Tilt-calibrated dispensing system, method, and storage medium

Abstract

The present invention discloses a dispensing system, method and storage medium with tiltable calibration. The dispensing method with tiltable calibration includes: respectively obtaining the first rotation angle and the second rotation angle of the vertical rotating drive member and the horizontal rotating drive member; according to the first rotation angle and the second rotation angle, using a first calculation formula to calculate the offset between the glue point and the axis of the vertical rotating drive member, and the compensation amount along the vertical direction; according to the calculated offset and compensation amount, determining the corresponding glue point position of the vertical rotating drive member at the first rotation angle and the horizontal rotating drive member at the second rotation angle; according to the determined glue point position, controlling the nozzle to perform dispensing.

Description

Technical Field

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

[0002] With the rapid advancement of electronic technology, electronic circuits are developing towards ultra-small and miniaturized designs, which places increasingly high demands on packaging technology. Glue dispensing technology was born in the electronics packaging industry. Although there are many packaging forms, dispensing technology is required to effectively operate tiny wafers on the production line.

[0003] Currently, dispensing machines can rotate about the Z-axis of a rectangular coordinate system and can also tilt the dispensing valve. However, before use, existing dispensing machines must establish a one-to-one correspondence in the system between the Z-axis rotation angle, the dispensing valve tilt angle, and the glue dot position created during dispensing. For Z-axis rotation angles and dispensing valve tilt angles not pre-stored in the system, the corresponding glue dot position cannot be determined, resulting in significant inconvenience during use.

[0004] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute 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 that can be tilt-calibrated, aiming to solve the above-mentioned technical problems in the prior art.

[0006] To achieve the above object, the present invention provides a dispensing system capable of tilting and calibrating, the dispensing system capable of tilting and calibrating comprising:

[0007] Mounting parts;

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

[0009] a transverse rotation driving member extending in a transverse direction and rotatable along its axial direction, wherein the transverse rotation driving member is mounted on the vertical rotation driving member so as to be driven to rotate in the axial direction by the vertical rotation driving member;

[0010] a dispensing valve, mounted on the transverse rotation driving member, for being driven to rotate by the transverse rotation driving member, the dispensing valve being provided with a nozzle;

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

[0012] a height measuring device, mounted on the vertical rotation driving member;

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

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

[0015] According to the first rotation angle and the second rotation angle, the offset between the glue point and the axis of the vertical rotation drive member and the vertical compensation amount are calculated using a first calculation formula;

[0016] Determine the glue point position corresponding to the vertical rotation drive member at the first rotation angle and the horizontal rotation drive member at the second rotation angle according to the calculated offset and compensation amount;

[0017] Wherein, the first calculation formula is:

[0018] ;

[0019] ;

[0020] ;

[0021] Among them, △x and △y are the offsets of the glue point relative to the axis of the vertical rotating drive member along the x-axis and y-axis respectively;

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

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

[0024] R is the rotation radius of the vertical rotating drive member, that is, the axial distance from the nozzle to the vertical rotating drive member;

[0025] u and ν are the rotation angles of the vertical and horizontal rotation drive members, respectively;

[0026] h is the dispensing height.

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

[0028] Based on the calculated offset and compensation amount, and the offset between the axis of the vertical rotation drive member and the camera device, the glue point positions corresponding to the vertical rotation drive member at the first rotation angle and the horizontal rotation drive member at the second rotation angle are determined using the following formula:

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

[0030] Where (x0, y0) is the coordinate of the camera;

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

[0032] Preferably, in the tiltable calibrated dispensing system, the controller is further configured to:

[0033] Controlling the vertical rotation drive member and the horizontal rotation drive member to return to zero, and controlling only the vertical rotation drive member to rotate, so as to form at least three different first positions of the dispensing valve at different angles to the axis direction of the vertical rotation drive member, corresponding to at least three glue point positions;

[0034] Determining coordinates of the at least three glue dot positions based on images of the at least three glue dot positions captured by the camera;

[0035] According to the coordinates of the at least three glue point positions, 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 are calculated.

