Multi-station rotating disc type automatic dispensing synchronous positioning method and system
By acquiring the Z-axis height data of the workpiece surface, calculating the posture deviation, and correcting the dispensing trajectory and parameters, the problem of workpiece position deviation caused by residue was solved, achieving high-precision dispensing and improving product quality.
Patent Information
- Application Number
- CN202511038441.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-28
- Publication Date
- 2025-11-07
- Estimated Expiration
- Not applicable · inactive patent
Smart Images
Figure CN120909219A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of multi-station rotary table type automatic dispensing, in particular to a multi-station rotary table type automatic dispensing synchronous positioning method and system. BACKGROUND
[0002] In a multi-station rotary table type automatic dispensing production line, the dispensing station is a key link, and the dispensing precision directly affects the product quality, so the dispensing process requires that the dispensing head and the workpiece maintain accurate relative positions and attitudes, that is, the accurate synchronous positioning of the workpiece in the dispensing station clamp is the basis for ensuring the dispensing precision.
[0003] However, during long-term continuous production, micro amounts of glue or volatile substances generated by dispensing gradually accumulate on the workpiece bearing surface or positioning surface of the dispensing station clamp to form a layer of solid or semi-solid residues on the clamp. The accumulation of such residues is usually uneven and its distribution is affected by factors such as glue properties, dispensing parameters, clamp structure, and cleaning level.
[0004] As the residue layer thickens and the unevenness increases, the residue will cause the actual position and attitude of the workpiece in the clamp to deviate from the ideal state. This deviation can manifest as the workpiece being raised, tilted, or slightly horizontally displaced, and the deviation is dynamic.
[0005] Since the existing dispensing system is based on the pre-set dispensing trajectory corresponding to the ideal sitting posture of the workpiece for motion control, that is, the prior art dispenses different workpieces based on the ideal dispensing position, the prior art has the problem that the dispensing quality is affected due to the deviation between the dispensing position required by the workpiece in the current sitting posture and the ideal dispensing position, thereby reducing the product pass rate.
[0006] There is currently no effective technical solution to the above problems. It should be noted that the above information disclosed in this part is only used to understand the background of the present application concept, and therefore can contain information that does not constitute prior art. SUMMARY
[0007] The purpose of the present application is to provide a multi-station rotary table type automatic dispensing synchronous positioning method and system, which can effectively solve the problem that the dispensing quality is affected due to the deviation between the dispensing position required by the workpiece in the current sitting posture and the ideal dispensing position.
[0008] In a first aspect, the present application provides a multi-station rotary table type automatic dispensing synchronous positioning method, comprising the following steps:
[0009] S1, after the workpiece to be dispensed moves to the dispensing station, acquiring Z-axis height data of at least three pre-set non-collinear measurement points located on the surface of the workpiece to be dispensed;
[0010] S2, obtaining attitude deviation information of the workpiece to be dispensed relative to the ideal sitting posture according to all Z-axis height data and known spatial positions corresponding to all preset non-collinear measurement points;
[0011] S3, generating a corrected dispensing trajectory according to the attitude deviation information and the preset dispensing trajectory, and generating a corrected dispensing parameter according to the attitude deviation information and the preset dispensing parameter, the preset dispensing posture being the dispensing trajectory when the workpiece to be dispensed is in the ideal sitting posture, and the preset dispensing parameter being the dispensing parameter when the workpiece to be dispensed is in the ideal sitting posture;
[0012] S4, dispensing the workpiece to be dispensed according to the corrected dispensing trajectory and the corrected dispensing parameter.
[0013] In a second aspect, the present application further provides a multi-station rotary table type automatic dispensing synchronous positioning system, comprising:
[0014] a data acquisition module, configured to acquire Z-axis height data of at least three preset non-collinear measurement points on the surface of the workpiece to be dispensed after the workpiece to be dispensed moves to the dispensing station;
[0015] an attitude deviation analysis module, configured to obtain attitude deviation information of the workpiece to be dispensed relative to the ideal sitting posture according to all Z-axis height data and known spatial positions corresponding to all preset non-collinear measurement points;
[0016] a dispensing trajectory and parameter correction module, configured to generate a corrected dispensing trajectory according to the attitude deviation information and the preset dispensing trajectory, and generate a corrected dispensing parameter according to the attitude deviation information and the preset dispensing parameter, the preset dispensing posture being the dispensing trajectory when the workpiece to be dispensed is in the ideal sitting posture, and the preset dispensing parameter being the dispensing parameter when the workpiece to be dispensed is in the ideal sitting posture;
[0017] a dispensing execution module, configured to dispense the workpiece to be dispensed according to the corrected dispensing trajectory and the corrected dispensing parameter.
[0018] As can be seen from the above, the multi-station rotary table type automatic dispensing synchronous positioning method and system provided by the present application can obtain attitude deviation information of the workpiece to be dispensed relative to the ideal sitting posture according to Z-axis height data of at least three preset non-collinear measurement points on the surface of the workpiece to be dispensed and known spatial positions corresponding to all preset non-collinear measurement points, and dynamically correct the preset dispensing trajectory and the preset dispensing parameter based on the attitude deviation information, so that the dispensing head can accurately dispense according to the actual sitting posture of the workpiece to be dispensed. Even if the actual sitting posture of the workpiece deviates from the ideal sitting posture due to the influence of residual materials, the actual dispensing quality of the workpiece to be dispensed can still reach the expected dispensing quality. Therefore, the present application can effectively solve the problem that the dispensing quality is affected due to the deviation between the dispensing position required by the workpiece in the current sitting posture and the ideal dispensing position. BRIEF DESCRIPTION OF DRAWINGS
[0019] Figure 1 A flow chart of a multi-station rotary table type automatic dispensing synchronous positioning method provided for an embodiment of the present application.
[0020] Figure 2 A structural schematic diagram of a multi-station rotary table type automatic dispensing synchronous positioning system provided for an embodiment of the present application.
[0021] Reference signs: 1, data acquisition module; 2, attitude deviation analysis module; 3, dispensing trajectory and parameter correction module; 4, dispensing execution module. DETAILED DESCRIPTION
[0022] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.
[0023] It should be noted that: similar reference signs and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.
