CN106391397B - Glue spraying device and method for determining frame trajectory - Google Patents
Glue spraying device and method for determining frame trajectory Download PDFInfo
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- CN106391397B CN106391397B CN201610808292.0A CN201610808292A CN106391397B CN 106391397 B CN106391397 B CN 106391397B CN 201610808292 A CN201610808292 A CN 201610808292A CN 106391397 B CN106391397 B CN 106391397B
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- glue
- frame
- product
- glued
- controller
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1015—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to a conditions of ambient medium or target, e.g. humidity, temperature ; responsive to position or movement of the coating head relative to the target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
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Abstract
The invention discloses a kind of glue-spraying device and the determination methods of frame track.There is camera mounting bracket, glue-spraying mechanism mounting rack and feeding mould group on the workbench of described device；Camera mould group is set in camera mounting bracket, for shoot in feeding mould group to gluing product, obtain image information；Controller determines to the frame track of gluing product and datum mark for obtaining image information, generates dispensing track according to frame track, generate control signal according to dispensing track and datum mark and export to movement executing mechanism；And when the nozzle of glue-spraying mechanism reaches the setting position on frame, output glue spraying signal to glue-spraying mechanism；Movement executing mechanism executes the corresponding position adjustment movement of control signal for respectively driving glue-spraying mechanism and feeding mould group；Glue-spraying mechanism is set on glue-spraying mechanism mounting rack, for opening glue spraying valve according to glue spraying signal, executes glue spraying operation.Precision cannot be met the requirements when the present invention solves the problem of existing glue-spraying device to narrow frame glue spraying.
Description
Technical field
The present embodiments relate to surface coating liquid body or other fluids device more particularly to a kind of glue-spraying device and
The determination method of frame track.
Background technique
Smart phone has become people day as the multi-functional mobile terminal such as communication, amusement, office is integrated
Often one of essential electronic equipment in life.
Screen is more and more big, the more and more narrow development trend for having become current smart phone of frame.However, due to frame system
The limitation of manufacturing accuracy, for the middle shell of the different pattern numbers of different manufacturers, frame region all can be public with the presence of deformation or with drawing
The problem of difference.To cause to be unable to reach permissible accuracy to the frame glue spraying operation of smart phone, be easy to happen asking for excessive glue
Topic.
Currently, the high-speed high-precision glue sprayer in the prior art with visual performance, is sprayed by CCD vision system, piezoelectric type
Valve, display holder, body, tooling bracket, three-axis moving system, surveys high sensor and control cabinet composition at assembly line.Work
Control cabinet is fixed on the bottom of body；The upper surface of industry control cabinet is fixedly connected tooling bracket, and tooling bracket passes through power supply
Line and data line are connect with servo motor, and CCD vision system is fixed together with piezoelectric type spray valve, are fixed on the machine body,
Upper end in tooling bracket；Assembly line is fixedly connected on the two sides of body；Three-axis moving system is fixedly connected on body
On, the top in tooling bracket；It surveys high sensor to be fixedly connected on body, right side and tooling in three-axis moving system
The top of bracket；Industrial personal computer is placed in industry control cabinet, and data collecting card and motion control card are connected on industrial personal computer.
Since the CCD vision system of above-mentioned glue sprayer is fixed together with piezoelectric type spray valve, spray valve generates when working
High-frequency vibration will affect the shooting precision of CCD vision system, cause glue spraying unstable.In addition, such structure makes vision fixed
Position with glue spraying operation is serial executes, because of the inversely prroportional relationship of image-capturing resolution and the visual field, the vision system of glue-spraying device at present
It needs to shoot multiple images and carries out vision picture mosaic, after executing multiple vision picture mosaic, glue spraying operation could be executed, caused whole
Machine execution efficiency reduces.
Summary of the invention
The present invention provides a kind of determination method of glue-spraying device and frame track, to improve frame glue spraying precision, reaches essence
Degree requires, and promotes execution efficiency.
