CN112705435B

CN112705435B - Double-mark-point grabbing and dispensing method

Info

Publication number: CN112705435B
Application number: CN202011516481.3A
Authority: CN
Inventors: 徐庶; 刘�文; 张少良; 张业
Original assignee: Shenzhen Axxon Automation Co Ltd
Current assignee: Shenzhen Axxon Automation Co Ltd
Priority date: 2020-12-21
Filing date: 2020-12-21
Publication date: 2022-06-07
Anticipated expiration: 2040-12-21
Also published as: CN112705435A

Abstract

The invention discloses a double-mark point grabbing and dispensing method, which comprises the following steps of S1 marking a central point of a product; s2, teaching a coordinate position at the center point of the product, marking mark-1 according to the center point, performing range frame selection on mark-1, marking mark-2, and performing range frame selection on mark-2; s3, dispensing according to the mark points by the dispensing system; the scheme has the advantages of simple process, convenience in use, continuous work, capability of simultaneously grabbing two feature points in the visual field range of the camera, calculating the position and angle deviation of a product and compensating the deviation value, and due to the fact that the two feature points are grabbed at the same position, scanning time is saved on the premise of ensuring precision, and good market application value is achieved.

Description

Double-mark-point grabbing and dispensing method

Technical Field

The invention relates to the technical field of product positioning point grabbing and glue dispensing of a glue dispensing system, in particular to a double-mark point grabbing and glue dispensing method.

Background

At present, in the aspect of industrial production, the industrial 4.0 era is entered, products are smaller and smaller, specifications and types are more and more, and the efficiency is higher and higher. In the automatic production mode, grabbing mark points of products to locate the products is a necessary locating method. However, due to the influence of time, environment and the like, the product mark is often dirty, so that the identification is failed, and the equipment alarms. On the other hand, because a customer currently pursues the applicability of the equipment, one equipment needs to be made into different products, so that operators are required to continuously and manually switch programs in different products, and particularly under the condition that the products are not shaped in the verification stage, the products of various specifications often appear together, so that the phenomenon of abnormal dispensing caused by program calling errors is easily caused. Therefore, the existing mode for grabbing the positioning points cannot meet the requirement, and needs to be improved.

Disclosure of Invention

The invention aims to solve the technical problem of providing a novel double-mark-point grabbing and dispensing method.

In order to achieve the purpose, the invention adopts the following technical scheme: a double-mark point grabbing and dispensing method comprises the following steps of S1 marking a central point of a product;

s2, teaching a coordinate position at the center point of the product, marking mark-1 according to the center point, performing range frame selection on mark-1, marking mark-2, and performing range frame selection on mark-2;

and S3, dispensing according to the mark points by the dispensing system.

Preferably, in the double-mark-point grabbing and dispensing method, in the step S2, mark-1 and mark-2 form a group of mark points, and multiple groups of mark points are selected from the product according to a central point.

Preferably, in the double-mark-point grabbing and dispensing method, in the step S2, a first group of mark points of the product are scanned by a camera, and if the first group of mark points are scanned OK, dispensing is performed on the product; if the first group of mark points are scanned for NG, scanning a second group of mark points of the product by the camera, and if the second group of mark points are scanned for OK, dispensing the product; if the second group of mark points scan NG, the next group of mark points continue to be scanned, and the process is repeated until the scanning is passed and normal dispensing is carried out.

Preferably, in the double-mark-point grabbing and dispensing method, in the step S2, different mark points are established according to different products, and when the camera scans one of the mark points, the dispensing system performs dispensing according to the corresponding mark point.

Compared with the prior art, the method has the advantages that the method is simple in process, convenient to use and capable of working continuously, two feature points can be grabbed simultaneously within the visual field range of the camera, the position and angle deviation of a product is calculated, the deviation value is compensated, and due to the fact that the two feature points are grabbed at the same position, scanning time is saved on the premise that accuracy is guaranteed, and the method has good market application value.

