Dispensing effect simulation method and related device

Abstract

In the dispensing effect simulation method and related apparatus provided in this application, the simulation equipment is based on a simulation model of a physical dispensing machine, and simulates the dispensing operation on the processed object through the simulation model. The first moving trajectory of the dispensing head of the simulation model is mapped to the second moving trajectory of the surface of the processed object. Then, dispensing marks are drawn on the surface of the processed object along the second moving trajectory. This avoids the need for on-site debugging using a physical dispensing machine. Furthermore, the use of trajectory mapping avoids complex fluid calculations and improves the efficiency of drawing dispensing marks.

Description

Technical Field

[0001] This application relates to the field of intelligent manufacturing, and more specifically, to a method and related apparatus for simulating dispensing effects. Background Technology

[0002] With industrial development, electronic products are becoming increasingly integrated, which in turn has accelerated the refinement of packaging technology. Nowadays, packaging electronic products requires adhesives to bond multiple components together, necessitating the use of dispensing machines in the manufacturing process. Parameters such as the dispensing volume, dispensing path planning, and dispensing speed of the dispensing machine directly impact the product yield and production efficiency. Currently, the dispensing machine is primarily adjusted on-site by workers through repeated trials until satisfactory dispensing results are achieved, thus consuming significant manpower and time. Summary of the Invention

[0003] To overcome at least one deficiency in the prior art, this embodiment provides a method and related apparatus for simulating dispensing effects, including:

[0004] In a first aspect, this embodiment provides a method for simulating dispensing effects, applied to a simulation device, wherein the simulation device is equipped with a simulation model of a physical dispensing machine, and the method includes:

[0005] The dispensing operation of the processed object is simulated by the simulation model to obtain the first moving trajectory of the dispensing head of the simulation model in the three-dimensional simulation space.

[0006] The first movement trajectory is mapped to a second movement trajectory of the target processing surface, wherein the target processing surface represents the surface of the processing object used for the dispensing operation;

[0007] According to the second movement trajectory, glue marks are drawn on the target processing surface along the second movement trajectory.

[0008] Secondly, this embodiment provides a dispensing effect simulation device, applied to a simulation equipment. The simulation equipment is equipped with a simulation model of a physical dispensing machine. The dispensing effect simulation device includes:

[0009] The trajectory mapping module is used to simulate the dispensing operation of the processed object through the simulation model, and obtain the first moving trajectory of the dispensing head of the simulation model in the three-dimensional simulation space.

[0010] The trajectory mapping module is further configured to map the first moving trajectory to a second moving trajectory of the target processing surface, wherein the target processing surface represents the surface of the processing object used for the dispensing operation;

[0011] The trace drawing module is used to draw adhesive traces along the second movement trajectory on the target processing surface according to the second movement trajectory.

[0012] Thirdly, this embodiment provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the dispensing effect simulation method.

[0013] Fourthly, this embodiment provides a simulation device, which includes a processor and a memory. The memory stores a computer program, and when the computer program is executed by the processor, it implements the dispensing effect simulation method.

[0014] Compared with the prior art, this application has the following beneficial effects:

[0015] In the dispensing effect simulation method and related apparatus provided in this embodiment, the simulation device is based on a simulation model of a physical dispensing machine, and simulates the dispensing operation on the processing object through the simulation model. The first moving trajectory of the dispensing head of the simulation model is mapped to the second moving trajectory of the surface of the processing object. Then, dispensing marks are drawn on the surface of the processing object along the second moving trajectory. This avoids the need for on-site debugging using a physical dispensing machine. Furthermore, the use of trajectory mapping avoids complex fluid calculations and improves the efficiency of drawing dispensing marks. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the dispensing principle provided in an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the structure of the simulation device provided in the embodiments of this application;

[0019] Figure 3 This is a schematic diagram of the dispensing effect simulation method provided in the embodiments of this application;

[0020] Figure 4 This is a schematic diagram of the structure of the simulation model provided in the embodiments of this application;

[0021] Figure 5 This is a schematic diagram illustrating the calculation principle of the second dispensing trajectory provided in an embodiment of this application;

[0022] Figure 6 One of the plan views of the target machining surface provided in the embodiments of this application;

[0023] Figure 7 A second plan view of the target machining surface provided in the embodiments of this application;

[0024] Figure 8 This is a schematic diagram of the calibration principle provided in the embodiments of this application;

[0025] Figure 9 This is a schematic diagram of the dispensing effect simulation device provided in the embodiments of this application.