In a first aspect, the embodiment of the invention provides a kind of glue-spraying devices, comprising: workbench, controller, glue-spraying mechanism,
Movement executing mechanism, camera mould group and feeding mould group；
There is camera mounting bracket, glue-spraying mechanism mounting rack and the feeding mould group on the workbench；
The camera mould group is set in the camera mounting bracket, for shooting producing in the feeding mould group to gluing
Product obtain the image information to gluing product；
The controller is electrically connected with the camera mould group, for obtaining described image information, according to described image information
The frame track to gluing product and the datum mark on printed circuit board in gluing product are determined, according to the frame rail
Mark generates dispensing track, generates control signal according to the dispensing track and the datum mark and exports to the Motor execution machine
Structure, to drive glue-spraying mechanism and feeding mould group to carry out position adjustment；And reach described to gluing production in the nozzle of glue-spraying mechanism
When setting position on the frame of product, output glue spraying signal to glue-spraying mechanism；
The movement executing mechanism is electrically connected with the controller, the control signal issued for receiving the controller,
It respectively drives glue-spraying mechanism and feeding mould group and corresponding position adjustment movement is executed according to the control signal；
The glue-spraying mechanism is set on the glue-spraying mechanism mounting rack, is electrically connected with the controller, for receiving
The glue spraying signal for stating controller sending opens glue spraying valve according to the glue spraying signal, to execute glue spraying operation to the frame.
Second aspect, the embodiment of the invention also provides a kind of determination methods of frame track, are based on above-mentioned first aspect
The glue-spraying device executes the determination method of frame track, comprising:
Controller obtains camera mould group and treats the image information that gluing product is shot；
Controller obtains the gray value for each pixel that described image information includes；
Controller determines the frame to gluing product according to the gray value.
The structure that the embodiment of the present invention is separated by camera mould group with glue-spraying mechanism is avoided because in the glue-spraying mechanism course of work
Vibration, and generation the case where influence the shooting precision of camera mould group；Also, it is determined according to described image information to gluing product
Datum mark and frame track on middle printed circuit board generate according to frame track and correspond to currently to the frame of gluing product
Dispensing track generates control signal according to the dispensing track and the datum mark and exports to the movement executing mechanism, to drive
Dynamic glue-spraying mechanism and feeding mould group carry out position adjustment；And reach the side to gluing product in the nozzle of glue-spraying mechanism
When setting position on frame, glue spraying signal is exported to glue-spraying mechanism, to carry out glue spraying operation.The embodiment of the present invention not only passes through phase
The structure that machine mould group is separated with glue-spraying mechanism improves the shooting precision of camera mould group.And it is determined by image recognition mode
To the frame track of gluing product, the deviation of the practical frame of the frame track and product is in 0.02mm, so for difference
Producer, different pattern number the deviation to the dispensing track of gluing product and to gluing product frame in 0.02mm, solution is existing
When glue-spraying device is to narrow frame glue spraying, the problem of precision is not able to satisfy requirement of the above-mentioned deviation in 0.02mm.For different factories
Family, different pattern number can remove debugging step to gluing product, simplify operating process.
Detailed description of the invention
Fig. 1 is the perspective view of one of the embodiment of the present invention one glue-spraying device；
Fig. 2 is the workflow schematic diagram of one of the embodiment of the present invention one glue-spraying device；
Fig. 3 is the flow chart of the determination method of one of embodiment of the present invention two frame track；
Fig. 4 is the flow chart of the determination method of one of embodiment of the present invention three frame track.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of perspective view for glue-spraying device that the embodiment of the present invention one provides.As shown in Figure 1, the glue-spraying device packet
It includes: workbench 101, controller (not shown), glue-spraying mechanism 102, movement executing mechanism, camera mould group (not shown) and feeding mould
Group 105.
There is camera mounting bracket 109, glue-spraying mechanism mounting rack 108 and the feeding mould group 105 on the workbench 101.
Wherein, workbench 101 is set to the top of control cabinet 104.Control cabinet 104 is fixed on the bottom of glue-spraying device, the control
The bottom end of cabinet 104 is equipped with bracket 112, makes to control at a distance of the height of setting between cabinet 104 and ground, convenient for control cabinet
Electronic equipment dissipating heat in 104, while avoiding the moisture on ground from influencing electronic equipment and working normally.For the ease of glue-spraying device
It is mobile, universal wheel 113 is additionally provided in the bottom of control cabinet 104.