[0024] In a conventional existing multi-station rotary table type automatic dispensing production line, dispensing precision has a direct impact on product quality, so the dispensing head and the workpiece are required to maintain precise relative position and posture, that is, the precise synchronous positioning of the workpiece in the dispensing station clamp is the basis for ensuring dispensing precision. However, in the process of long-time continuous production, the micro amount of glue or volatile matter generated during dispensing will gradually accumulate on the workpiece bearing surface or positioning surface of the dispensing station clamp, and form a layer of solid or semi-solid residues. The accumulation of such residues is usually uneven and can cause the actual position and posture of the workpiece in the clamp to deviate from the ideal state. This deviation can manifest as the overall lifting, tilting or slight horizontal displacement of the workpiece, and the deviation is dynamic. Since the existing dispensing system is based on the pre-set dispensing trajectory of the workpiece in the ideal sitting posture for motion control, that is, the existing technology dispenses different workpieces based on the ideal dispensing position, when there is a deviation between the actual sitting posture of the workpiece and the ideal sitting posture, the actual dispensing position required by the workpiece deviates from the ideal dispensing position, thereby causing the actual dispensing quality of the workpiece to fail to achieve the expected dispensing quality. Therefore, the existing technology has the problem that the dispensing quality is affected due to the deviation between the dispensing position required by the workpiece in the current sitting posture and the ideal dispensing position.
[0025] For example, assuming that in a multi-station rotary table type automatic dispensing system for precise dispensing on the surface of an electronic device, the workpiece to be dispensed is placed in the clamp on the rotary table and rotated to the dispensing station, the motion control of the dispensing system is based on the pre-set dispensing trajectory and parameters when the workpiece is in the ideal position and posture in the clamp. However, in the process of continuous production, the micro amount of glue or volatile matter generated during the dispensing process will gradually accumulate on the workpiece bearing surface of the clamp, forming an uneven residue layer. When a new workpiece to be dispensed is placed in the clamp, these residues can cause the actual position and posture of the workpiece to be dispensed to deviate from the ideal state, for example, the surface of the workpiece can be slightly lifted or tilted. Since the dispensing system still moves according to the pre-set dispensing trajectory, the relative position between the dispensing head and the actual surface of the workpiece is no longer accurate, so moving according to the pre-set dispensing trajectory can cause the position, height or width of the glue application to deviate from the expected position, expected height or expected width, thereby causing the actual dispensing quality to fail to achieve the expected dispensing quality.
[0026] If the above problems are not solved, since the dispensing head cannot accurately follow the actual surface profile and position of the workpiece for dispensing, it will directly lead to a decline in dispensing quality, for example, the glue may be applied at the wrong position or the shape, width and height of the glue bead do not meet the requirements, and the decline in dispensing quality can cause problems such as poor bonding, sealing failure, short circuit or appearance defects in the product. Therefore, the existing technology also has the problem that the yield of the product is significantly reduced, the cost of rework and scrap is increased, and the reliability of the product is affected due to the decline in dispensing quality under the influence of residues.
[0027] To this end, in a first aspect, as shown in the accompanying drawings, Figure 1 The present application provides a multi-station rotary table type automatic dispensing synchronous positioning method, which comprises the following steps:
[0028] S1, after the workpiece to be dispensed moves to the dispensing station, acquiring Z-axis height data of at least three preset non-collinear measurement points on the surface of the workpiece to be dispensed;
[0029] S2, acquiring attitude deviation information of the workpiece to be dispensed relative to the ideal sitting posture according to all Z-axis height data and known spatial positions corresponding to all preset non-collinear measurement points;
[0030] S3, generating a corrected dispensing trajectory according to the attitude deviation information and a preset dispensing trajectory, and generating a corrected dispensing parameter according to the attitude deviation information and a preset dispensing parameter, the preset dispensing posture being the dispensing trajectory when the workpiece to be dispensed is in the ideal sitting posture, and the preset dispensing parameter being the dispensing parameter when the workpiece to be dispensed is in the ideal sitting posture;
[0031] S4, dispensing the workpiece to be dispensed according to the corrected dispensing trajectory and the corrected dispensing parameter.
[0032] In this embodiment, the workpiece to be dispensed is a workpiece that needs to be dispensed by the dispensing station. Acquiring Z-axis height data of at least three preset non-collinear measurement points on the surface of the workpiece to be dispensed means measuring the height values of at least three non-collinear specific position points on the surface of the workpiece to be dispensed in the Z-axis direction. Specifically, this embodiment can use a non-contact displacement sensor, a laser profiler or a vision system with depth perception to acquire the Z-axis height data. For example, at least three laser sensors are arranged non-collinearly at the dispensing station, and each preset non-collinear measurement point corresponds to a laser sensor. This embodiment is equivalent to acquiring the basic data for determining the actual spatial position of the workpiece by acquiring the Z-axis height data of at least three preset non-collinear measurement points on the surface of the workpiece to be dispensed. It should be understood that, since at least three non-linear points on the surface of the workpiece to be dispensed are needed to determine the actual sitting posture of the workpiece to be dispensed, step S1 needs to acquire Z-axis height data of at least three preset non-collinear measurement points on the surface of the workpiece to be dispensed. Since the preset non-collinear measurement points are preset, the spatial positions of the preset non-collinear measurement points are known values.
[0033] The known spatial position of step S2 refers to the three-dimensional coordinates of the sensor corresponding to the preset non-collinear measurement point in the dispensing station coordinate system. The attitude deviation information refers to the difference between the actual position and attitude of the workpiece to be dispensed and the ideal position and attitude (ideal pose). The attitude deviation information can include translation deviations in the X, Y, Z directions and rotation deviations around the X, Y, Z axes. The ideal pose of step S2 is the standard position and standard attitude that the workpiece to be dispensed should be in in the dispensing station clamp of the multi-station turntable type automatic dispensing equipment. The ideal pose is preferably a pose reference value preset by a person skilled in the art according to actual needs or expert experience. The specific process of step S2 can be: calculating the actual three-dimensional coordinates of each preset non-collinear measurement point according to each Z-axis height data and its corresponding known spatial position; using existing plane fitting methods, coordinate transformation methods or least squares methods to calculate the conversion relationship between the actual plane and the ideal plane according to all actual three-dimensional coordinates and all ideal three-dimensional coordinates (the three-dimensional coordinates of the preset non-collinear measurement point when the workpiece to be dispensed is in the ideal pose, which is a pre-measured value) to obtain the attitude deviation information of the workpiece to be dispensed relative to the ideal pose.
