Triaxial linkage glue cleaning method, system, medium and electronic device

Abstract

The embodiment of the application provides a three-axis linkage glue cleaning method, comprising the following steps: obtaining a size parameter of a screen; determining a movement path of the screen from a point at a screen edge along a scraping tool rotation one round in a first plane based on the size parameter, wherein the first plane is a plane where the screen is located, and a position of the scraping tool in the first plane is unchanged; planning a motion trajectory of an X-axis, a motion trajectory of a Y-axis and a motion trajectory of an R-axis based on the movement path, wherein a plane where the X-axis and the Y-axis are located is parallel to the first plane, and the R-axis is a central axis of the screen perpendicular to the first plane; driving the X-axis to move based on the motion trajectory of the X-axis, driving the Y-axis to move based on the motion trajectory of the Y-axis, and driving the R-axis to move based on the motion trajectory of the R-axis, so that the X-axis, the Y-axis and the R-axis are driven to move the screen to complete glue cleaning.

Description

Technical Field

[0001] This invention relates to the field of industrial control, and more particularly to a three-axis linkage method, system, medium, and electronic device for degumming. Background Technology

[0002] When bonding screens to electronic devices such as mobile phones and tablets, adhesive may overflow from the sides of the screen, affecting the performance of the device and subsequent assembly. Currently, the overflowing adhesive is typically cleaned manually. However, with the increasing demand for electronic devices, rising labor costs, and shortening delivery cycles, traditional manual adhesive removal methods are inefficient and ineffective, no longer meeting production requirements. Summary of the Invention

[0003] In view of this, the present invention provides a three-axis linkage adhesive removal method, system, medium, and electronic device.

[0004] In a first aspect, embodiments of this application provide a three-axis linkage method for cleaning excess adhesive from the edges of a screen, comprising the following steps:

[0005] Get the screen size parameters;

[0006] Based on the size parameters, the movement path of the screen is determined by rotating one revolution along the scraper from a point on the edge of the screen within a first plane, wherein the first plane is the plane where the screen is located, and the position of the scraper remains unchanged within the first plane;

[0007] Based on the movement path, the motion trajectory of the X-axis, the motion trajectory of the Y-axis, and the motion trajectory of the R-axis are planned respectively, wherein the planes containing the X-axis and the Y-axis are parallel to the first plane, and the R-axis is the central axis of the screen perpendicular to the first plane;

[0008] The X-axis is driven by the motion trajectory of the X-axis, the Y-axis is driven by the motion trajectory of the Y-axis, and the R-axis is driven by the motion trajectory of the R-axis, so that the X-axis, Y-axis, and R-axis move together to move the screen to complete the glue removal.

[0009] Preferably, the step of planning the motion trajectory along the X-axis, Y-axis, and R-axis based on the movement path further includes:

[0010] Kinematic analysis is performed on the movement path to determine the master-slave relationship of the X-axis, Y-axis and R-axis, and the corresponding electronic cam curve is established.

[0011] Preferably, the step of planning the motion trajectory along the X-axis, Y-axis, and R-axis based on the movement path further includes the following steps:

[0012] A virtual master axis is established, wherein the X-axis, Y-axis, and R-axis are slave axes of the virtual master axis, respectively.

[0013] Plan the electronic cam curve for the R-axis;

[0014] Based on the movement path and the electronic cam curve of the R-axis, electronic cam curves for the X-axis and Y-axis are established respectively.

[0015] Preferably, the step of establishing a virtual spindle further includes:

[0016] Set the initial posture of the screen, wherein the initial posture is that the first straight edge of the screen coincides with the Y-axis and the starting point of the squeegee is located on the first straight edge;

[0017] Based on the movement path and the initial posture, the working range of the virtual spindle is sequentially divided into: a first scraping segment, a second scraping segment, a third scraping segment, a fourth scraping segment, a fifth scraping segment, a sixth scraping segment, a seventh scraping segment, an eighth scraping segment, and a ninth scraping segment, wherein the first scraping segment, the third scraping segment, the fifth scraping segment, the seventh scraping segment, and the ninth scraping segment are straight-line scraping segments, and the second scraping segment, the fourth scraping segment, the sixth scraping segment, and the eighth scraping segment are corner scraping segments.

[0018] Preferably, the step of establishing the electronic cam curves for the X-axis and Y-axis based on the movement path, the virtual master axis, and the electronic cam curve of the R-axis further includes:

[0019] Based on the dimensional parameters and the electronic cam curve of the R-axis, calculate the synchronization relationship data between the virtual spindle and the X-axis and Y-axis;

[0020] Based on the synchronization relationship data, the electronic cam curve of the X-axis and the electronic cam curve of the Y-axis are generated.