Illustratively, camera mounting bracket 109 is fixed on the workbench 101.As shown in Figure 1, the cross of camera mounting bracket 109
Beam expects that mould group and upper right material mould group are vertical with upper left respectively, and there are two through-holes for tool on the crossbeam of the camera mounting bracket 109.It is logical
The position in hole is corresponding with the position of feeding mould group 105.It is equipped with camera mounting base 107, near through-hole to pass through camera mounting base
107 are mounted on camera mould group in camera mounting bracket 109.
Illustratively, glue-spraying mechanism mounting rack 108 is fixed on the workbench 101.As shown in Figure 1, glue-spraying mechanism is installed
The crossbeam of frame 108 expects that mould group and upper right material mould group are vertical with upper left respectively, and sets on the crossbeam of the glue-spraying mechanism mounting rack 108
There is X-axis movement executing mechanism 103.Wherein, X-axis movement executing mechanism 103 can be the fortune being made of motor, sliding rail and sliding block etc.
Dynamic executing agency, can also be the movement executing mechanism being made of motor and belt etc..
Illustratively, feeding mould group 105 is fixed on the workbench 101.As shown in Figure 1, feeding mould group 105 can have two
Group, every group of feeding mould group 105 include at least track and fixture 106.Wherein, work of the fixture 106 in Y-axis movement executing mechanism 111
Under, it can be slided along track.One towards control cabinet 104 in workbench 101 can be set in Y-axis movement executing mechanism 111
On face (i.e. the back side), avoid occupying 101 upper space of workbench.
The camera mould group is set in the camera mounting bracket 109, to be coated in the feeding mould group 105 for shooting
Glue product obtains the image information to gluing product.Wherein, camera mould group includes the camera of 900W pixel.The camera,
For executing shooting operation twice to gluing product in the feeding mould group 105, obtain corresponding to described to gluing product
The first subgraph and the second subgraph.
Illustratively, the quantity of the camera mould group is identical as the quantity of the feeding mould group 105, and the camera mould group
It is fixedly installed in the camera mounting bracket 109, the position of camera mould group is corresponding with feeding mould group 105 respectively, camera direction
The feeding mould group 105.
Specifically, camera is fixedly installed on the crossbeam of camera mounting bracket 109 by camera mounting base 107, by camera
Camera it is corresponding with the through-hole on the crossbeam of camera mounting bracket 109, camera is towards feeding mould group 105, to pass through the through-hole
The image for shooting the shell material in corresponding feeding mould group 105, obtains the image information of corresponding shell material.
Controller is equipped in the control cabinet 104, which passes through data line and camera mould group, driving mechanism and glue spraying
Mechanism 102 connects.The controller is electrically connected with the camera mould group, for obtaining described image information, according to described image
Information determines frame track and the datum mark on printed circuit board in gluing product to gluing product, according to the side
Frame track generates dispensing track, generates control signal according to the dispensing track and the datum mark and exports to the Motor execution
Mechanism, to drive glue-spraying mechanism and feeding mould group to carry out position adjustment；And glue-spraying mechanism 102 nozzle reach it is described to
When setting position on the frame of gluing product, output glue spraying signal to glue-spraying mechanism 102.
Wherein, image acquired in controller is the subgraph to gluing product (such as shell material of mobile terminal).In this way
Doing is advantageous in that guarantee shooting precision.Since image definition is inversely proportional with depending on the shooting visual field, in order to guarantee that shooting obtains
The clarity of shell material, when shooting, using multiple subgraphs are shot respectively, the mode for being then spliced into a width complete image is carried out
Processing.
For the camera of 900W pixel, shooting two correspond to the subgraph of shell material, then pass through controller for two width subgraphs
As splicing obtains the complete shell material image of a width.Specifically, controller obtains first subgraph and the second subgraph, splices institute
It states the first subgraph and the second subgraph obtains corresponding to the image information to gluing product.Known by image recognition algorithm
Not Chu shell material frame, frame information is converted into dispensing track, realizes and the function on side is grabbed in real time to shell material, for difference
Producer, different pattern number shell material the step of removing debugging glue-spraying device from, simplify operating process.