[0034] The preset dispensing trajectory of step S3 refers to the spatial motion path that the dispensing head should follow when the workpiece to be dispensed is in the ideal pose. The preset dispensing parameters of step S3 refer to the parameters used in the dispensing process when the workpiece to be dispensed is in the ideal pose (such as dispensing pressure and dispensing amount). Generating a corrected dispensing trajectory according to the attitude deviation information and the preset dispensing trajectory refers to adjusting the dispensing trajectory set when the workpiece to be dispensed is in the ideal pose according to the calculated attitude deviation information, so that it adapts to the current actual pose of the workpiece to be dispensed. This embodiment can achieve generating a corrected dispensing trajectory according to the attitude deviation information and the preset dispensing trajectory by converting all points on the preset dispensing trajectory from the ideal workpiece coordinate system to the actual workpiece coordinate system using a coordinate transformation matrix. This embodiment can also achieve generating a corrected dispensing trajectory according to the attitude deviation information and the preset dispensing trajectory by translating and rotating the preset dispensing trajectory according to the attitude deviation information. This embodiment can enable the dispensing head to follow the actual surface profile of the workpiece to be dispensed by generating a corrected dispensing trajectory according to the attitude deviation information and the preset dispensing trajectory. Generating a corrected dispensing parameter according to the attitude deviation information and the preset dispensing parameter refers to adjusting the dispensing parameter set when the workpiece to be dispensed is in the ideal pose according to the attitude deviation information, so that it adapts to the current actual pose of the workpiece to be dispensed. For example, adjusting the dispensing pressure and dispensing amount of the dispensing head according to the inclination angle of the workpiece to be dispensed. This embodiment can optimize the glue application effect by generating a corrected dispensing parameter according to the attitude deviation information and the preset dispensing parameter, so that the dispensing process can adapt to the actual surface state of the workpiece to be dispensed.
[0035] The dispensing according to the corrected dispensing track and the corrected dispensing parameter on the workpiece to be dispensed in step S4 refers to the process that the dispensing head applies glue to the predetermined position of the workpiece to be dispensed according to the corrected motion path and the corrected parameter. Step S4 preferably uses the existing dispensing control method to realize dispensing according to the corrected dispensing track and the corrected dispensing parameter. Since step S4 uses the dispensing track and the dispensing parameter corrected based on the posture deviation information to dispense the workpiece to be dispensed, the embodiment can make the glue be applied to the actual target position of the workpiece to be dispensed.
[0036] The core innovation of the present application is that the posture deviation information of the workpiece to be dispensed relative to the ideal posture is first obtained according to the Z-axis height data of at least three preset non-collinear measurement points located on the surface of the workpiece to be dispensed and the known spatial positions corresponding to all preset non-collinear measurement points, and then the preset dispensing track and the preset dispensing parameter are dynamically corrected based on the posture deviation information, so that the dispensing head can accurately dispense glue according to the actual posture of the workpiece to be dispensed. Even if the actual posture of the workpiece deviates from the ideal posture due to the influence of residues, the actual dispensing quality of the workpiece to be dispensed can reach the expected dispensing quality. Therefore, the present application can effectively solve the problem that the dispensing quality is affected due to the deviation between the dispensing position required by the workpiece in the current posture and the ideal dispensing position. In addition, since the actual dispensing quality of the workpiece to be dispensed can reach the expected dispensing quality even if the actual posture of the workpiece deviates from the ideal posture due to the influence of residues, the present application can also effectively solve the problem that the yield of products is significantly reduced, the cost of rework and scrap is increased, and the reliability of products is affected due to the decline of dispensing quality under the influence of residues.
[0037] Specifically, the method obtains the deviation information of the actual posture of the workpiece to be dispensed relative to the ideal posture by measuring and evaluating the actual posture of the workpiece to be dispensed before dispensing, and corrects the dispensing trajectory and dispensing parameters based on the deviation information. First, after the workpiece reaches the dispensing station and stabilizes, the sensor measures the height of at least three non-collinear measurement points pre-set on the surface of the workpiece to be dispensed to obtain the Z-axis height data of these measurement points. The spatial positions of these measurement points are known values, and this embodiment can calculate the three-dimensional coordinates of these points in the current actual state based on these Z-axis height data and the known spatial positions of these measurement points, and determine the actual spatial plane of the surface of the workpiece to be dispensed based on these actual three-dimensional coordinates. Then, the difference between this actual spatial plane and the ideal spatial plane representing the ideal posture is calculated to obtain the translational deviation of the workpiece to be dispensed in the X, Y, and Z directions, as well as the rotational deviation around each axis, i.e. the posture deviation information. Subsequently, the posture deviation information is used to correct the pre-set dispensing trajectory and dispensing parameters when the workpiece to be dispensed is in the ideal posture. Since the pre-set dispensing trajectory is set based on the workpiece in the ideal position and posture, and the actual workpiece may have deviations such as lifting and tilting, this embodiment can generate a corrected dispensing trajectory that adapts to the actual posture of the current workpiece by applying the posture deviation information to the pre-set dispensing trajectory. For example, if the workpiece is lifted upward by δZ, the Z coordinates of all points on the corrected dispensing trajectory will increase by δZ accordingly; if the workpiece tilts, the corrected dispensing trajectory needs to be rotated and translated accordingly. At the same time, the posture deviation information is also used to correct the dispensing parameters. For example, when the surface of the workpiece to be dispensed tilts, the flowability of the glue is affected, so the dispensing pressure in the pre-set dispensing parameters needs to be adjusted to ensure the dispensing quality. Finally, the dispensing execution mechanism dispenses the workpiece to be dispensed according to the generated corrected dispensing trajectory and corrected dispensing parameters, i.e. the dispensing head of this embodiment no longer operates according to the fixed pre-set dispensing trajectory and dispensing parameters, but moves according to the dynamically corrected dispensing trajectory based on the real-time measurement of the actual posture of the workpiece, and applies glue using the dynamically corrected dispensing parameters based on the real-time measurement of the actual posture of the workpiece. Even if the actual posture of the workpiece to be dispensed deviates from the ideal posture under the influence of glue residues, this synchronous positioning and correction dispensing based on the actual posture of the workpiece can still accurately apply glue to the predetermined position of the workpiece to be dispensed. Therefore, compared with the fixed trajectory dispensing method relying on the ideal posture of the workpiece in the prior art, this method can effectively overcome the problem of inaccurate dispensing caused by the deviation of the posture of the workpiece, and improve the dispensing precision and product qualification rate.
