Automatic dispensing equipment based on visual positioning

Abstract

The invention discloses automatic dispensing equipment based on visual positioning. The automatic dispensing equipment comprises a rack assembly, a movement mechanism, a dispensing mechanism, a machine vision mechanism and a control system. The movement mechanism corresponds to a workbench arranged on the rack assembly and comprises an X-axis driving module, a Y-axis driving module and a Z-axis driving module. The dispensing mechanism is arranged on the Y-axis driving module; the machine vision mechanism comprises an industrial camera and a lighting device which are arranged right above the workbench, and is used for carrying out visual positioning on an object to be dispensed on the workbench; the control system is electrically connected with the movement mechanism, the dispensing mechanism and the machine vision mechanism and controls the movement mechanism, the dispensing mechanism and the machine vision mechanism to operate coordinately. By adopting a machine vision positioning technology, the equipment can automatically identify the position and the posture of an object to be dispensed and correct the dispensing track in real time, so that the dispensing precision and the production efficiency are greatly improved, and the dependence on a precise jig is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of SMT production, in particular to an automatic dispensing equipment based on visual positioning. BACKGROUND

[0002] Dispensing technology is widely used in electronic manufacturing, semiconductor packaging, automotive electronics and other industrial fields, for bonding, sealing, potting and other process treatment of products. Currently, the mainstream dispensing equipment on the market mainly relies on precise jigs or fixtures for positioning to achieve dispensing. This method has obvious limitations: when the fixture or product placement has a slight deviation, the dispensing position will be inaccurate, resulting in a decrease in product pass rate.

[0003] In addition, the traditional dispensing machine also has the following problems:

[0004] 1. Poor adaptability: each time the product type is changed, the jig needs to be redesigned and manufactured, and the line change debugging time is long, which cannot adapt to small batch and multi-variety production requirements;

[0005] 2. Limited precision: purely relying on mechanical positioning, it is difficult to compensate for errors caused by incoming deviation and jig wear;

[0006] 3. Single function: lack of process monitoring capability, unable to detect dispensing quality in real time, such as glue shape, position, etc.

[0007] With the development of industrial automation, machine vision technology is widely used in positioning and detection fields due to its high precision, high speed and non-contact characteristics. By introducing machine vision into dispensing equipment, the product features can be recognized by the vision system, and the dispensing path can be automatically corrected, which can effectively solve the above problems and improve the dispensing precision and equipment adaptability. SUMMARY

[0008] The present application aims to solve the problems of excessive dependence on precise jigs, limited positioning accuracy, long line change debugging time, etc. in the prior art, and provides an automatic dispensing equipment based on visual positioning. The equipment integrates a machine vision system, can automatically recognize product position and correct dispensing trajectory in real time, significantly improving dispensing precision and equipment flexibility.

[0009] An automatic dispensing equipment based on visual positioning, comprising a rack assembly, a workbench arranged on the rack assembly, a motion mechanism, a dispensing mechanism, a machine vision mechanism and a control system.

[0010] Rack assembly and workbench: the bottom of the rack assembly is provided with an electrical cabinet, and the workbench is arranged on the upper part of the rack assembly. The workbench adopts a marble table top, which has good stability and flatness. A back protection baffle is arranged at the rear of the workbench for protecting the motion mechanism and preventing excessive stroke from hitting other objects.

[0011] The motion mechanism includes an X-axis drive module, a Y-axis drive module, and a Z-axis drive module, which work together to achieve precise positioning of the dispensing mechanism in three-dimensional space. The X-axis and Y-axis drive modules use high-precision linear modules, while the Z-axis drive module uses a precision slide driven by a servo motor to ensure smooth movement and accurate positioning.

[0012] The dispensing mechanism includes a dispensing valve, a dispensing head, and a temperature control device. The dispensing valve is connected to the glue tank via a gear pump; the temperature control device includes a temperature controller, a heating element, and a temperature sensor. The heating element and temperature sensor are positioned corresponding to the dispensing head. The temperature controller is connected to both the heating element and the temperature sensor. The temperature sensor monitors the temperature of the glue inside the dispensing head, and the heating element is controlled to maintain the glue at a set temperature, ensuring that the glue is always in a good flow state.

[0013] The machine vision system includes an industrial camera and a lighting device. The industrial camera is a high-resolution camera with at least 1.3 megapixels and is positioned directly above the worktable. The lighting device is a panel-type lighting device, including an LED light board and a light distribution plate. The LED light board emits light that is evenly projected onto the worktable after passing through the light distribution plate. The industrial camera captures an image of the worktable through a through-hole in the center of the lighting device, obtaining image information of the object to be coated.