[0026] Icons: 101-Syringe; 102-Dispensing head; 103-Processing object; 120-Memory; 130-Processor; 140-Communication unit; 201-First movement trajectory; 202-Second movement trajectory; 203-Target processing surface; 301-Dispensing area; 302-Dispensing trace; 401-Trajectory mapping module; 404-Trace drawing module. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0030] In the description of this application, it should be noted that the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0031] Automatic dispensing machines are automated devices integrating mechanics, optics, electronics, and pneumatics. They are widely used in LCD, CCD, SMT, BGA, LED, and micro-assembly fields, thus playing a crucial role in the packaging industry. Dispensing machines are mainly used for bonding, potting, coating, sealing, filling, dripping, and linear / arc / circular dispensing in product processes. With industrial development, electronic products are becoming increasingly integrated, which in turn promotes the refinement of packaging technology.

[0032] like Figure 1 As shown, in addition to the dispensing machine body, the dispensing machine also includes a syringe 101 for containing adhesive. One end of the syringe 101 is filled with high-pressure gas, and the other end is a slender dispensing head 102. Under the action of high-pressure gas, the adhesive in the syringe 101 is forced by the dispensing head 102 to be applied onto the workpiece 103. Therefore, factors such as the dispensing volume, dispensing path planning, and dispensing speed of the dispensing machine will affect the product yield and production efficiency.

[0033] Currently, most packaging manufacturers rely on a combination of manual assembly lines and machines for the packaging process. Depending on the packaging process, engineers need to plan the machine placement, personnel positions, and production lines on-site. They also need to verify the rationality of parameters such as glue dispensing volume, dispensing path planning, and dispensing speed through on-site trial runs. However, this method has the following problems: high verification and trial-and-error costs; modifications and rework of the production line design during the process require a lot of manpower and time; and the verification of dispensing machine parameters also requires actual trial runs, which is time-consuming, has a high scrap rate, high rework costs, and is cumbersome and inefficient.

[0034] Based on the discovery of the aforementioned technical problems, the inventors, through creative labor, proposed the following technical solutions to solve or improve these problems. It should be noted that the deficiencies in the solutions of the prior art are all results derived by the inventors after practical experience and careful research. Therefore, the discovery process of the aforementioned problems and the solutions proposed in the embodiments of this application below should be considered contributions made by the inventors to this application during the inventive process, and should not be construed as technical content known to those skilled in the art.

[0035] To at least partially address the aforementioned issues, this embodiment provides a method for simulating dispensing effects using a simulated device. This method provides a simulation model of a physical dispensing machine, and uses this model to simulate the dispensing operation on a workpiece. The first movement trajectory of the dispensing head in the simulation model is mapped to a second movement trajectory on the surface of the workpiece. Then, dispensing marks are drawn along the second movement trajectory on the surface of the workpiece. Thus, the dispensing effect on the surface of the workpiece can be visually observed without actually using a physical dispensing machine.

[0036] In some embodiments, the simulation device described above can be a server. This server can be a single server or a group of servers. The server group can be centralized or distributed (e.g., the servers can be a distributed system). In some embodiments, the server can be local or remote relative to the user terminal. In some embodiments, the server can be implemented on a cloud platform; by way of example only, the cloud platform can include private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, inter-cloud, multi-cloud, etc., or any combination thereof. In some embodiments, the server can be implemented on an electronic device with one or more components. Therefore, the user can remotely log in to the server through a user terminal and view the dispensing effect produced by the simulated dispensing operation through the server.

[0037] In other embodiments, the simulation device can also be a user terminal. For example, a mobile terminal, tablet computer, laptop computer, or built-in device in a motor vehicle, or any combination thereof. In some embodiments, the mobile terminal may include a personal computer, smart mobile device, virtual reality device, or augmented reality device, or any combination thereof. In some embodiments, the smart mobile device may include a smartphone, tablet computer, or any combination thereof. Therefore, users can also simulate the dispensing effect produced by dispensing glue onto a workpiece locally using these user terminals.

