Design And Implementation Of Dispensing Robot System Based On CCD Auto Calibration

With the development of science and technology,dispensing applications are increasingly moving towards automation,high-precision and high-speed.With the continuous development and maturation of CCD automatic calibration technology and motion control technology,the dispensing robot control system is more stable,more high-speed and high-precision,thus improving the quality and accuracy of the automatic dispenser.Therefore,research on the application of CCD automatic calibration technology in dispensing robots has become an urgent need to enhance the industrial requirements.In this paper,the automatic dispensing robot include high motion control card and Basler camera,according to the unique characteristics of the dispensing process,summed up the generic dispensing parameters configuration and developed a set of proprietary programming code.Users can freely program in this platform,based on this,building a set of automatic dispensing robot control system.In terms of automatic calibration and compensation,the system configures with a needle calibration module and a software algorithm to realize automatic calibration quickly after the needle is replaced.The laser altimetry module is configured to realize the automatic compensation dispensing function according to the product and dispensing position.The miniaturization of products led to multiple boards becoming the mainstream,in response to these,program operations increased matrix function,you can place the template through the template after the completion of a sub-board program,automatically generate all the board procedures can be extremely improve the timeliness of program editing,while reducing the operator's work intensity and error probability.For multi-board products which have Mark's on the motherboards,the motherboard Mark point sharing technology is used,by scanning the motherboard Mark to locate the entire product,On the basis of the overall positioning of each sub-Mark for secondary registration,to avoid bad dispensing caused by the sub-board of the deformation.The problem of time increase and efficiency reduction are brought because of using the parent Mark function.This paper develops the in-flight Mark scanning technology,synchronously to keep the motion axis moving at a constant speed and the camera capture the Mark when axis is moving,reducing the movement of the shaft at each Mark point start and stop,greatly improving the scanning efficiency.In the aspect of system calibration,the method of solving the distortion correction parameters according to the principle of affine transformation and perspective projection based on CCD,and the process of distortion correction is combined with the linear interpolation method and the inverse lens distortion model.Because the process of lens distortion correction completely adopts the automatic feature point extraction,it's easy to achieve complete automatic correction,thus ensuring the positioning accuracy and repeatability of the device.Finally,the system commissioning is performed on the dispensing robot platform to validate the algorithm of CCD automatic calibration.The final experiment proves that the algorithm based on affine transformation and linear interpolation can obviously improve the precision of dispensing robot.