Dispensing system suitable for synchronous double-valve XYZ dynamic adjustment

Abstract

The invention relates to the technical field of dispensing, and discloses a dispensing system suitable for synchronous double-valve XYZ dynamic adjustment, which comprises the following processes: S1, X2Y2Z2 origin offset setting; the offset of X2Y2 enables the distance between the double valves to be consistent with the distance between the products, and the offset of Z2 is consistent with the first valve and the second valve; s2, setting a compensation range of X2Y2Z2; the allowable compensation range of X2Y2Z2 is recorded, and software error reporting is avoided; s3, correcting the camera and the laser; teaching the camera to be arranged opposite to the laser; s4, correcting the camera, the valve I and the valve II; teaching the relative positions of the camera and the valve I and the valve II after the original points deviate; s5, correcting the angle of the valve II; correcting the X1Y1 coordinate system and the X2Y2 coordinate system; s6, programming the program; mark and a height detection instruction are programmed in the sub-template; s7, template equipment; template setting is conducted according to the positions, needing glue dispensing, of the first valve and the second valve; s8, running the program; the distance between the two valves and the dispensing height are automatically calculated, and follow-up compensation dispensing is carried out during operation; the problem that glue dispensing cannot be carried out due to different heights and inclined angles is solved.

Description

Technical Field

[0001] This invention relates to the field of dispensing equipment programming and dispensing technology, and more particularly to a dispensing system suitable for synchronous dual-valve XYZ dynamic adjustment. Background Technology

[0002] Currently, in the field of dispensing, products are becoming increasingly precise and processes are becoming increasingly complex. While meeting customers' requirements for precision, the goal is to achieve the ultimate in production efficiency. Single-valve, traditional dual-valve, and adjustable dual-valve systems cannot simultaneously meet both accuracy and production efficiency requirements. Therefore, a synchronous dual-valve XYZ automatic adjustment dispensing system was developed. Traditional single-valve systems are at a significant disadvantage in dispensing efficiency for multi-panel products. With traditional fixed dual-valve systems, the distance between valves one and two needs to be pre-set. During product feeding, edge tapping, lifting, and track gaps can all introduce angular deviations to the product, directly affecting the accuracy of the secondary valve. Traditional adjustable dual-valve systems pre-adjust the XY distance between the two valves based on the position of the panel mark within the scanned product. During dispensing, the product is dispensed at a fixed distance and at the same height as valve one. This configuration is unsuitable for multi-panel carriers, as lifting can cause different angle deviations in the panels within the carrier, resulting in inconsistent heights. This directly affects the accuracy of the secondary valve or leads to frequent alarms and dispensing failures. To meet customer needs and keep up with industry trends, synchronous dual-valve XYZ automatic adjustment is an increasingly important area for manufacturers to optimize.

[0003] Existing synchronous dual-valve programming methods do not form two actual three-dimensional coordinates; they only make XY coordinate deviations on the major axis coordinate system. To develop synchronous dual-valve XYZ dynamic adjustment, the current programming system has the following shortcomings: it cannot achieve Z-axis compensation when dealing with dual-valve products with different heights; it cannot dispense glue when dealing with two products with different angles during dual-valve dispensing; and it does not form two three-dimensional coordinates and does not correct these two three-dimensional coordinates, thus failing to achieve follow-up compensation dispensing.

[0004] Therefore, existing technologies have shortcomings and need to be improved in order to meet the requirements of the above scenarios simultaneously. Summary of the Invention

[0005] To address the shortcomings of current technology, this invention provides a dispensing system suitable for synchronous dual-valve XYZ dynamic adjustment.

[0006] The technical solution provided by this invention is a dispensing system suitable for synchronous dual-valve XYZ dynamic adjustment, comprising the following process: S1: X2Y2Z2 origin offset setting; The X2Y2 offset will keep the distance between the two valves consistent with the product spacing, and the Z2 offset will keep the distance between valve one and valve two consistent; S2: Set the compensable range for X2Y2Z2; record the allowable compensation range for X2Y2Z2 to avoid software errors; S3: Camera and laser calibration; instructing you on the relative settings of the camera and laser; S4: Camera and valve one and valve two calibration; teach the relative positions of the camera and valve one and valve two after the origin offset; S5: Valve two-angle correction; X1Y1 coordinate system and X2Y2 coordinate system correction; S6: Programming; programming Mark and height probe commands within sub-templates; S7: Template equipment; Set up the template according to the positions where glue needs to be dispensed for valve one and valve two; S8: Run the program; automatically calculate the distance between the two valves and the dispensing height, and compensate for dispensing during operation.