Illustratively, corresponding to the long side in dispensing track, according to the datum mark on printed circuit board in gluing product
Determine the target position corresponding with setting position on frame of glue-spraying mechanism 102, it is true at a distance from target position according to current location
Determine the control signal of X-axis movement executing mechanism 103.It is to start to execute glue spraying and operate (to need under glue-spraying mechanism according to mode of operation
Drop), or the glue spraying operation when front housing material is executed completion (glue-spraying mechanism is needed to rise), generate Z axis movement executing mechanism 110
Control signal.Corresponding to the short side in dispensing track, spray is determined according to the datum mark on printed circuit board in gluing product
It the target position corresponding with setting position on frame of gluing mechanism 102 (can also the long side shifting along dispensing track according to glue-spraying mechanism
Elapsed time when dynamic, determine target position), determine that the control of Y-axis movement executing mechanism 111 is believed according to the length of short side
Number.
X-axis movement executing mechanism 103 receives the control signal that controller issues, and control glue-spraying mechanism 102 moves to shell material
The top of setting position on frame.Determine that the mode of setting position on shell material frame can be benchmarking mode (i.e. MARK
Independent positioning method).At this point, control 103 stop motion of X-axis movement executing mechanism, makes Z axis movement executing mechanism 110 according to control
The control signal that device issues, control glue-spraying mechanism 102 make Y-axis movement executing mechanism 111 after Z-direction decline setting height
According to the control signal that controller issues, the fixture 106 that shell material is carry in control feeding mould group 105 moves along the y axis.It can
With the time for the glue spraying operation being had already passed through by monitoring, it is determined whether complete to operate the glue spraying of long side.It completes to long side
Glue spraying operation when, control 111 stop motion of Y-axis movement executing mechanism, transport X-axis movement executing mechanism 103 along the x axis
It is dynamic.
Illustratively, glue-spraying mechanism 102 is controlled in X-axis movement executing mechanism 103 move to setting position on shell material frame
Top, and make Z axis movement executing mechanism 110 control glue-spraying mechanism along Z-direction decline setting height when, controller issue spray
Glue signal.
The movement executing mechanism is electrically connected with the controller, the control signal issued for receiving the controller,
It respectively drives glue-spraying mechanism 102 and feeding mould group 105 and corresponding position adjustment movement is executed according to the control signal.
Wherein, which includes: the X-axis movement executing mechanism being set on glue-spraying mechanism mounting rack 108
103, for driving glue-spraying mechanism 102 to move in the X-axis direction according to the control signal.And it is set to glue-spraying mechanism installation
Z axis movement executing mechanism 110 on frame 108, for driving glue-spraying mechanism 102 to move along Z-direction according to the control signal.
And it is set to the Y-axis movement executing mechanism 111 on workbench, for driving 105 edge of feeding mould group according to the control signal
Y direction movement.
Illustratively, if currently needing to carry out dispensing to the long side of shell material, X-axis movement executing mechanism 103 receives controller
The control signal of sending, control glue-spraying mechanism 102 move to the top of setting position on shell material frame.It determines and is set on shell material frame
Positioning the mode set can be benchmarking mode (i.e. MARK independent positioning method).At this point, control X-axis movement executing mechanism
103 stop motions, the control signal for issuing Z axis movement executing mechanism 110 according to controller control glue-spraying mechanism 102 along Z axis
After direction declines setting height, the control signal for issuing Y-axis movement executing mechanism 111 according to controller controls feeding mould group
The fixture 106 that carry shell material in 105 moves along the y axis.It can be determined whether by monitoring the dispensing time having already passed through
It completes to operate the glue spraying of long side.When completing the glue spraying operation to long side, 111 stop motion of Y-axis movement executing mechanism is controlled,
Move in the X-axis direction X-axis movement executing mechanism 103.By suchlike control mode, complete according to dispensing track to whole
The glue spraying of a shell material operates.
The glue-spraying mechanism 102 is set on the glue-spraying mechanism mounting rack 108, is electrically connected, is used for the controller
The glue spraying signal that the controller issues is received, glue spraying valve is opened according to the glue spraying signal, to execute glue spraying to the frame
Operation.
