at least one set of position data is averaged, and the average value is used as the rotation radius of the transverse rotation driving member 3. For example, three sets of data are provided and the average value is finally calculated.

[0160] In step S2300 , the glue point positions corresponding to the vertical rotation driving member 2 at the first rotation angle and the horizontal rotation driving member 3 at the second rotation angle are determined based on the calculated offset and compensation amounts.

[0161] Specifically, step S2300 includes determining the glue point positions corresponding to the vertical rotation driving member 2 at the first rotation angle and the horizontal rotation driving member 3 at the second rotation angle according to the calculated offset and compensation amount, and the offset between the axis of the vertical rotation driving member 2 and the imaging device. The formula is as follows:

[0162] Glue point position = (x0 + x1 + Δx, y0 + y1 - R + Δy, Δz);

[0163] Among them, (x0, y0) is the coordinate of the imaging device;

[0164] (x1, y1) is the offset between the axis of the vertical rotation driving member 2 and the imaging device.

[0165] The glue dispensing method with tilt calibration provided by the present invention respectively obtains the first rotation angle of the vertical rotation driving member 2 and the second rotation angle of the horizontal rotation driving member; according to the first rotation angle and the second rotation angle, the offset between the glue point and the axis of the vertical rotation driving member 2 and the compensation amount along the vertical direction are calculated by using the first calculation formula; according to the calculated offset and compensation amount, the glue point positions corresponding to the vertical rotation driving member 2 at the first rotation angle and the horizontal rotation driving member 3 at the second rotation angle are determined; according to the determined glue point positions, the nozzle 41 is controlled to perform glue dispensing, so that the glue point positions corresponding to the vertical rotation driving member 2 at the first rotation angle and the horizontal rotation driving member 3 at the second rotation angle can be accurately calculated.

[0166] To achieve the above object, the present invention also provides a glue dispensing system 100 with tilt calibration, as Figure 14 shown. The computer device includes at least one processor 301; and a memory 302 communicatively connected to the at least one processor 301; wherein, the memory 302 stores instructions executable by the at least one processor 301, and the instructions are executed by the at least one processor 301 so that the at least one processor 301 can execute the above-mentioned glue dispensing method with tilt calibration.

[0167] Among them, the memory 302 and the processor 301 are connected in a bus manner. The bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 301 and the memory 302 together. The bus may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, etc., which are well known in the art, so they will not be further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be a single component or multiple components, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices over a transmission medium. The data processed by the processor 301 is transmitted over a wireless medium via an antenna. Further, the antenna also receives data and transmits the data to the processor 301.

[0168] The processor 301 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. The memory 302 can be used to store data used by the processor 301 when performing operations.

[0169] To achieve the above object, the present invention provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above-described tiltable calibration dispensing method is implemented.

[0170] That is, those skilled in the art can understand that all or part of the steps in implementing the above-described method of the embodiment can be completed by instructing relevant hardware through a program. This program is stored in a storage medium and includes several instructions for causing a device (which can be a single-chip microcomputer, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0171] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, those of ordinary skill in the art can make other different forms of changes or modifications without creative efforts, and all of them should fall within the protection scope of the present invention.

Claims

1. A tilt-calibratable dispensing system, characterized in that, Comprising: Mounting member; Vertical rotation driving member, extending in the vertical direction and rotatable about its axis, the vertical rotation driving member being mounted on the mounting member; Horizontal rotation driving member, extending in the horizontal direction and rotatable about its axis, the horizontal rotation driving member being mounted on the vertical rotation driving member to be driven to rotate about its axis by the vertical rotation driving member; Dispensing valve, mounted on the horizontal rotation driving member for being driven to rotate by the horizontal rotation driving member, and a nozzle is provided on the dispensing valve; Imaging device, mounted on the mounting member; Height measuring device, mounted on the vertical rotation driving member; Controller, electrically connected to the vertical rotation driving member, the horizontal rotation driving member, the imaging device and the height measuring device respectively, and the controller is configured to: Obtain the first rotation angle of the vertical rotation driving member and the second rotation angle of the horizontal rotation driving member respectively; According to the first rotation angle and the second rotation angle, use a first calculation formula to calculate the offset between the glue dot and the axis of the vertical rotation driving member, and the compensation amount along the vertical direction; According to the calculated offset and compensation amount, determine the glue dot position corresponding to the vertical rotation driving member at the first rotation angle and the horizontal rotation driving member at the second rotation angle; Wherein, the first calculation formula is: ； ； ； Wherein, △x and △y are the offsets of the glue dot relative to the axis of the vertical rotation driving member along the x-axis and y-axis directions respectively; △z is the compensation amount along the vertical direction; r is the rotation radius of the horizontal rotation driving member, that is, the distance from the nozzle to the axis of the horizontal rotation driving member; R is the rotation radius of the vertical rotation driving member, that is, the distance from the nozzle to the axis of the vertical rotation driving member; u and ν are the rotation angles of the vertical rotation driving member and the horizontal rotation driving member respectively; h is the dispensing height.