[0007] Preferably, the S1 process also includes: S11: Set according to the travel of the XYZ axis. The normal state of the motor returning to the origin is: the X2Y2Z2 axis will move towards the X2Y2Z2 negative limit sensor. After touching the sensor, it will move the distance of the origin offset in the positive direction. Then, this position is used as the origin position of valve two and valve one.

[0008] Preferably, the S2 process also includes: S21: The adjustment range of X2Y2Z2 is a three-dimensional rectangular area. It is necessary to teach two coordinate points as the negative limit and positive limit of X2Y2Z2 respectively, and automatically calculate the compensable dispensing range of valve two to avoid software errors.

[0009] Preferably, the S3 process also includes: S31: Align the laser with the center of the crosshair, adjust the laser value to its strongest, click Next, use the camera to clearly see the crosshair, and complete the tutorial.

[0010] Preferably, the S4 process also includes: S41: Roughly instruct the origin positions of valve one and valve two respectively. Align valve one or valve two with the crosshair, click next, use the camera to see the crosshair clearly, and complete the instruction. S42: After completing the teaching of valve one or valve two and the teaching of camera and laser, it is necessary to teach the laser, camera and valve one and the relationship between laser, camera and valve two respectively. Use laser and camera to see the position of pressure sensor, click valve one or valve two height test, and complete the calibration relationship of valve one or valve two height, laser and camera through the signal feedback of pressure sensor. S43: After completing the coarse adjustment and the height of valve one or valve two, use the camera to guide three equally spaced points, click to start the calibration, the laser probes the height at the three calibration positions, and then valve one or valve two will mark the points at the three calibration positions according to the calibration relationship. After the marking is completed, use the camera to guide the marking positions to complete the fine adjustment of the valve body and the camera. The steps for valve one and valve two are the same.

[0011] Preferably, the S5 process also includes: S51: Click on angle correction, and the small XY axis will return to the origin. S52: When the valve body moves to nozzle position 1, the small X-axis moves to the right by the distance set by SmallMoveDistance, and the software records the coordinate d1. The valve body dispenses glue. S53: When the valve body moves to nozzle position 3, the small X-axis moves to the left by the distance set by SmallMoveDistance, the software records the coordinate d2, and the valve body dispenses glue. S54: The small X-axis moves to the left by the distance set by SmallMoveDistance, and the software records the coordinate d3, causing the valve body to dispense glue. S55: Move the camera to coordinate d1, manually move the camera center to coincide with the glue dot center, move the camera to coordinate d2, manually move the camera center to coincide with the glue dot center, move the camera to coordinate d3, manually move the camera center to coincide with the glue dot center. S56: The software automatically calculates valve2X Angle and Valve2Y Angle.

[0012] Preferably, the S6 process also includes: S61: Mark: (154.737,158.509,10.462)-(180.542,147.929,10.462) Two; S62: Laser:1 AT (180.516,147.975,10.462); S63: Line: 1, (156.116, 155.724, 10.463), ValveOn; S64: Line: 1, (162.630, 155.801, 10.463) ValveOff; S65: Endl.

[0013] Preferably, the S7 process also includes: S71: When using synchronous adjustable dual valves, two positions need to be selected for positioning. The first position is the first Mark point of the product corresponding to valve one, and the second position is the first Mark point of the product corresponding to valve two. When selecting dual valves, the software will automatically calculate the distance deviation of X2Y2.

[0014] Preferably, the S8 process also includes: S81: During operation, after the Mark scan is completed, the height of each Panel in the vehicle is probed. Based on the positional deviation between the scanned Marks, the spacing of X2Y2 is adjusted. Through the probe command, the height of the Z2 axis will be adjusted accordingly during dispensing. S82: During the dispensing process, the X2Y2 will be dynamically compensated according to the offset relationship between the two Marks. If the dispensing exceeds the adjustment range, dispensing can be performed using valve one or valve two as single valves.