[0038] like Figure 2As shown, the analog device may include a memory 120, a processor 130, and a communication unit 140. The memory 120, processor 130, and communication unit 140 are electrically connected directly or indirectly to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0039] The memory 120 can be an information recording device based on any electronic, magnetic, optical, or other physical principles, used to record execution instructions, data, etc. In some embodiments, the memory 120 can be, but is not limited to, volatile memory, non-volatile memory, memory drive, etc.

[0040] In some embodiments, the volatile memory may be random access memory (RAM); in some embodiments, the non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, etc.; in some embodiments, the storage drive may be a disk drive, solid-state drive, any type of storage disk (such as optical disc, DVD, etc.), or similar storage media, or a combination thereof.

[0041] The communication unit 140 is used to send and receive data over a network. In some embodiments, the network may include a wired network, a wireless network, a fiber optic network, a telecommunications network, an intranet, the Internet, a local area network (LAN), a wide area network (WAN), a wireless local area network (WLAN), a metropolitan area network (MAN), a public switched telephone network (PSTN), a Bluetooth network, a ZigBee network, or a near field communication (NFC) network, or any combination thereof. In some embodiments, the network may include one or more network access points. For example, the network may include wired or wireless network access points, such as base stations and / or network switching nodes, through which one or more components of the service request processing system can connect to the network to exchange data and / or information.

[0042] The processor 130 may be an integrated circuit chip with signal processing capabilities, and the processor may include one or more processing cores (e.g., a single-core processor or a multi-core processor). By way of example only, the processor described above may include a Central Processing Unit (CPU), an Application-Specific Integrated Circuit (ASIC), an Application-Specific Instruction-set Processor (ASIP), a Graphics Processing Unit (GPU), a Physics Processing Unit (PPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Device (PLD), a controller, a microcontroller unit, a Reduced Instruction Set Computing (RISC) computer, or a microprocessor, or any combination thereof.

[0043] Based on the above introduction, the following will combine... Figure 3 The method provided in this embodiment will be described in detail. However, it should be understood that the operations in the flowchart may not be implemented in sequence, and steps without logical contextual relationships may be reversed in order or implemented simultaneously. Furthermore, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowchart, or remove one or more operations from the flowchart. The simulation device is configured with a simulation model of a physical dispensing machine, and based on this simulation model, such as... Figure 3 As shown, the method includes:

[0044] S101, the dispensing operation of the processed object is simulated by the simulation model to obtain the first moving trajectory of the dispensing head of the simulation model in the three-dimensional simulation space.

[0045] The simulation model and the physical dispensing machine are proportionally identical, and the simulation model can respond to the input control parameters of the physical dispensing machine. In an optional implementation, the simulation device can acquire a 3D model of the physical dispensing machine; then, it can convert the 3D model into a digital twin model of the physical dispensing machine using a digital twin simulation tool; finally, the digital twin model can be used as the simulation model of the physical dispensing machine.

[0046] For example, traditional CAD software can be used to create a scaled-down 3D model of the dispensing machine and its accessories, obtaining a 3D model of the physical dispensing machine. This model mainly includes: a workbench, the dispensing machine, a robotic arm, a screw-making machine, the processing object, and the factory building. Then, the model is converted into FBX format and imported into the Unity3D platform. Rigid Bodies and MeshCollider components are added as needed, and the parent-child relationships between components are configured. Based on this configuration, the simulation model can simulate the frictional forces, torque forces, and gravity experienced by the physical dispensing machine, as well as the collisions between components.

[0047] like Figure 4 As shown, the simulation model of the physical dispensing machine can include three degrees of freedom: the x-axis direction corresponding to the first robotic arm, the y-axis direction corresponding to the second robotic arm, and the z-axis direction corresponding to the limiting seat. The simulation model responds to control parameters, simulating the movement of the physical dispensing machine in these three directions. Specifically, the first robotic arm controls the dispensing head to approach the workpiece along the y-axis, and uses air pressure to evenly extrude adhesive from the dispensing head and bring the extruded adhesive into contact with the workpiece. The second robotic arm controls the dispensing head to move along the x-axis, thus cooperating with the limiting seat moving along the z-axis to apply adhesive to the surface of the workpiece. After application, the first robotic arm is controlled to move away from the workpiece along the y-axis, causing the adhesive to naturally separate from the dispensing head.