[0038] As a preferred embodiment, the scheme of the present application is implemented as follows:
[0039] The dispensing station on the multi-station rotary table type automatic dispensing equipment is equipped with at least three non-collinear laser sensors, which are located above the workpiece to be dispensed. The workpiece to be dispensed is moved to the dispensing station by the rotary table and is clamped by the clamp. Before dispensing starts, three laser displacement sensors simultaneously obtain Z-axis height data of three non-collinear points. The spatial positions of the three laser sensors are known values. Therefore, the embodiment can calculate the actual three-dimensional coordinates of the non-collinear points according to the Z-axis height data and the spatial positions of the laser displacement sensors. For example, the spatial positions of the three laser sensors are (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3) respectively. The actual Z-axis heights measured by the three laser sensors are z1', z2', and z3' respectively. Then the actual three-dimensional coordinates of the three non-collinear points are (x1, y1, z1-z1'), (x2, y2, z2-z2'), and (x3, y3, z3-z3') respectively. The actual spatial plane equation of the surface of the workpiece to be dispensed is determined by using a plane fitting algorithm according to the three actual three-dimensional coordinates. The surface of the workpiece in the ideal posture corresponds to an ideal spatial plane (for example, Z=z_ideal). The attitude deviation information of the workpiece to be dispensed relative to the ideal posture is calculated by comparing the actual plane with the ideal plane. The attitude deviation information includes the translation along the X, Y, and Z axes and the rotation angle around the X, Y, and Z axes. For example, the translation deviation along the Z axis is ΔZ, the rotation deviation around the X axis is Rx, and the rotation deviation around the Y axis is Ry. The preset dispensing trajectory is a series of spatial points (xt_i, yt_i, zt_i). The preset dispensing parameters include the dispensing parameters (pressure_i (the dispensing pressure corresponding to the i-th spatial point), speed_i (the dispensing speed corresponding to the i-th spatial point)) corresponding to each spatial point. The preset dispensing trajectory and the preset dispensing parameters are set for the workpiece in the ideal posture. The dispensing trajectory is corrected according to the calculated attitude deviation information (ΔZ, Rx, Ry). For example, the corrected dispensing trajectory point (xt'_i, yt'_i, zt'_i) can be obtained by applying a coordinate transformation matrix containing translation and rotation to the original point (xt_i, yt_i, zt_i) according to the attitude deviation information (ΔZ, Rx, Ry). At the same time, the dispensing parameters are corrected according to the attitude deviation information. For example, if the inclination angle of the workpiece surface is large, the dispensing pressure and the dispensing speed are increased. The dispensing execution mechanism receives the corrected dispensing trajectory and parameters, controls the dispensing head to move along the corrected trajectory (xt'_i, yt'_i, zt'_i), and controls the application of glue according to the corrected parameters (pressure'_i, flow'_i, speed'_i, time'_i).
[0040] In some preferred embodiments, step S3 comprises:
[0041] S 31, determine a first trajectory correction strategy according to the attitude deviation information and the preset dispensing trajectory, and determine a first parameter correction strategy according to the attitude deviation information and the preset dispensing parameter;
[0042] S32, obtain parameter deviation information of a parameter of a workpiece to be dispensed relative to an ideal parameter;
[0043] S 33, determine a second trajectory correction strategy according to the parameter deviation information, and determine a second parameter correction strategy according to the parameter deviation information;
[0044] S34, correct the preset dispensing trajectory according to the first trajectory correction strategy and the second trajectory correction strategy to obtain a corrected dispensing trajectory, and correct the preset dispensing parameter according to the first parameter correction strategy and the second parameter correction strategy to obtain a corrected dispensing parameter.
[0045] Step S31 can determine the first trajectory correction strategy by querying a pre-constructed mapping relationship table about attitude deviation and trajectory correction strategy according to the attitude deviation information. The mapping relationship table is a data structure that stores trajectory correction rules or numerical sets to be taken under different attitude deviation states. For example, when the Z-axis lifting amount is between 0.1 mm and 0.2 mm, the corresponding trajectory correction strategy is to offset all points on the preset trajectory by 0.15 mm in the Z-axis direction; when the inclination angle around the X-axis is between 0.5 degrees and 1 degree, the corresponding trajectory correction strategy can be to correct the points (x, y, z) on the preset trajectory to (x, y, z-y*tan(inclination angle)+C). Step S32 can determine the first parameter correction strategy by querying a pre-constructed mapping relationship table about attitude deviation and parameter correction strategy according to the attitude deviation information. The mapping relationship table is a data structure that stores parameter correction rules or numerical sets to be taken under different attitude deviation states. For example, when the workpiece is inclined by 0.5 degrees around the X-axis, the corresponding parameter correction strategy is to reduce the dispensing speed by 2% and increase the dispensing time by 5%; when the workpiece is inclined by 0.5 degrees around the X-axis, the corresponding parameter correction strategy is to reduce the dispensing speed by 2% and increase the dispensing time by 1%. The parameter deviation information of the workpiece to be dispensed relative to the ideal parameter in this embodiment refers to the difference data between the actual geometric dimensions, shape, surface features, and other parameters of the actual workpiece and the design ideal value. This embodiment can obtain the actual parameters of the workpiece to be dispensed based on visual recognition technology, and then calculate the parameter deviation information according to the actual parameters and the ideal parameters (known values). This embodiment can obtain the second trajectory correction strategy by querying a pre-constructed mapping relationship table about parameter deviation, dispensing trajectory, and trajectory correction strategy according to the parameter deviation information and the preset dispensing trajectory. The mapping relationship table is a data structure that stores trajectory correction rules or numerical sets to be taken for the preset dispensing trajectory under different workpiece parameter deviation states. For example, when the actual length of the workpiece is shorter than the ideal length by ΔL, the actual width is shorter than the ideal width by ΔW, and the dispensing trajectory is along the edge of a rectangular frame on the workpiece, the trajectory correction strategy is to scale the preset rectangular trajectory by a certain proportion along the length direction and by another proportion along the width direction; when the dispensing trajectory of the workpiece is a circular trajectory around a circular hole on the workpiece, the actual diameter of the workpiece is smaller than the ideal diameter by ΔD, and the center of the circle is offset from the ideal position by (ΔCx, ΔCy), the trajectory correction strategy indicates that the radius of the preset circular trajectory is reduced by ΔD / 2, and the center position is