[0015] Compared to existing technologies, this invention solves the problem of dispensing adhesive on multi-panel carriers where products may become loose, and also addresses the issue of dispensing being impossible due to different panel heights caused by angular deviations within the carrier. The synchronous dual-valve XYZ dynamic adjustment dispensing system adjusts the X2Y2 spacing based on the positional deviation between scanned marks. A height probe command adjusts the Z2 axis height accordingly during dispensing. Furthermore, when dealing with two products at different angles, dynamic compensation of X2Y2 ensures dispensing, creating a three-dimensional coordinate system that achieves satisfactory accuracy and dispensing efficiency. An early alarm is triggered for angles where the secondary valve cannot compensate, demonstrating significant market application value. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall dispensing system of the present invention; Figure 2 This is a schematic diagram of the valve two-angle correction process of the present invention; Figure 3 This is a schematic diagram of the dispensing operation procedure of the present invention. Detailed Implementation

[0017] It should be noted that the above-mentioned technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this invention specification; and, for those skilled in the art, improvements or modifications can be made based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

[0018] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0019] It should be noted that when a component is described as being "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is described as being "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0021] The present invention will now be described in detail with reference to the accompanying drawings.

[0022] like Figures 1-3 As shown: A dispensing system suitable for synchronous dual-valve XYZ dynamic adjustment includes the following process: S1: X2Y2Z2 origin offset setting; The X2Y2 offset will keep the distance between the two valves consistent with the product spacing, and the Z2 offset will keep the distance between valve one and valve two consistent; S2: Set the compensable range for X2Y2Z2; record the allowable compensation range for X2Y2Z2 to avoid software errors; S3: Camera and laser calibration; instructing you on the relative settings of the camera and laser; S4: Camera and valve one and valve two calibration; teach the relative positions of the camera and valve one and valve two after the origin offset; S5: Valve two-angle correction; X1Y1 coordinate system and X2Y2 coordinate system correction; S6: Programming; programming Mark and height probe commands within sub-templates; S7: Template equipment; Set up the template according to the positions where glue needs to be dispensed for valve one and valve two; S8: Run the program; automatically calculate the distance between the two valves and the dispensing height, and compensate for dispensing during operation.

[0023] Preferably, the S1 process also includes: S11: Set according to the travel of the XYZ axis. The normal state of the motor returning to the origin is: the X2Y2Z2 axis will move towards the X2Y2Z2 negative limit sensor. After touching the sensor, it will move the distance of the origin offset in the positive direction. Then, this position is used as the origin position of valve two and valve one.

[0024] Furthermore, X2Y2 enables valve two to automatically adjust the X1Y1 deviation to adapt to valve one dispensing, while Z1 is added to enable valve one to automatically adjust the dispensing height to adapt to valve two.

[0025] Preferably, the S2 process also includes: S21: The adjustment range of X2Y2Z2 is a three-dimensional rectangular area. It is necessary to teach two coordinate points as the negative limit and positive limit of X2Y2Z2 respectively, and automatically calculate the compensable dispensing range of valve two to avoid software errors.

[0026] Preferably, the S3 process also includes: S31: Align the laser with the center of the crosshair, adjust the laser value to its strongest, click Next, use the camera to clearly see the crosshair, and complete the tutorial.

[0027] Preferably, the S4 process also includes: S41: Roughly instruct the origin positions of valve one and valve two respectively. Align valve one or valve two with the crosshair, click next, use the camera to see the crosshair clearly, and complete the instruction. S42: After completing the teaching of valve one or valve two and the teaching of camera and laser, it is necessary to teach the laser, camera and valve one and the relationship between laser, camera and valve two respectively. Use laser and camera to see the position of pressure sensor, click valve one or valve two height test, and complete the calibration relationship of valve one or valve two height, laser and camera through the signal feedback of pressure sensor. S43: After completing the coarse adjustment and the height of valve one or valve two, use the camera to guide three equally spaced points, click to start the calibration, the laser probes the height at the three calibration positions, and then valve one or valve two will mark the points at the three calibration positions according to the calibration relationship. After the marking is completed, use the camera to guide the marking positions to complete the fine adjustment of the valve body and the camera. The steps for valve one and valve two are the same.