The technical solution of the present embodiment, the structure separated by camera mould group with glue-spraying mechanism, avoids glue-spraying mechanism from vibrating
Influence the shooting precision of camera mould group.Also, it is determined according to described image information to the base on printed circuit board in gluing product
On schedule with frame track, is generated according to frame track and correspond to the currently dispensing track to the frame of gluing product, according to described
Dispensing track and the datum mark generate control signal and export to the movement executing mechanism, to drive glue-spraying mechanism and feeding mould
Group carries out position adjustment；And reach described when the setting position on the frame of gluing product in the nozzle of glue-spraying mechanism, it is defeated
Glue spraying signal is to glue-spraying mechanism out, to carry out glue spraying operation.The present embodiment not only passes through what camera mould group was separated with glue-spraying mechanism
Structure improves the shooting precision of camera mould group.And the frame track to gluing product is determined by image recognition mode, it should
The deviation of the practical frame of frame track and product is in 0.02mm.Due to determining dispensing track by frame track, for not
Same producer, different pattern number the deviation to the dispensing track of gluing product and to gluing product frame in 0.02mm, solve to show
When having glue-spraying device to narrow frame glue spraying, the problem of precision is not able to satisfy requirement of the above-mentioned deviation in 0.02mm.
Based on the above technical solution, the quantity of camera mould group preferably can be at least two, the number of feeding mould group
Amount preferably can be at least two.At this point, the controller attached the parallel function of executing glue spraying operation and vision positioning.Tool
Body, controller is also used to: to when gluing product executes glue spraying operation, obtaining another parallel in a feeding mould group
The image information to gluing product in feeding mould group carries out image recognition.The beneficial effect of above-described embodiment is set in this way
On the basis of, also with the benefit of raising efficiency.Since traditional glue-spraying device is using vision positioning and glue spraying operating series
Executive mode could execute glue spraying operation after having executed vision positioning, and after completing glue spraying operation, feeding, is repeated again
Vision positioning operation to new shell material.But since vision positioning needs to splice multiple subgraphs, to obtain to glue spraying product
Complete image, vision picture mosaic low efficiency causes the efficiency of whole device to reduce.However, using the technical solution of the present embodiment,
Realize vision positioning and the parallel execution of glue spraying operation.By way of experiment, to the shell material of same producer, same pattern number, use
Glue-spraying device in the present embodiment executes glue spraying operation and compares with the efficiency for executing glue spraying operation using traditional glue-spraying device.
According to experimental result it is found that using the efficiency of traditional glue-spraying device for 100PCS/H, using the effect of glue-spraying device in the present embodiment
Rate is 150PCS/H, improved efficiency 50%.
Based on the above technical solution, the quantity of the camera mould group is identical as the quantity of the feeding mould group, and
The camera mould group is fixedly installed in the camera mounting bracket, and the position of camera mould group is corresponding with feeding mould group respectively, camera shooting
Head is towards the feeding mould group.The advantages of this arrangement are as follows avoiding camera mould when executing glue spraying operation parallel with vision positioning
Group is mobile to be caused to shoot accuracy decline, or camera lens is caused to loosen, and while guaranteeing to promote overall efficiency, improves shooting essence
Degree.
Based on the above technical solution, the movement executing mechanism includes:
The X-axis movement executing mechanism being set on glue-spraying mechanism mounting rack, for driving glue spraying according to the control signal
Mechanism moves in the X-axis direction；
The Z axis movement executing mechanism being set on glue-spraying mechanism mounting rack, for driving glue spraying according to the control signal
Mechanism is moved along Z-direction；
The first Y-axis movement executing mechanism being set on workbench, for driving the first feeding according to the control signal
Mould group moves along the y axis；
The second Y-axis movement executing mechanism being set on workbench, for driving the second feeding according to the control signal
Mould group moves along the y axis.
Fig. 2 shows the workflow schematic diagrams of one of the embodiment of the present invention one glue-spraying device.As shown in Fig. 2, adopting
It is as follows that the process in glue spraying operation is executed with glue-spraying device provided in this embodiment:
Step 210, circulation are feeding mould group feeding.