[0048] S102, map the first moving trajectory to the second moving trajectory of the target processing surface.

[0049] In this embodiment, the target processing surface refers to the surface of the object being processed for the dispensing operation. Furthermore, it should be understood that due to the unique fluid effects of the adhesive extruded from the dispensing head, directly representing the application effect of the adhesive using a three-dimensional fluid model requires significant computational resources. Therefore, to save computational resources and reduce the burden on the simulation equipment, this embodiment maps the first motion estimate generated by the simulation model in the three-dimensional simulation space to a second motion trajectory of the target processing surface, where the target processing surface represents the surface of the object being processed for the dispensing operation.

[0050] In an optional implementation, step S102 may include obtaining the second movement trajectory through the following specific implementation:

[0051] S102-1, Obtain the machining position of the object in the three-dimensional simulation space.

[0052] S102-2, Based on the spatial relationship between the processing position and the first moving trajectory, the projection of the first moving trajectory onto the target processing surface is taken as the second moving trajectory.

[0053] For example, such as Figure 5 As shown, the first movement trajectory 201 is generated when the dispensing head of the simulation model moves in the three-dimensional simulation space; by projecting the first movement trajectory 201 onto the target processing surface 203, a second movement trajectory 202 located on the target processing surface 203 can be obtained, wherein the second movement trajectory 202 represents the dispensing trajectory applied to the target processing surface 203 during the dispensing operation.

[0054] In this way, by mapping the trajectory between the two, the coordinate changes of the dispensing head when moving in the three-dimensional simulation space are mapped to the movement changes on the target processing surface.

[0055] S103, according to the second moving trajectory, draw glue marks on the target processing surface along the second moving trajectory.

[0056] Thus, in the above embodiments, the simulation device is based on a simulation model of a physical dispensing machine, and simulates the dispensing operation on the processed object through the simulation model. The first moving trajectory of the dispensing head of the simulation model is mapped to the second moving trajectory of the surface of the processed object. Then, dispensing marks are drawn on the surface of the processed object along the second moving trajectory. This avoids the need for on-site debugging using a physical dispensing machine. Furthermore, the use of trajectory mapping avoids complex fluid calculations and improves the efficiency of drawing dispensing marks.

[0057] The study also found that if the glue residue is presented directly in the three-dimensional simulation space, visual distortion will occur due to the movement of the three-dimensional viewpoint, which is not conducive to observing the glue dispensing effect; therefore, corresponding to step S103, the following implementation method can be included:

[0058] S103-1 provides a two-dimensional planar view of the target machining surface.

[0059] S103-2, Based on the second movement trajectory, draw the glue marks along the second movement trajectory in the plan view.

[0060] In this way, the two-dimensional planar view allows users to more intuitively observe the effect of the glue dots.

[0061] Further research revealed that the effect of realistic dispensing marks is related to factors such as the diameter, moving speed, and gas pressure of the dispensing head. For example, under the same gas pressure and diameter conditions, the faster the dispensing head moves, the smaller the width of the dispensing mark, and vice versa. Therefore, in order to make the drawn dispensing marks closely resemble those generated by a real dispensing operation, step S103-2 may include the following specific implementation methods:

[0062] S103-2-1, Obtain the glue discharge parameters corresponding to the processing object and the second moving trajectory.

[0063] The dispensing parameters include the diameter of the dispensing head, the moving speed, and the gas pressure. The relationship between these three factors and the target width corresponding to the dispensing mark can be obtained by fitting a large amount of test data collected during the actual dispensing process.

[0064] S103-2-2, Determine the target width of the dispensing mark based on the dispensing parameters.

[0065] S103-2-3, Based on the second movement trajectory, draw a dispensing mark with the target width along the second movement trajectory in the plan view.

[0066] Thus, through the above implementation method, the width of the drawn glue mark is made close to the width of the actual glue mark.

[0067] To enable those skilled in the art to utilize the content of this application, the following specific embodiments are provided. For the target machining surface of the object being processed, the simulation device can provide, as... Figure 6 The plan view shown includes five dispensing areas 301. The simulation device draws a second movement trajectory projected onto the target processing surface based on the first movement trajectory. Figure 7 The glue residue shown is 302.