[0028] Preferably, the S5 process also includes: S51: Click on angle correction, and the small XY axis will return to the origin. S52: When the valve body moves to nozzle position 1, the small X-axis moves to the right by the distance set by SmallMoveDistance, and the software records the coordinate d1. The valve body dispenses glue. S53: When the valve body moves to nozzle position 3, the small X-axis moves to the left by the distance set by SmallMoveDistance, the software records the coordinate d2, and the valve body dispenses glue. S54: The small X-axis moves to the left by the distance set by SmallMoveDistance, and the software records the coordinate d3, causing the valve body to dispense glue. S55: Move the camera to coordinate d1, manually move the camera center to coincide with the glue dot center, move the camera to coordinate d2, manually move the camera center to coincide with the glue dot center, move the camera to coordinate d3, manually move the camera center to coincide with the glue dot center. S56: The software automatically calculates valve2X Angle and Valve2Y Angle.

[0029] Preferably, the S6 process also includes: S61: Mark: (154.737,158.509,10.462)-(180.542,147.929,10.462) Two; S62: Laser:1 AT (180.516,147.975,10.462); S63: Line: 1, (156.116, 155.724, 10.463), ValveOn; S64: Line: 1, (162.630, 155.801, 10.463) ValveOff; S65: Endl.

[0030] Preferably, the S7 process also includes: S71: When using synchronous adjustable dual valves, two positions need to be selected for positioning. The first position is the first Mark point of the product corresponding to valve one, and the second position is the first Mark point of the product corresponding to valve two. When selecting dual valves, the software will automatically calculate the distance deviation of X2Y2.

[0031] Preferably, the S8 process also includes: S81: During operation, after the Mark scan is completed, the height of each Panel in the vehicle is probed. Based on the positional deviation between the scanned Marks, the spacing of X2Y2 is adjusted. Through the probe command, the height of the Z2 axis will be adjusted accordingly during dispensing. S811: During operation, after the Mark scan is completed, the height of each Panel in the vehicle is probed. Based on the positional deviation between the scanned Marks, the spacing of X2Y2 is adjusted. Through the probe command, the height of the Z1 axis is also adjusted accordingly during dispensing. S82: During the dispensing process, the X2Y2 will be dynamically compensated according to the offset relationship between the two Marks. If the dispensing exceeds the adjustment range, dispensing can be performed using valve one or valve two as single valves.

[0032] It should be noted that the above-mentioned technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this invention specification; and, for those skilled in the art, improvements or modifications can be made based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A dispensing system suitable for synchronous dual-valve XYZ dynamic adjustment, characterized in that, The process includes the following steps: S1: X2Y2Z2 origin offset setting; The X2Y2 offset will keep the distance between the two valves consistent with the product spacing, and the Z2 offset will keep the distance between valve one and valve two consistent; S2: Set the compensable range for X2Y2Z2; record the allowable compensation range for X2Y2Z2 to avoid software errors; S3: Camera and laser calibration; instructing you on the relative settings of the camera and laser; S4: Camera and valve one and valve two calibration; teach the relative positions of the camera and valve one and valve two after the origin offset; S5: Valve two-angle correction; X1Y1 coordinate system and X2Y2 coordinate system correction; S6: Programming; programming Mark and height probe commands within sub-templates; S7: Template equipment; Set up the template according to the positions where glue needs to be dispensed for valve one and valve two; S8: Run the program; automatically calculate the distance between the two valves and the dispensing height, and compensate for dispensing during operation.

2. The dispensing system for synchronous dual-valve XYZ dynamic adjustment according to claim 1, characterized in that, The S1 process also includes: S11: Set according to the travel of the XYZ axis. The normal state of the motor returning to the origin is: the X2Y2Z2 axis will move towards the X2Y2Z2 negative limit sensor. After touching the sensor, it will move the distance of the origin offset in the positive direction. Then, this position is used as the origin position of valve two and valve one.