[0036] Preferably, in the tiltable calibrated dispensing system, the controller is further configured to:

[0037] Controlling the vertical rotation drive member and the horizontal rotation drive member to return to zero and controlling only the horizontal rotation drive member to rotate, so as to form at least one set of position data at different angles between the dispensing valve and the axis direction of the horizontal rotation drive member, each set of position data including two second positions corresponding to the first glue point and the second glue point respectively;

[0038] Based on the first and second glue points, calculate the rotation radius of the lateral rotation drive member using the following formula:

[0039] ;

[0040] Among them, (x A ,y A ) is the coordinate of the first glue point obtained when the lateral rotation driving member rotates by an angle α;

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

[0042] k1=H1-S;

[0043] k2=H2-S;

[0044] ;

[0045] ;

[0046] S is the height difference between the nozzle and the height measuring device when the lateral rotation drive returns to zero;

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

[0048] h1 and h2 are the distances between the nozzle and the dispensing surface when the lateral rotation drive member rotates by angles α and β, respectively.

[0049] Preferably, in the tiltable calibrated dispensing system, the controller is further configured to:

[0050] averaging the rotation radius of the transverse rotation driving member calculated from at least one set of position data;

[0051] The calculated average value is used as the rotation radius of the transverse rotation driving member.

[0052] Preferably, in the tiltable calibrated dispensing system, the controller is further configured to:

[0053] According to the images of the first glue point and the second glue point taken by the shooting device, the distance L between the first glue point and the second glue point is determined, and the following formula (1) is obtained:

[0054] ; (1)

[0055] Calculate the distance between the first glue point and the second glue point of the vector and get the following formula (2):

[0056] ; (2)

[0057] Combining equations (1) and (2), we get:

[0058] ;

[0059] Simplifying to get:

[0060] .

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

[0062] To achieve the above object, the present invention provides a dispensing method capable of tilt calibration, the dispensing method capable of tilt calibration comprising:

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

[0064] According to the first rotation angle and the second rotation angle, the offset between the glue point and the axis of the vertical rotation drive member and the vertical compensation amount are calculated using a first calculation formula;

[0065] Determine the glue point position corresponding to the vertical rotation drive member at the first rotation angle and the horizontal rotation drive member at the second rotation angle according to the calculated offset and compensation amount;

[0066] According to the determined glue point position, the nozzle is controlled to dispense glue;

[0067] Wherein, 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 rotating drive member along the x-axis and y-axis respectively;

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

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

[0074] R is the rotation radius of the vertical rotating drive member, that is, the axial distance from the nozzle to the vertical rotating drive member;

[0075] u and ν are the rotation angles of the vertical and horizontal rotation drive members, respectively;

[0076] h is the dispensing height.

[0077] To achieve the above object, the present invention provides a dispensing system capable of tilting and calibrating, the dispensing system capable of tilting and calibrating comprising:

[0078] at least one processor; and,

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

[0080] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the above-mentioned tilt-calibrated dispensing method.

[0081] To achieve the above-mentioned 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-mentioned dispensing method with tilt calibration is implemented.

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

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

[0084] Figure 1 A schematic diagram of an embodiment of a dispensing system capable of tilt calibration provided by the present invention;

[0085] Figure 2 for Figure 1 Schematic diagram of the dispensing system with tiltable calibration in the zero return state;

[0086] Figure 3 for Figure 2 Schematic diagram of the tiltable calibrated dispensing system switching from zero return to only lateral rotation of the drive element to position 1;

[0087] Figure 4 for Figure 3 Schematic diagram of the tiltable calibrated dispensing system when position 1 is switched to position 2;

[0088] Figure 5 for Figure 3 and Figure 4 Schematic diagram of the drive member rotating only in the transverse direction;

[0089] Figure 6 A schematic diagram of the dispensing method with tilt calibration provided by the present invention;

[0090] Figure 7 This is a schematic diagram of an embodiment in which only the vertical rotation drive member is rotated and the horizontal rotation drive member does not rotate;

[0091] Figure 8A schematic diagram of another embodiment in which only the vertical rotation drive member is rotated and the horizontal rotation drive member is not rotated;

[0092] Figure 9 for Figure 2 、 Figure 7 、 Figure 8 The corresponding three dispensing positions and the top view of the camera device;

[0093] Figure 10 This is a schematic diagram when the rotation angle of the lateral rotation driving member is 0;

[0094] Figure 11 is a schematic diagram of a case where the lateral rotation driving member rotates at an angle of ν;

[0095] Figure 12 is a simplified diagram when only the lateral rotation driving member is rotated and the rotation angle is ν;

[0096] Figure 13 A schematic top view of the case where the horizontal rotation driving member is rotated at an angle of ν and the vertical rotation driving member is rotated at an angle of u;

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

[0098] 100-tilt calibrated dispensing system, 1-mounting part, 2-vertical rotation drive part, 3-lateral rotation drive part, 4-dispensing valve, 41-nozzle.