translated by (ΔCx, ΔCy).The embodiment can obtain the second parameter correction strategy by querying a mapping relationship table about parameter deviation, dispensing parameter and parameter correction strategy according to the parameter deviation information and the preset dispensing parameter, the mapping relationship table being a data structure storing parameter correction rules or numerical sets to be taken for the preset dispensing parameter under different workpiece parameter deviation states, for example, when the actual length of the workpiece is larger than the ideal length by a certain amount and the dispensing pressure is a certain specific value, the parameter correction strategy indicates that the dispensing pressure needs to be increased by a specific correction amount; when the actual length of the workpiece is smaller than the ideal length by a certain amount and the dispensing pressure is the same, the parameter correction strategy indicates that the dispensing pressure needs to be decreased by another specific correction amount. Step S34 can correct the preset dispensing trajectory according to the first trajectory correction strategy and the second trajectory correction strategy and correct the preset dispensing parameter according to the first parameter correction strategy and the second parameter correction strategy in a superimposed manner, for example, when the first trajectory correction strategy is to lift the trajectory point in the Z direction by 0.05 mm and the second trajectory correction strategy is to offset the trajectory point in the X direction by 0.33 mm, correcting the preset dispensing trajectory according to the first trajectory correction strategy and the second trajectory correction strategy is essentially to lift the trajectory point in the preset dispensing trajectory in the Z direction by 0.05 mm and offset the trajectory point in the X direction by 0.33 mm. The embodiment can correct the dispensing trajectory and the parameter by comprehensively considering the posture deviation of the workpiece and the parameter deviation of the workpiece itself, so that the adjustment of the dispensing trajectory and the parameter not only considers the spatial position and posture deviation of the workpiece as a whole, but also considers the influence of individual differences of the workpiece, so as to more comprehensively compensate various error sources encountered in actual production. Therefore, the embodiment can make the corrected dispensing trajectory more accurately follow the contour of the actual workpiece surface, and the corrected dispensing parameter can better adapt to the current state of the workpiece, thereby effectively improving the accuracy and reliability of correcting the dispensing trajectory and the dispensing parameter, and further effectively improving the dispensing precision and dispensing quality.
[0046] In some preferred embodiments, step S34 comprises:
[0047] S341, correcting the preset dispensing trajectory according to the first trajectory correction strategy and the second trajectory correction strategy to obtain a preliminary dispensing trajectory, and correcting the preset dispensing parameter according to the first parameter correction strategy and the second parameter correction strategy to obtain a preliminary dispensing parameter;
[0048] S342, acquiring the dispensing head state information and the dispensing head driving mechanism state information;
[0049] S343, determining a third trajectory correction strategy according to the dispensing head driving mechanism state information and the preliminary dispensing trajectory, and determining a third parameter correction strategy according to the dispensing head state information and the preliminary dispensing parameter;
[0050] S344, correcting the preliminary dispensing trajectory according to the third trajectory correction strategy to obtain a corrected dispensing trajectory;
[0051] S345, correcting the preliminary dispensing parameter according to the third parameter correction strategy to obtain a corrected dispensing parameter.
[0052] The dispensing head self-state information of the embodiment is a parameter capable of reflecting the current working condition of the dispensing head, for example, the wear degree and blockage condition of the dispensing head. The dispensing head driving mechanism state information of the embodiment is a parameter capable of reflecting the current condition of the mechanism driving the dispensing head to move, for example, the wear degree and vibration amplitude of the mechanism driving the dispensing head to move. The dispensing head self-state information and the dispensing head driving mechanism state information of the embodiment can be obtained by using an existing equipment state monitoring system. The dispensing head self-state information and the dispensing head driving mechanism state information of the embodiment can also be obtained by using sensors arranged on the dispensing head and the dispensing head driving mechanism, for example, a temperature sensor arranged on the dispensing head and a vibration sensor arranged on the dispensing head driving mechanism. The third trajectory correction strategy can be obtained by the way of querying a mapping relationship table about driving mechanism state, dispensing trajectory and trajectory correction strategy according to the dispensing head driving mechanism state information and the preliminary dispensing trajectory. The mapping relationship table stores correction rules or numerical sets of how to correct the preliminary trajectory to obtain a more accurate trajectory under different driving mechanism states. For example, when there is a 0.02 mm gap in the driving mechanism and the dispensing trajectory has a circular arc segment, the trajectory correction strategy indicates adding a 0.015 mm compensation offset to the circular arc segment. The third parameter correction strategy can be obtained by the way of querying a mapping relationship table about dispensing head state, dispensing parameter and parameter adjustment strategy according to the dispensing head self-state information and the preliminary dispensing parameter. The mapping relationship table stores correction rules or numerical sets of how to adjust the preliminary parameter to obtain a more suitable parameter under different dispensing head states. For example, when the dispensing head temperature is 45℃, the dispensing head is slightly worn, the dispensing pressure is 0.1 MPa and the dispensing time is 30 ms, the parameter adjustment strategy indicates increasing the dispensing pressure in the preliminary dispensing parameter by 0.01 MPa and prolonging the dispensing time by 5 ms. The embodiment is equivalent to further considering the influence of the actual state of the dispensing system execution end on the dispensing effect on the basis of considering the preliminary correction of the workpiece self-deviation, and making additional correction based on these influences. Therefore, the embodiment can further improve the accuracy and reliability of correcting the dispensing trajectory and the dispensing parameter, and further improve the dispensing precision and the dispensing quality.
[0053] In some preferred embodiments, step S345 comprises:
[0054] A1, obtaining the transportation condition information and the glue type of the glue used by the dispensing station;
[0055] A2, obtaining glue performance attenuation information according to the transportation condition information and the glue type;
[0056] A3, determining a fourth parameter correction strategy according to the glue performance attenuation information and the preliminary dispensing parameter;
[0057] A4, correcting the preliminary dispensing parameter according to the third parameter correction strategy and the fourth parameter correction strategy to obtain a corrected dispensing parameter.