Drawings

Fig. 1 is a schematic diagram of a multi-product mixed dispensing a product mark point in embodiment 1 of the present invention;

fig. 2 is a schematic diagram of a multi-product mixed dispensing b product mark point in embodiment 1 of the present invention;

fig. 3 is a schematic diagram of a multi-product mixed dispensing c product mark point in embodiment 1 of the present invention;

fig. 4 is a schematic diagram of a multi-product mixed dispensing d-product mark point in embodiment 1 of the present invention;

fig. 5 is a schematic diagram of a single-product mixed dispensing mark point according to embodiment 2 of the present invention;

FIG. 6 is a schematic view of a scanning sequence of a camera according to embodiment 2 of the present invention;

FIG. 7 is a schematic diagram of the dispensing trajectory of different types of products according to the present invention;

FIG. 8 is a diagram illustrating a scan trajectory of a prior art camera;

FIG. 9 is a schematic view of a scan trajectory of a camera according to the present invention;

fig. 10 is a flowchart of a double-mark-point grabbing and dispensing method of the present invention.

Detailed Description

In order to facilitate an understanding of the invention, reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

As shown in fig. 9 and 10, the double-mark-point grabbing and dispensing method provided by the present invention includes the following steps, S1, marking a center point of a product; s2, teaching a coordinate position at the center point of the product, marking mark-1 according to the center point, performing range frame selection on mark-1, marking mark-2, and performing range frame selection on mark-2; and S3, dispensing according to the mark points by the dispensing system. Preferably, in step S2, mark-1 and mark-2 are a group of mark points, and multiple groups of mark points are selected on the product according to the central point. Preferably, in the step S2, a first group of mark points of the product are scanned by the camera, and if the first group of mark points are scanned OK, the product is dispensed; if the first group of mark points are scanned for NG, scanning a second group of mark points of the product by the camera, and if the second group of mark points are scanned for OK, dispensing the product; if the second group of mark points scan NG, the next group of mark points continue to be scanned, and the process is repeated until the scanning is passed and normal dispensing is carried out. Preferably, in the step S2, different mark points are established according to different products, and when the camera scans one of the mark points, the dispensing system performs dispensing according to the corresponding mark point. In the visual field range of the camera, two feature points can be captured simultaneously, the position and angle deviation of a product is calculated, and the deviation value is compensated. For example, the camera stops shooting at the center point of the product, two feature points can be simultaneously captured within the visual field range of the camera, the position and angle deviation of the product is calculated, and the deviation value is compensated.

Example 1

The double-mark-point grabbing and dispensing method is suitable for mixed dispensing of a plurality of products, such as four products a, b, c and d. As shown in fig. 1, for a product a, two circles represent product marks, the two circles are taught as program mark points according to product center points, a product dispensing track is edited according to product requirements, the program is named as a program, and the program is stored; newly building a product program b, as shown in a product b in fig. 2, wherein two squares represent product marks, the two squares are taught as program mark points according to a product center point, a product dispensing track b is edited according to product requirements, and the program is named as a program b and stored; as shown in fig. 3, for a product c, two circles represent product marks, the two circles are taught as program mark points according to the center points of the product, a dispensing track of the product c is edited according to the product requirements, and the program is named as a program c and is stored; as shown in fig. 4, for a product d, two circles represent product marks, the two circles are taught as program mark points according to the center point of the product, a product dispensing track of the product d is edited according to product requirements, and the program is named as a program d and stored. The start option is placed at the start bit of the mark call, and the mark call end item is placed at the end of the call. The command has the function that in the subprogram of the command interval, mark points are scanned from top to bottom in sequence, and when the mark points of a certain product are scanned, the glue dispensing program corresponding to the mark points is executed. The mixed dispensing process of a plurality of products comprises the following steps: newly building a main program; placing a mark calling instruction in a main program; newly building a subprogram a according to the product; carrying out program editing and mark point editing on the subprogram a; a subroutine b is newly built according to another product; carrying out program editing and mark point editing on the subprogram b; establishing a subprogram n +1 according to different products; carrying out program editing and mark point editing on the subprogram n + 1; all the well edited subprograms are placed in a main template in sequence; after the placement is finished, a mark calling end finger is placed on the last line of the main template.