[0021] Preferably, the step of calculating the synchronization relationship data between the virtual spindle and the X-axis and Y-axis based on the dimensional parameters and the electronic cam curve of the R-axis further includes:

[0022] Establish the motion equations for each corner scraping segment, wherein the motion equations are the functional relationship between the screen center point coordinates P(x,y) and the rotation angle β of the R axis: Px=f(β), Py=g(β);

[0023] Based on the aforementioned motion equations, the synchronization relationship data between the virtual main axis and the X-axis and Y-axis of each corner scraping section is calculated.

[0024] Preferably, the corners of the screen are rounded, and the rounded corners are 1 / 4 arcs.

[0025] The equation of motion for the first corner scraping section is:

[0026]

[0027] Where △X is the X-axis displacement; △Y is the Y-axis displacement; α1 is the initial included angle of the first fillet; β1 is the rotation angle of the screen; r is the fillet radius of the screen; L1 is the length of the first straight side; and is the length of the second straight side.

[0028] The motion equation for the second corner scraping section is:

[0029]

[0030] Where △X is the X-axis displacement; △Y is the Y-axis displacement; α2 is the initial included angle of the second fillet; β2 is the rotation angle of the screen; r is the fillet radius of the screen; L1 is the length of the first straight line side; and is the length of the second straight line side.

[0031] The equation of motion for the third corner scraping section is:

[0032]

[0033] Where △X is the X-axis displacement; △Y is the Y-axis displacement; α3 is the initial included angle of the third fillet; β3 is the rotation angle of the screen; r is the fillet radius of the screen; L1 is the length of the first straight line side; and is the length of the second straight line side.

[0034] The motion equation for the fourth corner scraping section is:

[0035]

[0036] Where △X is the X-axis displacement; △Y is the Y-axis displacement; α4 is the initial included angle of the fourth rounded corner; β4 is the rotation angle of the screen; r is the radius of the rounded corner of the screen; L1 is the length of the first straight line side; and is the length of the second straight line side.

[0037] in,

[0038] α1=tan -1

(L2 / 2-r) / (L1 / 2-r)

[0039] α2=tan -1

(L1 / 2-r) / (L2 / 2-r)

[0040] α3=tan -1

(L2 / 2-r) / (L1 / 2-r)

[0041] α4=tan -1

(L1 / 2-r) / (L2 / 2-r)

[0042]

[0043] Preferably, the corner comprises three arc segments, and the motion equations for each corner scraping segment are established, wherein the motion equations are functions of the screen center point coordinates P(x,y) and the rotation angle β of the R axis: Px=f(β), Py=g(β). The step further includes:

[0044] Obtain the coordinates of the center point of each arc and the central angle of each arc;

[0045] Based on the center point coordinates and the central angle, the motion equations for each arc-shaped glue-scraping segment are established. The motion equations for each arc-shaped glue-scraping segment are functions of the screen center point coordinates P(x,y) and the rotation angle β of the R axis: Px=f(β), Py=g(β).

[0046] Preferably, after the step of generating the electronic cam curve of the X-axis and the electronic cam curve of the Y-axis based on the synchronization relationship data, the method further includes:

[0047] A fifth-order polynomial interpolation algorithm is used to interpolate the electronic cam curve segment of the straight edge scraping section on the Y-axis.

[0048] Preferably, the displacement length of the moving path is greater than the perimeter of the screen.

[0049] Preferably, the scraper has a plurality of scraping positions, which are spaced apart along the length of the scraper. The three-axis linkage adhesive removal method further includes the following steps:

[0050] After working at the current adhesive scraping position for a preset time or a preset number of times, the scraper moves to the next adhesive scraping position.

[0051] Secondly, embodiments of this application provide a system for screen adhesive removal via three-axis linkage, comprising:

[0052] Acquisition module: Used to acquire screen size parameters;

[0053] The movement path module is used to determine, based on the size parameters, the movement path of the screen in a first plane, which is the plane where the screen is located, and the position of the scraper in the first plane remains unchanged.

[0054] Motion axis trajectory planning module: Based on the movement path, it plans the motion trajectory of the X-axis, the motion trajectory of the Y-axis, and the motion trajectory of the R-axis, respectively, wherein the planes containing the X-axis and the Y-axis are parallel to the first plane, and the R-axis is the central axis of the screen perpendicular to the first plane;

[0055] Control module: used to drive the X-axis movement based on the X-axis motion trajectory, drive the Y-axis movement based on the Y-axis motion trajectory, and drive the R-axis movement based on the R-axis motion trajectory, so that the X-axis, Y-axis, and R-axis three-axis linkage drives the screen to move to complete the glue removal.