[0014] The control system includes a dispensing controller and an image processing unit. The dispensing controller is electrically connected to the motion mechanism and the dispensing mechanism; the image processing unit is electrically connected to an industrial camera, receives and processes image information acquired by the industrial camera, and performs image distortion correction by solving distortion correction parameters based on the principles of affine transformation and perspective projection of CCD, accurately calculating the position coordinates of the object to be dispensed. Based on the visual positioning results, the control system controls the motion mechanism to move the dispensing mechanism to the precise dispensing position to perform the dispensing operation.

[0015] Furthermore, the worktable is equipped with an automatic sensing device. When the dispensing valve is replaced, the center point position of the X-axis, Y-axis and Z-axis motion mechanism is automatically corrected by the automatic sensing device.

[0016] Furthermore, the device also includes a vibrating feeding plate and a transfer mechanism to achieve automatic feeding of objects, further improving the degree of automation.

[0017] Beneficial effects of the present invention

[0018] 1. High-precision dispensing: The machine vision system accurately locates the position of the object to be dispensed and corrects the dispensing trajectory in real time, avoiding inaccurate dispensing caused by fixture deviation or product placement deviation, thus significantly improving dispensing accuracy.

[0019] 2. High adaptability: No need to design precision fixtures for each product. By recognizing different product characteristics through a vision system, the dispensing path can be automatically adjusted to adapt to the flexible production needs of multiple varieties and small batches;

[0020] 3. High degree of automation: It integrates vision positioning, motion control and dispensing operation into one, realizing a fully automated dispensing process, reducing the intensity of manual operation and production costs;

[0021] 4. Stable dispensing quality: The temperature control device maintains a constant temperature of the adhesive, ensuring consistent adhesive flow and avoiding dispensing quality fluctuations caused by temperature changes, thus reducing phenomena such as stringing and glue residue.

[0022] 5. High production efficiency: The multi-unit dispensing design allows for simultaneous dispensing of different workpieces, significantly improving dispensing efficiency. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the dispensing mechanism of the present invention;

[0025] Figure 3 This is a schematic diagram of the machine vision mechanism structure of the present invention.

[0026] In the diagram: 1-Frame assembly, 2-Worktable, 3-Motion mechanism (31-X-axis drive module, 32-Y-axis drive module, 33-Z-axis drive module), 4-Dispensing mechanism (41-Dispensing valve, 42-Temperature controller, 43-Dispensing head, 44-Heating tube, 45-Temperature sensor, 46-Conveyor pipe, 47-Glue storage tank), 5-Machine vision mechanism (51-Industrial camera, 52-LED light board, 53-Light diffusion plate, 54-Lens), 6-Control system, 7-Workpiece to be dispensed. Detailed Implementation

[0027] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] refer to Figure 1 An automated dispensing device based on vision positioning includes a frame assembly 1, a worktable 2, a motion mechanism 3, a dispensing mechanism 4, a machine vision mechanism 5, and a control system 6. The frame assembly 1 is welded from profiles and has an electrical cabinet at the bottom, housing the electrical components of the control system 6. The worktable 2, made of marble, is fixed to the upper part of the frame assembly 1, providing good stability and flatness to ensure that dispensing accuracy is not affected by platform deformation.

[0029] The motion mechanism 3 includes an X-axis drive module 31, a Y-axis drive module 32, and a Z-axis drive module 33, all of which are high-precision linear modules driven by servo motors. The X-axis drive module 31 spans across the worktable 2, the Y-axis drive module 32 is arranged perpendicular to the X-axis direction, and the Z-axis drive module 33 is mounted on the slide of the X-axis drive module 31, enabling precise positioning of the dispensing mechanism 4 in three-dimensional space.

[0030] refer to Figure 2 The dispensing mechanism 4 is mounted on the Z-axis drive module 33 and includes a dispensing valve 41, a dispensing head 43, and a temperature control device. The temperature control device consists of a temperature controller 42, a heating element 44, and a temperature sensor 45. The temperature sensor 45 monitors the temperature of the adhesive in the dispensing head 43 in real time and transmits the signal to the temperature controller 42. The temperature controller 42 controls the working state of the heating element 44 according to the set temperature, so that the adhesive always maintains a suitable fluidity and avoids unstable dispensing quality due to temperature changes.