3. A dispensing system suitable for synchronous dual-valve XYZ dynamic adjustment according to claim 1, characterized in that, The S2 process also includes: S21: The adjustment range of X2Y2Z2 is a three-dimensional rectangular area. It is necessary to teach two coordinate points as the negative limit and positive limit of X2Y2Z2 respectively, and automatically calculate the compensable dispensing range of valve two to avoid software errors.

4. A dispensing system suitable for synchronous dual-valve XYZ dynamic adjustment according to claim 1, characterized in that, The S3 process also includes: S31: Align the laser with the center of the crosshair, adjust the laser value to its strongest, click Next, use the camera to clearly see the crosshair, and complete the tutorial.

5. A dispensing system suitable for synchronous dual-valve XYZ dynamic adjustment according to claim 1, characterized in that, The S4 process also includes: S41: Roughly instruct the origin positions of valve one and valve two respectively. Align valve one or valve two with the crosshair, click next, use the camera to see the crosshair clearly, and complete the instruction. S42: After completing the teaching of valve one or valve two and the teaching of camera and laser, it is necessary to teach the laser, camera and valve one and the relationship between laser, camera and valve two respectively. Use laser and camera to see the position of pressure sensor, click valve one or valve two height test, and complete the calibration relationship of valve one or valve two height, laser and camera through the signal feedback of pressure sensor. S43: After completing the coarse adjustment and the height of valve one or valve two, use the camera to guide three equally spaced points, click to start the calibration, the laser probes the height at the three calibration positions, and then valve one or valve two will mark the points at the three calibration positions according to the calibration relationship. After the marking is completed, use the camera to guide the marking positions to complete the fine adjustment of the valve body and the camera. The steps for valve one and valve two are the same.

6. A dispensing system suitable for synchronous dual-valve XYZ dynamic adjustment according to claim 1, characterized in that, The S5 process also includes: S51: Click on angle correction, and the small XY axis will return to the origin. S52: When the valve body moves to nozzle position 1, the small X-axis moves to the right by the distance set by SmallMoveDistance, and the software records the coordinate d1. The valve body dispenses glue. S53: When the valve body moves to nozzle position 3, the small X-axis moves to the left by the distance set by SmallMoveDistance, the software records the coordinate d2, and the valve body dispenses glue. S54: The small X-axis moves to the left by the distance set by SmallMoveDistance, and the software records the coordinate d3, causing the valve body to dispense glue. S55: Move the camera to coordinate d1, manually move the camera center to coincide with the glue dot center, move the camera to coordinate d2, manually move the camera center to coincide with the glue dot center, move the camera to coordinate d3, manually move the camera center to coincide with the glue dot center. S56: The software automatically calculates valve2X Angle and Valve2Y Angle.

7. A dispensing system suitable for synchronous dual-valve XYZ dynamic adjustment according to claim 1, characterized in that, The S6 process also includes: S61: Mark: (154.737,158.509,10.462)-(180.542,147.929,10.462) Two; S62: Laser:1 AT (180.516,147.975,10.462); S63: Line: 1, (156.116, 155.724, 10.463), ValveOn; S64: Line: 1, (162.630, 155.801, 10.463) ValveOff; S65: Endl.

8. A dispensing system suitable for synchronous dual-valve XYZ dynamic adjustment according to claim 1, characterized in that, The S7 process also includes: S71: When using synchronous adjustable dual valves, two positions need to be selected for positioning. The first position is the first Mark point of the product corresponding to valve one, and the second position is the first Mark point of the product corresponding to valve two. When selecting dual valves, the software will automatically calculate the distance deviation of X2Y2.

9. A dispensing system suitable for synchronous dual-valve XYZ dynamic adjustment according to claim 1, characterized in that, The S8 process also includes: S81: During operation, after the Mark scan is completed, the height of each Panel in the vehicle is probed. Based on the positional deviation between the scanned Marks, the spacing of X2Y2 is adjusted. Through the probe command, the height of the Z2 axis will be adjusted accordingly during dispensing. S82: During the dispensing process, the X2Y2 will be dynamically compensated according to the offset relationship between the two Marks. If the dispensing exceeds the adjustment range, dispensing can be performed using valve one or valve two as single valves.

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