[0068] Additionally, in some implementations, the planar view can be presented in the visual interface (Screen) via a Canvas window; the adhesive dots are drawn in the Canvas window using the RawImage component. Continuing... Figure 6 as well as Figure 7 For example, this simulation device can add a Canvas window to the 2D visualization interface, and add a canvas component within the Canvas window to manage child components located within the canvas. Assuming this Canvas component is named Painting, add a RawImage component to Painting to display the target processing surface of the object being processed, and add RawImage components to the five dispensing areas to display dispensing marks.

[0069] Assuming the RawImage component located in the dispensing area is named DrawingBoard, when the simulation device simulates the dispensing operation, the script program assigns the coordinates of the trajectory points corresponding to the second movement trajectory to the DrawBrush function. The DrawBrush function renders the dispensing marks on DrawingBoard by calling Unity's GL class.

[0070] To prevent changes in the visual interface resolution from interfering with the presentation of adhesive marks, this implementation adds a window adaptive calculation module to the visual interface. This module calculates the relationship between the following parameters (the width and height of the window corresponding to the Screen, the RectTransform.sizeDelta parameter in the DrawingBoard and the width and height of the DrawingBoard, the localScale parameter in the Canvas, and the Canvas) among the three components: Screen, DrawingBoard, and Canvas. A compensation coefficient is then added to the coordinate transformation calculation to ensure that changes in the Screen resolution do not affect the relative positional relationships between the displayed objects in the visual interface, thus achieving screen adaptability to resolution.

[0071] As described in step S101 above, the simulation model and the physical dispensing machine are proportionally related and can respond to the input control parameters of the physical dispensing machine; therefore, in some embodiments, step S101 may include the following implementation:

[0072] S101-1, Obtain the control parameters of the simulation model. The control parameters are used to control the simulation model to simulate the dispensing operation of the processed object.

[0073] S101-2 obtains the first movement trajectory of the dispensing head in the three-dimensional simulation space by controlling the response parameters of the simulation model.

[0074] The control parameter is the spatial coordinate of the dispensing head. The line connecting two adjacent spatial coordinates can form a first movement trajectory in this embodiment. Therefore, for the entire dispensing operation to complete the processing object, multiple first movement trajectories need to be combined.

[0075] This embodiment provides different methods to obtain the control parameters for different production conditions. In some implementations, if the production line for dispensing has not yet been completed, the spatial coordinates of the dispensing head can be recorded in an Excel file in chronological order as a control parameter table for the simulation model. The simulation equipment reads the control parameters from the Excel file and uses them to control the first robotic arm, the second robotic arm, and the limiting base of the simulation model to perform corresponding movements, thereby obtaining the first movement trajectory generated by the dispensing head.

[0076] In other implementations, when the production line for dispensing has been completed, and the simulation model in this embodiment is a digital twin model, the control parameters of the physical dispensing machine can be acquired in real time in implementation mode. Based on these real-time control parameters, the physical dispensing machine can be synchronously simulated. Therefore, the simulation device, by creating a Socket client and cooperating with the host computer server program of the PLC in the physical dispensing machine, acquires the control parameters of the physical dispensing machine in real time from the local area network, which is used to instruct the simulation model to synchronously simulate the movement process of the physical dispensing machine. The real-time mode can improve the accuracy of the simulation effect of the twin by synchronizing the on-site conditions.

[0077] like Figure 8 As shown, the study also found that errors may be introduced during the production or design stages of the dispensing machine, leading to a discrepancy between the initial position set by the dispensing head and its actual position in the physical world. Therefore, dispensing machine manufacturers typically attach a motion coordinate system calibration point directly below the dispensing head. Assuming the coordinates of this calibration point are (0, 0, 0), during calibration, the worker inputs the virtual world calibration coordinates (0, 0, 0) into the dispensing machine. Upon receiving these coordinates, the dispensing machine moves to its measured position in the physical world. The worker observes whether the measured position of the dispensing head aligns with the calibration point. If not, multiple tests are conducted to obtain the corresponding coordinate compensation information for calibrating the dispensing machine.

[0078] In this embodiment, the simulation model and the physical dispensing machine are proportionally related. Therefore, if the physical dispensing machine has errors, the simulation model will also have errors. To achieve a more accurate simulation, the simulation device provides a calibration window in its visual interface. This calibration window has a first input box and a second input box. The first input box is used to input debugging compensation information in spatial coordinates; the second input box is used to input test coordinates.