[0056] Thirdly, embodiments of this application provide a non-transitory computer-readable storage medium that stores instructions, which, when executed by a processor, cause the processor to perform the steps of the method described above.

[0057] Fourthly, embodiments of this application provide a system comprising: a processor and a memory, wherein:

[0058] The memory stores a program configured to cause the processor to perform the steps of the method described above when executed by the processor.

[0059] The three-axis linkage adhesive removal method provided in this application, after obtaining the product's dimensional parameters, calculates the electronic cam curves of the horizontal x-axis, horizontal y-axis, and rotation r-axis through interpolation, and connects them to the corresponding process object. The x, y, and r three-axis linkage controls the mobile phone screen to move around a scraper at a fixed position on the horizontal plane to achieve adhesive removal, thereby realizing automated adhesive removal, greatly improving production efficiency and saving labor costs. Attached Figure Description

[0060] Figure 1 This is a control relationship diagram of a three-axis linkage adhesive removal method provided in an embodiment of this application;

[0061] Figure 2 These are the electronic cam curves for the R-axis, X-axis, and Y-axis provided in the embodiments of this application;

[0062] Figure 3 This is a schematic diagram of the screen rotation of the first corner scraping section, the second corner scraping section, the third corner scraping section and the fourth corner scraping section provided in the embodiments of this application;

[0063] Figure 4 This is a schematic diagram of a three-segment arc corner provided in an embodiment of this application;

[0064] Figure 5 This is a schematic diagram of the screen rotating around the scraper once, provided in an embodiment of this application;

[0065] Figure 6 This is a flowchart of a three-axis linkage adhesive removal method provided in the application embodiment.

[0066] List of reference numerals in the attached diagram:

[0067] 10: Virtual Spindle

[0068] 20: R-axis

[0069] 30: X-axis

[0070] 40: Y-axis

[0071] S1: First scraping section (upper half of the scraping section on the straight side of side A);

[0072] S2: Second scraping section (first corner scraping section);

[0073] S3: Third scraping section (straight side scraping section on B);

[0074] S4: Fourth scraping section (second corner scraping section);

[0075] S5: Fifth scraping section (straight line scraping section on side C);

[0076] S6: The sixth scraping section (the third corner scraping section);

[0077] S7: Seventh scraping section (straight edge scraping section on D side);

[0078] S8: Eighth scraping section (fourth corner scraping section);

[0079] S9: Ninth scraping section (lower half of the scraping section along the straight line of side A);

[0080] AR1: First Corner

[0081] AR2: Second corner

[0082] AR3: Third Corner

[0083] AR4: Fourth Corner

[0084] arc1: First arc;

[0085] arc2: the second arc;

[0086] arc1: The third arc;

[0087] θ1: The central angle of the first arc;

[0088] θ2: The central angle of the second arc;

[0089] θ3: The central angle of the third arc;

[0090] 901: Select the screen size on the touchscreen;

[0091] 902: After the screen is placed manually or by a robotic arm, press the start button;

[0092] 903: Plan the synchronous cam curve between the virtual spindle and the R-axis;

[0093] 904: Calculate the synchronization data relationship between the X and Y axes based on the screen size parameters;

[0094] 905: Generate electronic cam curves for the X and Y axes based on synchronization relationship data;

[0095] 906: Activate the X-axis, Y-axis, and R-axis to synchronize with the virtual spindle; the virtual spindle starts to perform scraping.

[0096] 907: Move the phone screen along the X and Y axes to the adhesive scraping position and begin scraping the adhesive;

[0097] 908: Move along the Y-axis to scrape the upper half of the straight section of edge A;

[0098] 909: After the upper half of the straight section of edge A is scraped with glue, the first corner is scraped in a three-axis linkage of X, Y and R.

[0099] 910: Move along the Y-axis to scrape the straight edge of B;

[0100] 911: After the glue is applied to the straight edge of B, the second corner is scraped using the X, Y, and R axes in a coordinated manner.

[0101] 912: Move along the Y-axis to scrape the straight edge of C;

[0102] 913: After the straight edge of C is scraped with glue, the X-axis, Y-axis and R-axis work together to scrape the third corner;

[0103] 914: Move along the Y-axis to scrape the straight edge of D;

[0104] After the 915:D edge is straight and the glue is applied, the X-axis, Y-axis and R-axis work together to scrape the fourth corner.