[0031] refer to Figure 3 The machine vision unit 5 includes an industrial camera 51 and a lighting device. The industrial camera 51 is a 1.3-megapixel CCD camera, fixed above the worktable 2 by a bracket. The lighting device consists of an LED light panel 52 and a light-diffusing plate 53. The light emitted from the LED light panel 52 is diffused by the light-diffusing plate 53 to form a uniform surface light source, which illuminates the object to be glued on the worktable 2. The industrial camera 51 acquires an image of the object to be glued through a through-hole in the center of the lighting device.

[0032] The control system 6 includes a dispensing controller and an image processing unit, which are installed in the electrical cabinet of the rack assembly 1. The image processing unit receives image information acquired by the industrial camera 51, and performs image distortion correction by solving distortion correction parameters based on the principles of CCD affine transformation and perspective projection, accurately calculating the position coordinates of the object to be dispensed. Based on the visual positioning results, the dispensing controller controls the motion mechanism 3 to move the dispensing mechanism 4 to the precise dispensing position to perform the dispensing operation.

[0033] Working process: After the equipment is started, the industrial camera 51 first acquires an image of the object to be glued on the worktable 2. The image processing unit processes the image and calculates the precise position coordinates of the object. According to the position information, the dispensing controller controls the motion mechanism 3 to move the dispensing mechanism 4 above the dispensing position. The Z-axis drive module 33 descends to bring the dispensing head 43 close to the surface of the workpiece, and the dispensing valve 41 opens to perform the dispensing operation. During the dispensing process, the vision system can monitor the dispensing status in real time and make trajectory corrections when necessary. After the dispensing is completed, the dispensing mechanism 4 returns to the initial position to prepare for the next operation.

[0034] This invention achieves automatic identification and precise positioning of dispensing location through machine vision technology, significantly improving dispensing accuracy and equipment adaptability, and can be widely applied to dispensing operations in fields such as electronic manufacturing and semiconductor packaging.

Claims

1. An automatic dispensing device based on vision positioning, comprising a frame assembly (1), a worktable (2) mounted on the frame assembly (1), a motion mechanism (3), a dispensing mechanism (4), and a control system (6), characterized in that: It also includes a machine vision mechanism (5), which includes an industrial camera (51) and a lighting device. The industrial camera (51) is set directly above the workbench (2) and is used to collect image information of the workpiece (7) to be glued. The control system (6) includes an image processing unit and a dispensing controller. The image processing unit is electrically connected to the industrial camera (51) and is used to process image information and calculate the position coordinates of the object to be glued. The dispensing controller is electrically connected to the motion mechanism (3), the dispensing mechanism (4) and the image processing unit, and controls the dispensing operation according to the position coordinates.

2. The automatic dispensing equipment based on vision positioning according to claim 1, characterized in that: The lighting device is a panel-type lighting device, including an LED light board (52) and a light distribution plate (53). The LED light board (52) emits light and then shines evenly onto the worktable (2) through the light distribution plate (53). The industrial camera (51) is located in the middle of the lighting device and is equipped with a lens (54) at the front. It takes pictures of the worktable (2) through the industrial camera through hole opened in the LED light board (52) and the light distribution plate (53).

3. The automatic dispensing equipment based on vision positioning according to claim 1, characterized in that: The dispensing mechanism (4) includes a dispensing head (43) and a temperature control device. The temperature control device includes a temperature controller (42), a heating tube (44), and a temperature sensor (45). The heating tube (44) and the temperature sensor (45) are arranged corresponding to the dispensing head (43). The temperature controller (42) is connected to the heating tube (44) and the temperature sensor (45) respectively. The temperature sensor (45) monitors the temperature of the glue in the dispensing head (43) and controls the heating tube (44) to keep the glue at the set temperature.

4. The automatic dispensing equipment based on vision positioning according to claim 1, characterized in that: The motion mechanism (3) includes an X-axis drive module (31), a Y-axis drive module (32), and a Z-axis drive module (33), wherein the X-axis drive module (31), the Y-axis drive module (32), and the Z-axis drive module (33) are high-precision linear modules driven by servo motors.

5. The automatic dispensing equipment based on vision positioning according to claim 1, characterized in that: The workbench (2) has a marble workbench surface.

6. The automatic dispensing equipment based on vision positioning according to claim 1, characterized in that: The workbench (2) is equipped with an automatic sensing device. When the dispensing valve is replaced, the center point position of the motion mechanism (3) is automatically corrected by the automatic sensing device.

7. The automatic dispensing equipment based on vision positioning according to claim 1, characterized in that: It also includes a vibrating feeder and a transfer mechanism. The vibrating feeder is located on one side of the frame assembly (1). One end of the transfer mechanism is connected to the discharge port of the vibrating feeder, and the other end is connected to the conveyor belt set on the workbench (2).

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