[0079] Then, the simulation device receives the test coordinates and adjustment compensation information input by the user from the calibration window; it then uses the adjustment compensation information to correct the test coordinates, obtaining the corrected test coordinates; finally, the simulation model responds to the corrected test coordinates, causing the dispensing head to move to the first position. The user observes the difference between the first and second positions and adjusts the adjustment compensation information, repeating the above steps until the first and second positions are aligned. The corresponding adjustment compensation information is then used as the coordinate compensation information, where the second position represents the desired position reached by the dispensing head.

[0080] Based on this coordinate compensation information, when the simulation device controls the dispensing operation, it corrects the control parameters according to the coordinate compensation information to obtain the corrected control parameters; and by responding to the corrected control parameters through the simulation model, it obtains the first movement trajectory of the dispensing head of the simulation model in the three-dimensional simulation space.

[0081] Therefore, based on the above implementation method, after inputting the test coordinates, by comparing the position of the dispensing head in the virtual world with the reference position in the real world coordinate system, the coordinate error between the two can be obtained. This coordinate error can be used as coordinate compensation information to calibrate the input control parameters, thereby obtaining a more realistic simulation effect.

[0082] Based on the above embodiments, it is worth noting that the dispensing operation is only one link in the product manufacturing process. There are also upstream and downstream production processes, the detailed process of which includes:

[0083] 1. The worker moves the workpiece from the table to the dispensing machine's limit seat.

[0084] 2. The dispensing machine limit seat moves to the origin, ready to start dispensing.

[0085] 3. The dispensing machine begins executing the dispensing program. It moves the dispensing head and limit seat according to the dispensing data.

[0086] 4. After dispensing, the limit seat is reset.

[0087] 5. The worker moves the workpiece from the dispensing machine's limit seat to the table and assembles it.

[0088] 6. The worker moves the assembled workpiece to the screw machine limit seat.

[0089] 7. Move the limit seat and screwdriver to the original position, ready to start tightening the screws.

[0090] 8. The screwdriver starts executing the screw-tightening program, moving the screwdriver and the limit seat.

[0091] 9. The screw feeder dispenses screws, the screw machine picks up the screws, moves them to the designated position, lowers them, and screws them in.

[0092] 10. The worker moves the machined object with screws tightened to the table, ready to proceed to the next step.

[0093] To further simulate the actual dispensing process, this implementation also uses a robotic arm to mimic manual operation in real-world conditions during the dispensing simulation. In summary, this embodiment provides more methods for simulating dispensing effects. Users can repeatedly adjust the control parameters of the simulation model and the dispensing parameters in the simulation environment until the generated dispensing marks meet their requirements.

[0094] Based on the same inventive concept as the dispensing effect simulation method provided in this embodiment, this embodiment also provides a dispensing effect simulation device. The dispensing effect simulation device includes at least one software function module that can be stored in software form in the memory 120 or embedded in the operating system (OS) of the simulation device. The processor 130 in the simulation device can be used to execute the executable modules stored in the memory 120, such as the software function modules and computer programs included in the dispensing effect simulation device. Please refer to... Figure 9 Functionally, dispensing effect simulation devices can include:

[0095] The trajectory mapping module 401 is used to simulate the dispensing operation of the processed object through the simulation model, and obtain the first moving trajectory of the dispensing head of the simulation model in the three-dimensional simulation space.

[0096] The trajectory mapping module 401 is also used to map the first movement trajectory to a second movement trajectory of the target processing surface, wherein the target processing surface represents the surface of the processing object used for dispensing operations.

[0097] In this embodiment, the trajectory mapping module 401 is used to implement Figure 3 For a detailed description of steps S101-S102 in the process, and for the trajectory mapping module 401, please refer to the detailed description of steps S101-S102.

[0098] The trace drawing module 404 is used to draw adhesive traces on the target processing surface along the second movement trajectory according to the second movement trajectory.

[0099] In this embodiment, the trace drawing module 404 is used to implement Figure 3 For a detailed description of step S103 of the trace drawing module 404, please refer to the detailed description of step S103.