[0058] The transportation condition information refers to the data of external environmental factors that affect the performance of the glue, such as the duration, temperature, humidity, air pressure, etc. during transportation. The glue type can refer to the specific model, chemical composition or physical property classification of the glue, and different types of glue have different sensitivities to environmental factors and performance attenuation patterns. The glue performance attenuation information can refer to the quantitative description of the degree of change or trend of the key performance parameters of the glue (such as viscosity, flowability, curing speed, thixotropy, etc.) relative to its initial or ideal state. This embodiment can obtain the glue performance attenuation information by inputting the transportation condition information and the glue type into the glue performance attenuation model. This embodiment can obtain the fourth parameter correction strategy by querying the pre-constructed mapping relationship table about the performance attenuation amount, the dispensing parameter and the parameter correction strategy according to the glue performance attenuation information and the preliminary dispensing parameter. The mapping relationship table stores the corresponding relationship between different degrees of glue performance attenuation, the corresponding preliminary dispensing parameter range and the dispensing parameter correction strategy that should be taken for these situations, for example, when the viscosity increases by 10%-20% and the preliminary dispensing pressure is 0.25-0.35 MPa, the parameter correction strategy is to increase the dispensing pressure by 10%. This embodiment can take into account the change of the performance of the glue itself by obtaining the transportation condition information and the glue type of the glue and evaluating the performance attenuation of the glue, so that this embodiment can more accurately predict and compensate the influence of various factors on the dispensing process, so as to realize high-precision dispensing in complex production environments, thereby further improving the dispensing precision and dispensing quality.
[0059] In some preferred embodiments, the transportation condition information comprises transportation duration, transportation temperature, transportation humidity and transportation air tightness. The transportation duration refers to the length of time the glue experiences from factory to use, which can be obtained by recording the start and end time of the transportation process. The transportation temperature refers to the ambient temperature the glue is in during transportation, which can be monitored by a temperature recorder. The transportation humidity refers to the ambient humidity the glue is in during transportation, which can be monitored by a humidity recorder. The transportation air tightness refers to the degree of exchange of the glue package or container with the external environment, which can be determined by evaluating the sealing integrity of the package or using air tightness detection equipment. Since the transportation duration directly reflects the cumulative effect of the glue exposed to a particular environment, the transportation temperature and the transportation humidity are key environmental factors affecting the chemical reaction rate and physical state of the glue, and the transportation air tightness relates to the degree of contact of the glue with components in the external air that may affect its performance (such as moisture, oxygen), therefore this embodiment can more accurately evaluate the performance degradation of the glue during transportation by including transportation duration, transportation temperature, transportation humidity and transportation air tightness in the transportation condition information.
[0060] In some preferred embodiments, step S2 comprises:
[0061] S21, for each preset non-collinear measurement point, determining the actual three-dimensional coordinates according to the corresponding Z-axis height data and the known spatial position;
[0062] S22, obtaining the actual spatial plane representing the surface of the workpiece to be dispensed according to all the actual three-dimensional coordinates;
[0063] S23, obtaining the attitude deviation information of the workpiece to be dispensed relative to the ideal sitting posture according to the difference between the actual spatial plane and the ideal spatial plane representing the ideal sitting posture.
[0064] Step S22 can obtain the actual spatial plane representing the surface of the workpiece to be dispensed by using an existing plane fitting algorithm to calculate a spatial plane model that best represents the actual surface attitude of the workpiece from all the actual three-dimensional coordinates. The ideal spatial plane of this embodiment refers to the reference plane corresponding to the dispensing area surface of the workpiece to be dispensed when it is in the ideal sitting posture. The acquisition process of the ideal spatial plane can be: when the workpiece to be dispensed is in the ideal sitting posture, obtaining the three-dimensional coordinates of at least three non-collinear measurement points on the surface of the workpiece to be dispensed; and using an existing plane fitting algorithm to calculate a spatial plane model from all the three-dimensional coordinates.
[0065] In some preferred embodiments, step S21 comprises:
[0066] S211, obtaining image information containing the workpiece to be dispensed and its fixture;
[0067] S212, for each preset non-collinear measurement point, analyzing whether there is an occlusion above the preset non-collinear measurement point according to the image information and the corresponding known spatial position;
[0068] S213, for each preset non-collinear measurement point without an occlusion above, determining the actual three-dimensional coordinates according to the corresponding Z-axis height data and the known spatial position.
[0069] The analysis of whether there is an occlusion above the preset non-collinear measurement point refers to using the obtained image information in combination with the known position information of the preset measurement point in space to determine whether there is an object above the measurement point that may hinder the operation of the height sensor through image processing algorithms. This embodiment can use the method of first identifying the workpiece, fixture and other possible objects using image segmentation technology, then determining the corresponding region of the measurement point in the image according to the known spatial position of the measurement point, and analyzing whether there is an identified object above the region to analyze whether there is an occlusion above the preset non-collinear measurement point according to the image information and the corresponding known spatial position.
[0070] The overall working principle of this embodiment is as follows: First, the image information containing the workpiece and the fixture is obtained, which provides the basis for visual analysis. Then, for each preset measurement point, the obtained image information and the known spatial position of the point are used to analyze and determine whether there is an occlusion above it. This determination process can identify those measurement points that may be inaccurate due to occlusion. Subsequently, only the Z-axis height data corresponding to the measurement points determined to have no occlusion above and the known spatial position are used to calculate their three-dimensional coordinates in the actual space. In this way, this embodiment can improve the effectiveness and accuracy of the three-dimensional coordinate data of the measurement points used for subsequent pose deviation calculation. Compared with the method of directly obtaining all measurement point height data and calculating three-dimensional coordinates, this embodiment can effectively avoid measurement errors introduced by occlusions, so that the calculated actual spatial plane of the workpiece and the pose deviation information are more accurate. This quality control process of the source of measurement data significantly improves the reliability of the workpiece pose deviation information, provides a solid foundation for subsequent point dispensing trajectory and parameter correction based on the pose deviation information, and thus improves the overall point dispensing method. precision.
