A calibration method for variable-diameter rotary dispensing device based on binocular camera

Abstract

The present invention designs a calibration method for a variable-diameter rotary dispensing device and a dispensing needle based on a binocular camera. The variable-diameter rotary dispensing device includes: a controller, a binocular camera, a fixing seat, a rotating motor, a hollow reducer, Platform, the rotating motor drives the pan / tilt to rotate, there is a yaw motor and a telescopic electric cylinder under the pan / tilt, the yaw motor is used to drive the needle to swing and offset on the vertical plane, the telescopic electric cylinder drives the needle to move up and down, and the binocular camera is used for shooting The three-dimensional space coordinates of the needle. The device calibration method includes constructing a motion model to correct the deviation of the needle motion trajectory caused by processing, assembly factors or needle replacement. This device can meet the high-precision dispensing of complex workpieces or automatic continuous dispensing of various radii and angles, especially for dispensing on slopes or cones. The positioning speed of the needle is fast and the precision is high. The position and angle deviation after the replacement of the needle is automatically calibrated, and the needle alignment process is fully automated, which greatly improves the production efficiency.

Description

technical field [0001] The invention relates to a method for calibrating a variable-diameter rotary dispensing device based on a binocular camera, in particular to a device calibration and a needle calibration method for a variable-diameter rotary dispensing device based on a binocular camera, and belongs to the technical field of dispensing machines. Background technique [0002] Dispensing machines are widely used in electronic circuits, precision manufacturing, small electromechanical equipment processing and other fields. In some specific dispensing occasions, it is necessary to make the dispensing needle and the coating surface form a fixed angle during the dispensing process. When the angle between the coating surface and the needle changes, the dispensing mechanism needs to dynamically adjust its posture in time to keep the angle between the needle and the coating surface constant, especially in the case of rotary dispensing, while ensuring the stability of the needle ...

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Problems solved by technology

Chinese invention patent "CN201910557107 Tilting and rotating device of dispensing machine and dispensing machine with it" and utility model patent "CN201821204657 A tilting and rotating dispensing device" disclose the existence of devices for adjusting the rotation and tilt angle of dispensing modules The disadvantage is that the adjustment of the mechanism cannot adjust the radius of rotation of the needle independently while adjusting the angle, let alone the automatic calibration of the device and the needle; The calibration method of the glue device is also unable to calibrate the parameters such as the spatial position and inclination angle of the needle

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