When executing glue spraying operation for the first time, the shell material to glue spraying is fixed on the fixture of left side feeding mould group respectively, and on the right side
The shell material to glue spraying is fixed on the fixture of side feeding mould group.In later glue spraying operation, again for the feeding mould group after the material returned
Feeding realizes circulation feeding.The mode of feeding can be artificial loading, can also realize automatic charging by mechanical arm.
Shell material is moved to corresponding camera mould group by step 220, side feeding mould group, to shoot shell material image.
After the completion of feeding, start glue-spraying device.Control feeding mould group fixture carrying shell material along Y-axis move setting away from
Underface from extremely corresponding camera mould group, to shoot the shell material image of the shell material.
Step 230, controller identification shell material image determine the frame track of shell material, generate dispensing track.
Controller identifies the image information, the gray value for each pixel that the image information includes is obtained, according to the ash
Angle value determines the frame track to gluing product, generates corresponding dispensing track according to the frame track.
Step 240, the last glue spraying of waiting operate and execute completion, datum mark and dispensing track of the controller according to shell material,
Generate control signal, output to driving mechanism.
Wherein, datum mark is the datum mark (MARK point) in shell material on printed circuit board.Based on MARK point and dispensing track
Control signal is generated, to realize the purpose that real-time frame track is passed to movement executing mechanism, avoids processing because of shell material itself
Deformation or tolerance in the process and influence glue spraying precision.The folder on glue-spraying mechanism and feeding mould group is controlled by movement executing mechanism
Tool executes corresponding position adjustment movement according to control signal, to guarantee glue-spraying mechanism without departing from dispensing track.
The last glue spraying operation for being not carried out completion if it exists, then continue to execute last glue spraying by glue-spraying mechanism and operate,
After the completion of the operation of last glue spraying executes, controller generates control signal and exports to driving mechanism.Illustratively, if to left side
The glue spraying operation of shell material in feeding mould group does not complete, then continues to execute the glue spraying operation to the shell material in the feeding mould group of left side.
After completing to the glue spraying operation of the shell material in the feeding mould group of left side, datum mark and dispensing track of the controller according to shell material are raw
At control signal, output to driving mechanism.
Step 250, when the nozzle of glue-spraying mechanism reaches the setting position on frame, controller export glue spraying signal to spray
Gluing mechanism.
Step 260, glue-spraying mechanism, which execute, operates the glue spraying of the shell material frame in current side feeding mould group.
Glue-spraying mechanism track as defined in the dispensing track operates the glue spraying of the shell material frame in current side feeding mould group.
Shell material is moved to corresponding camera mould group by step 270, other side feeding mould group, to pass through shooting shell material image.
While executing glue spraying operation to the shell material frame in current side feeding mould group, other side feeding mould group is by shell
Material is moved to corresponding camera mould group, to pass through shooting shell material image, and returns to the image recognizing step executed in 230, to generate
Dispensing track realizes vision positioning and the parallel execution of glue spraying operation, improves overall efficiency.
Step 280, to the shell material in current side feeding mould group glue spraying operate complete when, execute the material returned operation.
Embodiment two
Fig. 3 is a kind of flow chart of the determination method of frame track provided by Embodiment 2 of the present invention, and the present embodiment can fit
The case where for determining the frame of narrow frame product, this method can be executed by the glue-spraying device in above-described embodiment, specifically
Include the following steps:
Step 310, controller obtain camera mould group and treat the image information that gluing product is shot.
Wherein, image information includes carrying out about multiple subgraph information to gluing product to the subgraph information
After concatenation, the complete image information to gluing product is obtained.
Illustratively, controller obtains camera mould group and treats the first subgraph and second that the shooting of gluing product obtains twice
Subgraph, splices first subgraph and the second subgraph obtains corresponding to the image information to gluing product.
Step 320, controller obtain the gray value for each pixel that described image information includes.
Controller uses image processing method, obtains the grayscale image for corresponding to the complete image information to gluing product, obtains
Take the gray value of each pixel in the grayscale image.
Step 330, controller determine the bezel locations to gluing product according to benchmarking algorithmic preliminaries.
Step 340, controller determine first according to the set for meeting the point to impose a condition with the linear distance of the frame
Reference zone.