2. The tiltable calibration dispensing system according to claim 1, wherein, The controller is further configured to: According to the calculated offset and compensation amount, and the offset between the axis of the vertical rotation driving member and the imaging device, determine the glue dot position corresponding to the vertical rotation driving member at the first rotation angle and the horizontal rotation driving member at the second rotation angle, and the formula is as follows: Glue dot position = (x0 + x1 + △x, y0 + y1 - R + △y, △z); Wherein, (x0, y0) is the coordinate of the imaging device; (x1, y1) is the offset between the axis of the vertical rotation driving member and the imaging device.

3. The tiltable calibration dispensing system according to claim 2, wherein The controller is further configured to: Control the vertical rotation driving member and the horizontal rotation driving member to return to zero, and only control the vertical rotation driving member to rotate to form at least three different first positions at different angles from the axis direction of the vertical rotation driving member of the dispensing valve, corresponding to at least three glue dot positions; According to the images of at least three glue dot positions captured by the imaging device, determine the coordinates of the at least three dispensing positions; According to the coordinates of the at least three glue dot positions, calculate the rotation radius R of the vertical rotation driving member and the offset between the axis of the vertical rotation driving member and the imaging device.

4. The tiltable calibration dispensing system according to claim 2, wherein The controller is further configured to: Control the vertical rotation driving member and the horizontal rotation driving member to return to zero, and only control the horizontal rotation driving member to rotate, so as to form at least one set of position data of different angles between the axis direction of the dispensing valve and the horizontal rotation driving member. Each set of position data includes two second positions and corresponds to the first glue point and the second glue point respectively; According to the first glue point and the second glue point, calculate the rotation radius r of the horizontal rotation driving member. The calculation formula is as follows: ； Wherein, (x A , y A ) is the coordinate of the first glue dot obtained when the lateral rotation driving part rotates by an angle α; (x B , y B ) are the coordinates of the second glue point obtained when the lateral rotation driving member rotates by an angle β, where β > α; k1 = H1 - S; k2 = H2 - S; ； ; S is the height difference between the nozzle and the height measuring device when the horizontal rotation driving member returns to zero; H1 and H2 are the heights of the height measuring device and the dispensing surface when the horizontal rotation driving member rotates by angles α and β respectively; k1 and k2 are the distances between the nozzle and the dispensing surface when the horizontal rotation driving member rotates by angles α and β respectively.

5. The tiltable calibration dispensing system according to claim 4, wherein, The controller is further configured to: Average at least one set of position data and the calculated rotation radius of the horizontal rotation driving member; Use the calculated average value as the rotation radius of the horizontal rotation driving member.

6. The tiltable calibration dispensing system according to claim 4, characterized in that, The controller is further configured to: According to the images of the first glue point and the second glue point captured by the imaging device, determine the distance L between the first glue point and the second glue point, and obtain the following formula (1): ；（1） Calculate the distance between the vector first glue point and the second glue point, and obtain the following formula (2): ；（2） Combine formula (1) and formula (2) to obtain: ； Simplify to obtain: 。 7. The tiltable calibration dispensing system according to claim 1, wherein The imaging device is an imaging camera, and the height measuring device is a height measuring sensor.

8. A dispensing method with tilt calibration, characterized in that, Comprising: Obtain the first rotation angle and the second rotation angle of the vertical rotation driving member and the horizontal rotation driving member respectively; According to the first rotation angle and the second rotation angle, use the first calculation formula to calculate the offset between the glue point and the axis of the vertical rotation driving member, and the compensation amount along the vertical direction; According to the calculated offset and compensation amount, determine the glue point position corresponding to the vertical rotation driving member at the first rotation angle and the horizontal rotation driving member at the second rotation angle; Control the nozzle to perform dispensing according to the determined glue point position; Wherein, the first calculation formula is: ； ； ； Wherein, △x and △y are the offsets of the glue point relative to the axis of the vertical rotation driving member along the x-axis and y-axis directions respectively; △z is the compensation amount along the vertical direction; r is the rotation radius of the horizontal rotation driving member, that is, the distance from the nozzle to the axis of the horizontal rotation driving member; R is the rotation radius of the vertical rotation driving member, that is, the distance from the nozzle to the axis of the vertical rotation driving member; u and ν are the rotation angles of the vertical rotation driving member and the horizontal rotation driving member respectively; h is the dispensing height.

9. A dispensing system with tilt calibration, characterized in that, Comprising: At least one processor; And, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the tiltable calibration dispensing method as claimed in claim 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the tiltable calibration dispensing method as claimed in claim 8.

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