[0099] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0100] The technical solutions of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present invention and the features therein may be combined with each other unless there is a conflict.

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

[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 are not necessarily used to describe a specific order or sequence.

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

[0104] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit the present invention.

[0105] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be understood by those skilled in the art that in the embodiments of the present invention, many technical details are provided to enable the reader to better understand the present invention. However, even without these technical details and the various changes and modifications based on the following embodiments, the technical solutions claimed in the present invention can be implemented. The division of the following embodiments is for convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined with each other and referenced to each other under the premise that there is no contradiction.

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

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

[0108] The vertically rotating drive member 2 extends vertically and is rotatable along its axial direction. The vertically rotating drive member 2 is mounted on the mounting member 1. In some embodiments, the vertically rotating drive member 2 may comprise a first drive shaft extending along the Z-axis and a first drive motor drivingly connected to the first drive shaft. When the vertically rotating drive member 2 comprises the first drive shaft and the first drive motor, the axis of the vertically rotating drive member 2 referred to in the present invention may be understood as the axis of the first drive shaft.

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

[0110] The dispensing valve 4 is mounted on the transverse rotation driving member 3 and is used to be driven to rotate by the transverse rotation driving member 3 . The dispensing valve 4 is provided with a nozzle 41 .

[0111] The photographing device is mounted on the mounting member 1. When the vertical rotation drive member 2 rotates, the photographing device rotates along with it. The distance between the photographing device and the rotation center of the vertical rotation drive member 2 is constant. In some embodiments, the photographing device is a 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 A schematic diagram of the tilt-calibrated dispensing system 100 in the zero return state is shown. Figure 3 A schematic diagram of the dispensing system 100 with tiltable calibration is shown when it switches from the zero return state to only the lateral rotation of the driving member 3 to position 1. Figure 4 Schematic diagram of the tiltable calibrated dispensing system 100 when position 1 is switched to position 2. Figures 2 to 4 In order to explain the principle of dispensing glue when only the horizontal rotation drive member 3 rotates, the following is a specific example. Figure 2 As shown, when the vertical rotation drive member 2 and the horizontal rotation drive member 3 are in the zero return state, the nozzle 41 is set downward and close to the dispensing surface. Figure 3 As shown, from the zero return state, the vertical rotation drive member 2 is switched to not rotate and only the horizontal rotation drive member 3 is turned to position 1. At this time, the entire device will descend in the Z direction so that the nozzle 41 is close to the dispensing surface. Figure 4As shown, when the drive member 3 is only rotated horizontally and switches from position 1 to position 2 (position 1 and position 2 are located on both sides of the return to zero state), the dispensing valve 4 needs to be raised as a whole first, and then the dispensing valve 4 is lowered after it passes the return to zero state position (this is mainly to prevent the dispensing valve 4 from interfering with the dispensing surface during rotation). In this way, when it reaches position 2, the nozzle 41 is close to the dispensing surface. Therefore, the calibrated heights of positions 1 and 2 may be different, such as Figure 5 shown.

[0114] It should be noted that Figure 5 Glue dispensing surface 1 and glue dispensing surface 2 are actually the same glue dispensing surface. Since the height of glue dispensing valve 4 may be different when the lateral rotation drive member 3 rotates from position 1 to position 2, in order to reflect the different heights of glue dispensing valve 4, two glue dispensing surfaces are shown when the lateral rotation drive member 3 rotates from position 1 to position 2 on the same drawing. P1 and P2 are the positions of nozzle 41 in position 1 and position 2, respectively, and points A and C correspond to the glue points when nozzle 41 is in position 1 and position 2, respectively.

[0115] It is worth noting that the glue points mentioned in the present invention are points formed when the nozzle 41 applies glue on the glue-dotting surface.

[0116] Figure 6 The process of the tilt-calibrated dispensing method provided by the present invention is illustrated. The process can be executed using the above-mentioned controller or any other suitable computer device.

[0117] Wherein, in step S2100, the first rotation angle and the second rotation angle of the vertical rotation driving member 2 and the horizontal rotation driving member are respectively obtained.

[0118] In step S2200 , the offset between the glue point and the axis of the vertical rotation driving member 2 and the vertical compensation amount are calculated using a first calculation formula according to the first rotation angle and the second rotation angle.

[0119] Wherein, the first calculation formula is:

[0120] ;

[0121] ;

[0122] ;

[0123] Among them, △x and △y are the offsets of the glue point relative to the axis of the vertical rotating driving member 2 along the x-axis and y-axis respectively;

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

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

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

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

[0128] h is the dispensing height.