Controller according to the pixel coordinate of pixel each in the grayscale image, determine with the straight line of the frame to gluing product away from
From the set for meeting the point to impose a condition, the collection of the point is collectively referred to as the first reference zone.
Step 130, controller determine the frame track to gluing product according to the gray value.
Controller selects the gray value difference of the neighbor pixel of setting quantity the smallest in first reference zone
Pixel connects frame track of the pixel composition to gluing product.
The technical solution of the present embodiment, the identification of the image information by treating gluing product are determined to gluing product
Actual frame track is solved because frame is in the case where having deformation or machining tolerance, leads to frame track and reality in drawing
The problem of deviation of border frame track is not able to satisfy the requirement of 0.02mm has reached identified frame track and practical frame
Deviation meets required precision in 0.02mm.
Embodiment three
Fig. 4 is a kind of flow chart of the determination method for frame track that the embodiment of the present invention three provides.As shown in figure 4, should
Method specifically comprises the following steps:
Step 410 obtains the pre-rendered Jiao Lu figure corresponded to gluing product, generates first according to Jiao Lu figure
Frame track.
The glue road for carrying out glue spraying operation to gluing product can be drawn in advance according to design drawing using drawing tool,
The corresponding Jiao Lu to glue spraying product is saved as to scheme.When need to use, the corresponding Jiao Lu figure to glue spraying product is imported into glue spraying
Device can generate the first frame track to glue spraying product in glue-spraying device automatically.Illustratively, according to rubber shell material to be coated
Design drawing can by CAD mapping software draw correspond to the road the Ke Liaojiao figure, save as DXF format, need make
When being schemed with the Jiao Lu, DXF file importing glue-spraying device can be automatically generated corresponding to the road the Ke Liaojiao figure.
The frame track that drawing is only corresponded to using the first frame track that such mode obtains, does not consider actual product
Frame because of deformation or machining tolerance, and the situation different from the frame in drawing.
Step 420, controller obtain camera mould group and treat the image information that gluing product is shot.
Wherein, image information includes carrying out about multiple subgraph information to gluing product to the subgraph information
After concatenation, the complete image information to gluing product is obtained.
Illustratively, controller obtains camera mould group and treats the first subgraph and second that the shooting of gluing product obtains twice
Subgraph, splices first subgraph and the second subgraph obtains corresponding to the image information to gluing product.
Step 430, controller obtain the gray value for each pixel that described image information includes.
Controller uses image processing method, obtains the grayscale image for corresponding to the complete image information to gluing product, obtains
Take the gray value of each pixel in the grayscale image.
Step 440, controller meet according to the linear distance of the long side with the first frame to gluing product to impose a condition
The set of point determine the second reference zone.
Controller determines the length with the first frame to gluing product according to the pixel coordinate of pixel each in the grayscale image
The linear distance on side meets the set of the point to impose a condition, and the collection of the point is collectively referred to as the second reference zone.
Step 450, controller are in second reference zone, and selection sets the gray scale of the neighbor pixel of quantity respectively
Value differs the smallest pixel, determines two prediction long sides to gluing product according to the pixel.
Step 460, controller are using two in corresponding replacement first frame of identified two prediction long sides
Long side obtains the second frame, using second frame as the frame track to gluing product.
The technical solution of the present embodiment automatically generates the first frame rail to gluing product by way of importing Jiao Lu figure
Mark improves efficiency of the glue-spraying device processing batch to gluing product, simultaneously as having by the way of importing Jiao Lu figure
Reproducibility well, convenient for being promoted and applied on glue-spraying device.Then, the side using identification to the image information of gluing product
Formula determines two prediction long sides to gluing product, and two in corresponding replacement first frame of long side are predicted using two
Long side, obtains the second frame, using second frame as the frame track to gluing product, it is contemplated that the side of actual product
Frame is possible to occur deforming or the case where machining tolerance, and two long sides predicted in long sides replacement drawing with two make frame rail
The deviation of the practical frame of mark and product meets required precision.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (8)
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| CN201610808292.0A CN106391397B (en) | 2016-09-07 | 2016-09-07 | Glue spraying device and method for determining frame trajectory |
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