[0100] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0101] It should also be understood that if the above embodiments are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0102] Therefore, this embodiment also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the dispensing effect simulation method provided in this embodiment. The computer-readable storage medium can be any medium capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0103] This embodiment also provides a simulation device, which may include a processor 130 and a memory 120. The processor 130 and the memory 120 can communicate via a system bus. Furthermore, the memory 120 stores a computer program, and the processor reads and executes the computer program in the memory 120 corresponding to the above embodiments to realize the dispensing effect simulation provided in this embodiment.

[0104] It should be understood that the apparatus and methods disclosed in the above embodiments can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0105] The above descriptions are merely various embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for simulating dispensing effects, characterized in that, Applied to a simulation device, the simulation device being configured with a simulation model of a physical dispensing machine, the method includes: The dispensing operation of the processed object is simulated by the simulation model to obtain the first moving trajectory of the dispensing head of the simulation model in the three-dimensional simulation space. The first movement trajectory is mapped to a second movement trajectory of the target processing surface, wherein the target processing surface represents the surface of the processing object used for the dispensing operation; Provide a two-dimensional planar view of the target machining surface; Obtain the glue discharge parameters corresponding to the processed object and the second moving trajectory; The target width of the dispensing mark is determined based on the dispensing parameters, wherein the dispensing parameters include the diameter of the dispensing head, the moving speed, and the gas pressure; the relationship between the dispensing parameters and the target width of the dispensing mark is obtained by fitting a large amount of test data collected during the actual dispensing process. Based on the second movement trajectory, a dispensing mark with the target width is drawn along the second movement trajectory in the plan view.

2. The dispensing effect simulation method according to claim 1, characterized in that, The step of simulating the dispensing operation of the processed object using the simulation model to obtain the first movement trajectory of the dispensing head of the simulation model in the three-dimensional simulation space includes: Obtain the control parameters of the simulation model, which are used to control the simulation model to simulate the dispensing operation of the processing object; By responding to the control parameters through the simulation model, the first movement trajectory generated by the dispensing head of the simulation model in the three-dimensional simulation space is obtained.

3. The dispensing effect simulation method according to claim 2, characterized in that, The control parameters are the spatial coordinates of the dispensing head. The step of obtaining the first movement trajectory of the dispensing head in the three-dimensional simulation space by responding to the control parameters through the simulation model includes: Obtain pre-set coordinate compensation information; The control parameters are corrected based on the coordinate compensation information to obtain the corrected control parameters; By responding to the corrected control parameters through the simulation model, the first movement trajectory generated by the dispensing head of the simulation model in the three-dimensional simulation space is obtained.

4. The dispensing effect simulation method according to claim 1, characterized in that, Before simulating the dispensing operation of the processed object using the simulation model to obtain the first movement trajectory of the dispensing head of the simulation model in the three-dimensional simulation space, the method further includes: Obtain a three-dimensional model of the physical dispensing machine; The 3D model is converted into a digital twin model of the physical dispensing machine using a digital twin simulation tool; The digital twin model is used as a simulation model of the physical dispensing machine.

5. A device for simulating dispensing effects, characterized in that, Applied to simulation equipment, the simulation equipment is equipped with a simulation model of a physical dispensing machine, and the dispensing effect simulation device includes: The trajectory mapping module is used to simulate the dispensing operation of the processed object through the simulation model, and obtain the first moving trajectory of the dispensing head of the simulation model in the three-dimensional simulation space. The trajectory mapping module is further configured to map the first moving trajectory to a second moving trajectory of the target processing surface, wherein the target processing surface represents the surface of the processing object used for the dispensing operation; The trace drawing module is used to provide a two-dimensional planar view of the target processing surface; Obtain the glue discharge parameters corresponding to the processed object and the second moving trajectory; The target width of the dispensing mark is determined based on the dispensing parameters, wherein the dispensing parameters include the diameter of the dispensing head, the moving speed, and the gas pressure; the relationship between the dispensing parameters and the target width of the dispensing mark is obtained by fitting a large amount of test data collected during the actual dispensing process. Based on the second movement trajectory, a dispensing mark with the target width is drawn along the second movement trajectory in the plan view.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the dispensing effect simulation method according to any one of claims 1-4.

7. A simulation device, characterized in that, The simulation device includes a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, it implements the dispensing effect simulation method according to any one of claims 1-4.

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