[0129] Figure 10 and Figure 11 There are two cases when only the lateral rotation drive member 3 is rotated, wherein Figure 10 This corresponds to the situation when the rotation angle of the lateral rotation driving member 3 is 0. Figure 11 This corresponds to the situation when the lateral rotation drive member 3 rotates at an angle of ν. Under normal circumstances, the nozzle 41 needs to maintain a preset distance from the dispensing surface, such as Figure 10 However, due to the lateral rotation of the driving member 3, the height of the Z axis direction will change as Figure 11 If the nozzle 41 still needs to maintain a preset distance from the dispensing surface, compensation needs to be performed in the Z-axis direction. The vertical compensation amount is Δz.

[0130] Figure 12 It is a schematic diagram when only the transverse rotation driving member 3 is rotated and the rotation angle is ν. Figure 13 This is a top view when the horizontal rotation driving member 3 is rotated with a rotation angle of ν and the vertical rotation driving member 2 is rotated with a rotation angle of u. Figure 12 Midpoint N corresponds to the position of nozzle 41, and point M corresponds to the location of the glue dot. Since the line connecting O1 and glue dot M is tangent to the circle of rotation of the vertically rotating drive element 2, O2O1 is perpendicular to O1M. PQ is Δx, and the angle θ between PO1 and MO1 is equal to u. Figure 12 L1 in the figure is actually the top view. Figure 13 The distance between O1M is L2, L1=L2.

[0131] In some embodiments, the calculation method 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 photographing device is as shown in step S2211, step S2212, and step S2213.

[0132] In step S2211, the vertical rotation drive member 2 and the horizontal rotation drive member 3 are controlled to return to zero, and only the vertical rotation drive member 2 is controlled to rotate, so as to form at least three different first positions of the dispensing valve 4 at different angles to the axis direction of the vertical rotation drive member 2, corresponding to at least three glue point positions. Figure 2 、 Figure 7as well as Figure 8 Three positions, Figure 2 、 Figure 7 as well as Figure 8 Only the vertical rotation driving member 2 is rotated, and the horizontal rotation driving member 3 does not rotate. Figure 9 Indicated Figure 2 、 Figure 7 、 Figure 8 The corresponding three dispensing positions and the top view of the camera. Point D corresponds to Figure 7 The dispensing position of point E corresponds to Figure 2 The dispensing position of point F corresponds to Figure 8 The glue dispensing position, point CA corresponds to the position of the shooting 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, Figure 2 、 Figure 7 、 Figure 8 From the top view, the dispensing positions D, E and F coincide with the projections of the nozzles 41 .

[0133] At step S2212, the coordinates of the at least three glue dot positions are determined based on the images of the at least three glue dot positions taken by the camera. Figure 9 Taking the three glue point locations in the figure as an example, the distances between glue point locations D, E, and F and the origin O (0, 0, 0) can be captured using a camera. The coordinates of these three glue point locations can then be calculated using three equations. The glue point heights corresponding to these three glue point locations are identical, meaning the nozzle 41 is located at the same height. The coordinates of the nozzle 41 corresponding to these three locations can be calculated using the coordinates of glue point locations D, E, and F. Furthermore, based on the coordinates of the nozzle 41 corresponding to these three glue point locations, the coordinates of point O1 and the rotation radius R of the vertical rotation drive member 2 can be calculated using three equations. By calculating the distance between O1 and the camera point, the offset between the axis of the vertical rotation drive member 2 and the camera point can be determined.

[0134] In some embodiments, the calculation method of the rotation radius r of the transverse rotation driving member 3 is as shown in step S2221 and step S2222.

[0135] In step S2221, the vertical rotation drive member 2 and the horizontal rotation drive member 3 are controlled to return to zero, and only the horizontal rotation drive member 3 is controlled to rotate, so as 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. Each set of position data includes two second positions corresponding to the first glue point and the second glue point respectively. Figure 3 and Figure 4Take the corresponding two second positions as an example to calculate, Figure 5 The corresponding Figure 3 and Figure 4 It should be noted that the glue-dispensing surface 1 and the glue-dispensing surface 2 are actually the same glue-dispensing surface, but Figure 3 and Figure 4 The corresponding side views are drawn on the same drawing, so two different dispensing surfaces are displayed. The specific reasons can be found in the above description.