[0071] In some preferred embodiments, the positions and number of preset non-collinear measurement points are determined based on the type and surface characteristics of the workpiece to be dispensed. The type of the workpiece to be dispensed refers to the category of the workpiece to be dispensed, and the surface characteristics of the workpiece to be dispensed refer to the micro or local properties of the workpiece surface such as material, color, reflectivity, texture, roughness, etc. The surface characteristics of the workpiece to be dispensed can be obtained based on existing image processing techniques according to an image including the workpiece to be dispensed, and the type of the workpiece to be dispensed can be obtained by inputting the surface characteristics of the workpiece to be dispensed into a pre-trained workpiece classifier. The embodiment associates the positions and number of preset non-collinear measurement points with the type and surface characteristics of the workpiece to be dispensed, so that the Z-axis height data is measured at positions on the surface of the workpiece to be dispensed that are most suitable for stable and accurate measurement. For example, for a workpiece with a complex curved surface or a surface prone to reflection, measurement points can be selected to avoid high-curvature areas or strong reflection points, and areas with flat surfaces and good diffuse reflection characteristics can be selected as measurement points. For workpieces of different shapes, measurement point distribution can be selected according to the geometric structure to fully reflect the overall posture of the workpiece, for example, measurement points can be set at the edges, corners or specific positioning features of the workpiece. At the same time, the number of measurement points can also be adjusted according to the complexity of the workpiece and the required accuracy of the posture information, for example, for a simple-shaped workpiece, three points can be sufficient to determine the plane posture, while for a complex-shaped workpiece or a workpiece requiring higher accuracy positioning, more measurement points can be required. The embodiment can obtain more accurate and stable Z-axis height data by determining the positions and number of preset non-collinear measurement points based on the type and surface characteristics of the workpiece to be dispensed, so that the posture deviation information of the workpiece to be dispensed relative to the ideal sitting posture calculated subsequently is more accurate, thereby further improving the accuracy and reliability of correcting the dispensing trajectory and dispensing parameters, and further improving the dispensing precision and dispensing quality.
[0072] In some preferred embodiments, the corrected dispensing parameters include dispensing pressure, dispensing amount, dispensing speed and dispensing time. The dispensing pressure directly affects the flow state and flow stability of the glue, the dispensing amount determines the total amount of glue per dispensing path or point, the dispensing speed affects the relative motion of the dispensing head and the workpiece, as well as the stretching and shaping of the glue line, and the dispensing time controls the duration of a single dispensing or the flow of continuous dispensing. These parameters are the core factors that affect the final dispensing quality (such as glue line width, height, uniformity, adhesion, etc.).
[0073] From the above, the multi-station turntable type automatic dispensing synchronous positioning method provided by the application can obtain the attitude deviation information of the workpiece to be dispensed relative to the ideal sitting posture by first obtaining the Z-axis height data of at least three preset non-collinear measurement points on the surface of the workpiece to be dispensed and the known spatial positions corresponding to all the preset non-collinear measurement points, and then dynamically correcting the preset dispensing trajectory and the preset dispensing parameters based on the attitude deviation information, so that the dispensing head can accurately dispense according to the actual sitting posture of the workpiece to be dispensed. Even if the actual sitting posture of the workpiece deviates from the ideal sitting posture due to the influence of residues, the actual dispensing quality of the workpiece to be dispensed can still reach the expected dispensing quality. Therefore, the application can effectively solve the problem that the dispensing quality is affected due to the deviation between the dispensing position required by the workpiece in the current sitting posture and the ideal dispensing position.
[0074] In a second aspect, as shown in the accompanying drawings, the application further provides a multi-station turntable type automatic dispensing synchronous positioning system, which comprises: Figure 2
[0075] The data acquisition module 1 is configured to obtain the Z-axis height data of at least three preset non-collinear measurement points on the surface of the workpiece to be dispensed after the workpiece to be dispensed moves to the dispensing station.
[0076] The attitude deviation analysis module 2 is configured to obtain the attitude deviation information of the workpiece to be dispensed relative to the ideal sitting posture according to all the Z-axis height data and the known spatial positions corresponding to all the preset non-collinear measurement points.
[0077] The dispensing trajectory and parameter correction module 3 is configured to generate a corrected dispensing trajectory according to the attitude deviation information and the preset dispensing trajectory, and generate a corrected dispensing parameter according to the attitude deviation information and the preset dispensing parameter. The preset dispensing trajectory is the dispensing trajectory when the workpiece to be dispensed is in the ideal sitting posture, and the preset dispensing parameter is the dispensing parameter when the workpiece to be dispensed is in the ideal sitting posture.
[0078] The dispensing execution module 4 is configured to dispense the workpiece to be dispensed according to the corrected dispensing trajectory and the corrected dispensing parameter.
[0079] The multi-station turntable type automatic dispensing synchronous positioning system provided by the application comprises a data acquisition module 1, an attitude deviation analysis module 2, a dispensing trajectory and parameter correction module 3, and a dispensing execution module 4. The multi-station turntable type automatic dispensing synchronous positioning system provided by the embodiment is used to execute the steps in the multi-station turntable type automatic dispensing synchronous positioning method provided by the first aspect. The principle of the multi-station turntable type automatic dispensing synchronous positioning system provided by the embodiment is the same as that of the multi-station turntable type automatic dispensing synchronous positioning method provided by the first aspect, and will not be discussed in detail here.
[0080] From the above, the multi-station rotary table type automatic dispensing synchronous positioning method and system provided by the application can obtain the attitude deviation information of the workpiece to be dispensed relative to the ideal sitting posture according to the Z-axis height data of at least three preset non-collinear measurement points on the surface of the workpiece to be dispensed and the known spatial positions corresponding to all the preset non-collinear measurement points, and dynamically correct the preset dispensing trajectory and the preset dispensing parameters based on the attitude deviation information, so that the dispensing head can accurately dispense according to the actual sitting posture of the workpiece to be dispensed. Even if the actual sitting posture of the workpiece deviates from the ideal sitting posture due to the influence of residues, the actual dispensing quality of the workpiece to be dispensed can reach the expected dispensing quality. Therefore, the application can effectively solve the problem that the dispensing quality is affected due to the deviation between the dispensing position required by the workpiece in the current sitting posture and the ideal dispensing position.
[0081] In the embodiments provided in the application, it should be understood that the disclosed devices and methods can be implemented in other manners. The above described device embodiments are only schematic. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation. For example, a plurality of units or components can be combined or integrated into another machine, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or other forms.