Example 2

The difference between the double-mark-point grabbing and dispensing method of the embodiment and the embodiment 1 is that the double-mark-point grabbing and dispensing method is suitable for mixed dispensing of single products. As shown in fig. 5, two circular mark points and two square mark points can be used as program mark points to newly create a program a of a product, and after editing a dispensing program based on the two circular mark points, the program is saved; the a1 program is newly created, the program based on two square marks is edited, the same dispensing track is edited like the a program, and then the program is saved. The specific scanning sequence is as shown in fig. 6, the template a of the product is scanned by the camera, and if the template a is scanned and OK is obtained, the product is dispensed; if template a scans NG, then template a1 is scanned by the camera; if the template a1 scans OK, dispensing the product; if template a1 scans NG, then the camera scans template a 2; if the template a2 scans OK, dispensing the product; if template a2 scans NG, then the camera scans template a 3; if the template a3 scans OK, dispensing the product; if template a3 scans for NG, the next template is scanned by the camera, and the process is repeated until the scanning is passed and normal dispensing is performed. The single product mixing and dispensing process comprises the following steps: newly building a main program; a call instruction is placed mak in the main program; newly building a subprogram a according to the product; carrying out program editing and mak point editing on the subprogram a; newly building a subprogram b, and copying all instructions of the program a; the subprogram b is edited by program mark points; establishing a subprogram n +1, and copying all instructions of the program a; performing mark point editing on the subprogram n + 1; all the well edited subprograms are placed in a main template in sequence; after the placement is finished, a mark calling end finger is placed on the last line of the main template. Products of each customer are generally different, and the dispensing path and the dispensing method are different. However, most of the customers now have different products, but the size of the fixture is basically the same, and different products need to be replaced, and different programs need to be called to deal with dispensing. At some time, a program calling error may occur in the calling program, and some dispensing parameters need to be opened again after the program is called. As shown in fig. 7, for four types of products, an external rectangle represents a product clamp, a circle is a product mark, an internal shape represents a dispensing track, four programs need to be saved and named respectively according to the previous mode, and by using a mark point calling function, the four products can be edited into one program, and when the software scans which mark will call the corresponding program dispensing. A plurality of marks are arranged on a product at present, and the glue can be dispensed as long as a group of marks are arbitrarily grabbed, so that when a certain group of marks of the product are subjected to external factors, such as dirt of mark points, light source lighting factors and deviation of the mark points, software cannot normally identify the marks, and equipment alarms. If a mark point is respectively arranged at four corners of a product, two mark points at opposite corners form a group, when one group of mark points cannot be scanned, software can automatically search for the other group of mark points, and glue is dispensed.

The technical features mentioned above are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; also, modifications and variations may be suggested to those skilled in the art in light of the above teachings, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.

Claims

1. A double-mark point grabbing and dispensing method is characterized by comprising the following steps,

s1, marking the center point of the product;

s2, teaching a coordinate position at a central point of a product, marking mark-1 according to the central point, performing range frame selection on mark-1, marking mark-2, and performing range frame selection on mark-2;

s3, dispensing according to the mark points by the dispensing system;

in the step S2, mark-1 and mark-2 are a group of mark points, and a plurality of groups of mark points are selected on the product according to a central point;

in the step S2, scanning a first group of mark points of the product by a camera, and dispensing the product if the first group of mark points are OK; if the first group of mark points are scanned for NG, scanning a second group of mark points of the product by the camera, and if the second group of mark points are scanned for OK, dispensing the product; if the second group of mark points scan NG, the next group of mark points continue to be scanned, and the process is repeated until the scanning is passed and normal dispensing is carried out.

2. The double-mark-point grabbing and dispensing method according to claim 1, wherein in the step S2, different mark points are established according to different products, and when the camera scans one of the mark points, the dispensing system performs dispensing according to the corresponding mark point.