[0136] In step S2222, the rotation radius of the transverse rotation driving member 3 is calculated based on the first glue point and the second glue point. The calculation formula is as follows:

[0137] ;

[0138] Among them, (x A ,y A ) is the coordinate of the first glue point obtained when the lateral rotation driving member 3 rotates by an angle α;

[0139] (x B ,y B ) is the coordinate of the second glue point obtained when the lateral rotation driving member 3 rotates by an angle β, 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, which is 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 at angles α and β respectively;

[0146] h1 and h2 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, the rotation angle of the lateral rotation driving member 3 is 0. When the lateral rotation driving member 3 rotates to the left from the zero return state, the rotation angle is a negative value. When the lateral rotation driving member 3 rotates to the right from the zero return state, the rotation angle is a positive value.

[0148] The calculation principle is steps S22221 to 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 position corresponding to the first rotation angle of the vertical rotation driving member 2 and the second rotation angle of the horizontal rotation driving member 3 based on the calculated offset and compensation amount and the offset between the axis of the vertical rotation driving member 2 and the shooting device, using the following formula:

[0162] Glue point position = (x0+x1+△x, y0+y1-R+△y,△z);

[0163] Where (x0, y0) is the coordinate of the camera;

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

[0165] The tilt-calibrated glue dispensing method provided by the present invention obtains the first rotation angle and the second rotation angle of the vertical rotating drive member 2 and the horizontal rotating drive member respectively; according to the first rotation angle and the second rotation angle, a first calculation formula is used to calculate the offset between the glue point and the axis of the vertical rotating drive member 2, as well as the vertical compensation amount; according to the calculated offset and compensation amount, the corresponding glue point position of the vertical rotating drive member 2 at the first rotation angle and the horizontal rotating drive member 3 at the second rotation angle is determined; according to the determined glue point position, the nozzle 41 is controlled to perform glue dispensing, so that the corresponding glue point position of the vertical rotating drive member 2 at the first rotation angle and the horizontal rotating drive member 3 at the second rotation angle can be accurately calculated.

[0166] In order to achieve the above-mentioned purpose, the present invention also provides a dispensing system 100 capable of tilt calibration, such as Figure 14 As 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 that can be executed by the at least one processor 301, and the instructions are executed by the at least one processor 301 to enable the at least one processor 301 to execute the above-mentioned tilt-calibrated dispensing method.

[0167] The memory 302 and processor 301 are connected using a bus. The bus can include any number of interconnected buses and bridges, connecting various circuits of one or more processors 301 and memory 302. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. These are all well known in the art and are therefore not described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor 301 is transmitted over a wireless medium via an antenna. Furthermore, the antenna receives data and transmits it 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 interfaces, 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] In order to achieve the above-mentioned object, the present invention provides a computer-readable storage medium storing a computer program, which implements the above-mentioned tilt-calibrated dispensing method when executed by a processor.

[0170] That is, those skilled in the art will understand that all or part of the steps in the above-described method embodiments can be implemented by instructing related hardware through a program. The program is stored in a storage medium and includes a number of instructions for causing a device (such as a microcontroller or chip) or a processor to execute all or part of the steps in the method embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0171] Obviously, the embodiments described above are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, those skilled in the art may make other different forms of changes or modifications without making any creative work, and all of these should fall within the scope of protection of the present invention.

Claims

1. A dispensing system with tiltable calibration, characterized in that: include: Mounting parts; a vertical rotation driving member extending in a vertical direction and rotatable along its axial direction, wherein the vertical rotation driving member is mounted on the mounting member; a transverse rotation driving member extending in a transverse direction and rotatable along its axial direction, wherein the transverse rotation driving member is mounted on the vertical rotation driving member so as to be driven to rotate in the axial direction by the vertical rotation driving member; a dispensing valve, mounted on the transverse rotation driving member, for being driven to rotate by the transverse rotation driving member, the dispensing valve being provided with a nozzle; a photographing device, mounted on the mounting member; a height measuring device, mounted on the vertical rotation driving member; A controller is electrically connected to the vertical rotation drive member, the horizontal rotation drive member, the shooting device, and the height measuring device, and is configured to: respectively acquiring a first rotation angle and a second rotation angle of the vertical rotation driving member and 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 drive member and the vertical compensation amount are calculated using a first calculation formula; Determine the glue point position corresponding to the vertical rotation drive member at the first rotation angle and the horizontal rotation drive member at the second rotation angle according to the calculated offset and compensation amount; Wherein, the first calculation formula is: ； ； ； in, △x and △y are the offsets of the glue point relative to the axis of the vertical rotating drive along the x-axis and y-axis respectively; △z is the compensation amount along the vertical direction; r is the rotation radius of the transverse rotation drive member, that is, the distance from the nozzle to the axis of the transverse rotation drive member; R is the rotation radius of the vertical rotating drive member, that is, the axial distance from the nozzle to the vertical rotating drive member; u and ν are the rotation angles of the vertical and horizontal rotation drive members, respectively; h is the dispensing height; The controller is further configured to: Controlling the vertical rotation drive member and the horizontal rotation drive member to return to zero, and controlling only the vertical rotation drive member to rotate, so as to form at least three different first positions of the dispensing valve at different angles to the axis direction of the vertical rotation drive member, corresponding to at least three glue point positions; determining coordinates of the at least three glue point positions based on images of the at least three glue point positions captured by the camera; According to the coordinates of the at least three glue point positions, 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 are calculated.