[0082] In addition, each functional module in each embodiment of the application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.
[0083] In this document, the terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations.
[0084] The above only describes the embodiments of the application and is not used to limit the protection scope of the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.
Claims
1. A multi-station rotary table type automatic dispensing synchronous positioning method, characterized in that, The multi-station rotary table type automatic dispensing synchronous positioning method comprises the following steps: S1, after the workpiece to be dispensed moves to the dispensing station, Z-axis height data of at least three preset non-collinear measurement points on the surface of the workpiece to be dispensed is obtained; S2, according to all the Z-axis height data and the known spatial positions corresponding to all the preset non-collinear measurement points, the attitude deviation information of the workpiece to be dispensed relative to the ideal sitting posture is obtained; S3, according to the attitude deviation information and a preset dispensing trajectory, a corrected dispensing trajectory is generated, and according to the attitude deviation information and a preset dispensing parameter, a corrected dispensing parameter is generated, the preset dispensing posture is the dispensing trajectory when the workpiece to be dispensed is in the ideal sitting posture, and the preset dispensing parameter is the dispensing parameter when the workpiece to be dispensed is in the ideal sitting posture; S4, the workpiece to be dispensed is dispensed according to the corrected dispensing trajectory and the corrected dispensing parameter.
2. The multi-station turntable type automatic dispensing synchronization positioning method according to claim 1, characterized in that, Step S3 comprises: S31, a first trajectory correction strategy is determined according to the attitude deviation information and a preset dispensing trajectory, and a first parameter correction strategy is determined according to the attitude deviation information and a preset dispensing parameter; S32, parameter deviation information of the parameters of the workpiece to be dispensed relative to ideal parameters is obtained; S33, a second trajectory correction strategy is determined according to the parameter deviation information, and a second parameter correction strategy is determined according to the parameter deviation information; S34, the preset dispensing trajectory is corrected according to the first trajectory correction strategy and the second trajectory correction strategy to obtain a corrected dispensing trajectory, and the preset dispensing parameter is corrected according to the first parameter correction strategy and the second parameter correction strategy to obtain a corrected dispensing parameter.
3. The multi-station turntable type automatic dispensing synchronization positioning method according to claim 2, characterized in that, Step S34 comprises: S341, the preset dispensing trajectory is corrected according to the first trajectory correction strategy and the second trajectory correction strategy to obtain a preliminary dispensing trajectory, and the preset dispensing parameter is corrected according to the first parameter correction strategy and the second parameter correction strategy to obtain a preliminary dispensing parameter; S342, the state information of the dispensing head itself and the state information of the dispensing head driving mechanism are obtained; S343, a third trajectory correction strategy is determined according to the state information of the dispensing head driving mechanism and the preliminary dispensing trajectory, and a third parameter correction strategy is determined according to the state information of the dispensing head itself and the preliminary dispensing parameter; S344, the preliminary dispensing trajectory is corrected according to the third trajectory correction strategy to obtain a corrected dispensing trajectory; S345, the preliminary dispensing parameter is corrected according to the third parameter correction strategy to obtain a corrected dispensing parameter.
4. The multi-station turntable type automatic dispensing synchronization positioning method according to claim 3, characterized in that, Step S345 comprises: A1, the transportation condition information and the type of glue used in the dispensing station are obtained; A2, the performance attenuation information of the glue is obtained according to the transportation condition information and the type of glue; A3, a fourth parameter correction strategy is determined according to the performance attenuation information of the glue and the preliminary dispensing parameter; A4, the preliminary dispensing parameter is corrected according to the third parameter correction strategy and the fourth parameter correction strategy to obtain a corrected dispensing parameter.
5. The multi-station turntable type automatic dispensing synchronization positioning method according to claim 4, characterized in that, The transportation condition information includes transportation duration, transportation temperature, transportation humidity, and transportation airtightness.
6. The multi-station turntable automatic dispensing synchronization positioning method according to claim 1, wherein, The step S2 includes: S21, determining actual three-dimensional coordinates according to the corresponding Z-axis height data and known spatial positions for each of the preset non-collinear measurement points; S22, obtaining an actual spatial plane representing the surface of the workpiece to be dispensed according to all the actual three-dimensional coordinates; S23, obtaining attitude deviation information of the workpiece to be dispensed relative to the ideal posture according to the difference between the actual spatial plane and an ideal spatial plane representing the ideal posture.
7. The multi-station turntable type automatic dispensing synchronization positioning method according to claim 6, characterized in that, The step S21 includes: S211, obtaining image information containing the workpiece to be dispensed and its fixture; S212, analyzing whether there is an occlusion above each of the preset non-collinear measurement points according to the image information and the corresponding known spatial positions; S213, determining actual three-dimensional coordinates according to the corresponding Z-axis height data and known spatial positions for each of the preset non-collinear measurement points above which there is no occlusion.
8. The multi-station turntable automatic dispensing synchronization positioning method according to claim 1, wherein, The positions and number of the preset non-collinear measurement points are determined based on the type and surface characteristics of the workpiece to be dispensed.
9. The multi-station turntable automatic dispensing synchronization positioning method according to claim 1, wherein, The corrected dispensing parameters include dispensing pressure, dispensing amount, dispensing speed, and dispensing time.
10. A multi-station rotary table automatic dispensing synchronization positioning system, characterized in that, The multi-station rotary disc type automatic dispensing synchronous positioning system includes: A data acquisition module for acquiring Z-axis height data of at least three preset non-collinear measurement points on the surface of the workpiece to be dispensed after the workpiece to be dispensed moves to the dispensing station; An attitude deviation analysis module for obtaining attitude deviation information of the workpiece to be dispensed relative to the ideal posture according to all the Z-axis height data and the known spatial positions corresponding to all the preset non-collinear measurement points; A dispensing trajectory and parameter correction module for generating a corrected dispensing trajectory according to the attitude deviation information and a preset dispensing trajectory, and generating corrected dispensing parameters according to the attitude deviation information and a preset dispensing parameter, the preset dispensing trajectory being a dispensing trajectory when the workpiece to be dispensed is in the ideal posture, and the preset dispensing parameter being a dispensing parameter when the workpiece to be dispensed is in the ideal posture; A dispensing execution module for dispensing the workpiece to be dispensed according to the corrected dispensing trajectory and the corrected dispensing parameters.