2. The dispensing system with tilt calibration according to claim 1, characterized in that: The controller is further configured to: Controlling the vertical rotation drive member and the horizontal rotation drive member to return to zero and controlling only the horizontal rotation drive member to rotate, so as to form at least one set of position data at different angles between the dispensing valve and the axis direction of the horizontal rotation drive member, each set of position data including two second positions corresponding to the first glue point and the second glue point respectively; Based on the first and second glue points, calculate the rotation radius r of the lateral rotation drive member using the following formula: ； in, (x A ,y A ) is the coordinate of the first glue point obtained when the lateral rotation driving member rotates by an angle α; (x B ,y B ) is the coordinate of the second glue point obtained when the lateral rotation driving member rotates by an angle β, β>α; k1=H1-S; k2=H2-S; ； ; S is the height difference between the nozzle and the height measuring device when the lateral rotation drive returns to zero; H1 and H2 are the heights of the height measuring device and the dispensing surface when the lateral rotation driving member rotates at angles α and β respectively; h1 and h2 are the distances between the nozzle and the dispensing surface when the lateral rotation drive member rotates by angles α and β, respectively.

3. The dispensing system with tilt calibration according to claim 2, characterized in that: The controller is further configured to: averaging the rotation radius of the transverse rotation driving member calculated from at least one set of position data; The calculated average value is used as the rotation radius of the transverse rotation driving member.

4. The dispensing system with tilt calibration according to claim 2, characterized in that: The controller is further configured to: According to the images of the first glue point and the second glue point taken by the shooting device, the distance L between the first glue point and the second glue point is determined, and the following formula (1) is obtained: ；（1） Calculate the distance between the first glue point and the second glue point of the vector and get the following formula (2): ；（2） Combining equations (1) and (2), we get: ； Simplifying to get: 。 5. The dispensing system with tilt calibration according to claim 1, characterized in that: The shooting device is a shooting camera, and the height measuring device is a height measuring sensor.

6. A dispensing method capable of tilt calibration, characterized in that: include: respectively acquiring a first rotation angle and a second rotation angle of the vertical rotation driving member and 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 drive member and the vertical compensation amount are calculated using a first calculation formula; Determine the glue point position corresponding to the vertical rotation drive member at the first rotation angle and the horizontal rotation drive member at the second rotation angle according to the calculated offset and compensation amount; According to the determined glue point position, the nozzle is controlled to dispense glue; Wherein, the first calculation formula is: ； ； ； in, △x and △y are the offsets of the glue point relative to the axis of the vertical rotating drive along the x-axis and y-axis respectively; △z is the compensation amount along the vertical direction; r is the rotation radius of the transverse rotation drive member, that is, the distance from the nozzle to the axis of the transverse rotation drive member; R is the rotation radius of the vertical rotating drive member, that is, the axial distance from the nozzle to the vertical rotating drive member; u and ν are the rotation angles of the vertical and horizontal rotation drive members, respectively; h is the dispensing height; The dispensing method further comprises: Controlling the vertical rotation drive member and the horizontal rotation drive member to return to zero, and controlling only the vertical rotation drive member to rotate, so as to form at least three different first positions of the dispensing valve at different angles to the axis direction of the vertical rotation drive member, corresponding to at least three glue point positions; determining coordinates of the at least three glue point positions based on images of the at least three glue point positions captured by the camera; According to the coordinates of the at least three glue point positions, 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 are calculated.

7. A dispensing system with tiltable calibration, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the tilt-calibrated dispensing method according to claim 6.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the tilt-calibrated dispensing method according to claim 6 is implemented.

Images