[0105] 916: Move along the Y-axis to scrape the lower half of the straight section of side A;

[0106] 917: Move the phone screen to the loading position along the X and Y axes. Detailed Implementation

[0107] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. All other technical solutions obtained by those skilled in the art based on the embodiments of this application fall within the scope of protection of this application.

[0108] When bonding screens to electronic devices such as mobile phones and tablets, adhesive overflows from the sides of the screen, affecting the performance of the device and subsequent assembly. Currently, the overflowing adhesive is typically cleaned manually. However, with the increasing demand for electronic devices and rising labor costs, traditional manual adhesive removal methods are inefficient and ineffective, no longer meeting production needs. As manufacturers increasingly prioritize the production speed of electronic products, especially mobile phones, there is a pressing need to improve production speed at each stage of the process. The adhesive removal process for mobile phone screens also needs to transition from traditional manual cleaning to machine-based cleaning.

[0109] In view of the above problems, this application provides a three-axis linkage adhesive removal method, system, medium and electronic device to at least partially solve the above technical problems.

[0110] The specific implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0111] The specific steps of the three-axis linkage adhesive removal method provided in this embodiment of the invention are as follows:

[0112] S101: Obtain screen size parameters;

[0113] like Figure 3 and Figure 5 As shown, the screen of the electronic device is rectangular in shape, with adjacent straight sides transitioned by arcs. The screen's dimensional parameters include its length L1, width L2, and arc radius r.

[0114] S103: Based on the size parameters, determine the movement path of the screen in a first plane, starting from a point on the edge of the screen and rotating around the scraper in one revolution, wherein the first plane is the plane where the screen is located, and the position of the scraper in the first plane remains unchanged.

[0115] To clean excess adhesive from the screen edges, relative movement between the squeegee and the screen is required; either the squeegee moves around the screen edge, or the squeegee remains stationary while the screen moves around it. Using a control method where the squeegee moves around the screen edge requires controlling both its horizontal (i.e., first plane) and vertical movements, making the control method complex and placing high demands on the system. Therefore, this application employs a control method where the screen moves around the squeegee.

[0116] S105: Based on the movement path, plan the motion trajectory of the X-axis, the motion trajectory of the Y-axis, and the motion trajectory of the R-axis respectively, wherein the planes containing the X-axis and the Y-axis are parallel to the first plane, and the R-axis is the central axis of the screen perpendicular to the first plane.

[0117] To make the screen move around a fixed squeegee in one revolution, at least three motion axes are needed to drive the screen: the horizontal motion axis X-axis, the horizontal motion axis Y-axis (where the X-axis is perpendicular to the Y-axis), and the rotation axis R-axis.

[0118] Specifically, in one feasible implementation, by performing kinematic analysis on the movement path, the master-slave relationship of the X-axis, the Y-axis, and the R-axis can be determined, and the corresponding electronic cam curve can be established.

[0119] To ensure the screen moves along a preset path, synchronized control of the X, Y, and R axes is required, meaning they must maintain a certain synchronous operating relationship. Therefore, a master-slave synchronization scheme can be used, dividing the three motion axes into master and slave axes. For example, the R axis is the master axis, and the X and Y axes are slave axes, with the slave axes' reference input signals derived from the master axis's output. If the master axis changes speed due to load disturbances, the slave axes can adjust accordingly to reduce synchronization errors.

[0120] In other feasible implementations, a virtual spindle control method can also be used to synchronously control the X, Y, and R axes, such as... Figure 1 As shown, specifically, the control method using a virtual spindle includes the following steps:

[0121] S1051: Establish a virtual master axis, wherein the X-axis, the Y-axis, and the R-axis are slave axes of the virtual master axis;

[0122] S1052: Plan the electronic cam curve for the R-axis;

[0123] S1053: Based on the movement path and the electronic cam curve of the R-axis, establish the electronic cam curve of the X-axis and the electronic cam curve of the Y-axis respectively.

[0124] Using a virtual axis as the master axis and the X, Y, and R axes as slave axes, each slave axis simultaneously receives control signals from the virtual master axis during the control cycle and moves according to the electronic cam curve of its respective axis. This allows the X, Y, and R axes to follow the control signals of the virtual master axis, thus achieving synchronous control of the X, Y, and R axes. The virtual master axis can overcome the command time difference between slave axes, thereby achieving better synchronization.

[0125] S107: Drive the X-axis movement based on the X-axis motion trajectory, drive the Y-axis movement based on the Y-axis motion trajectory, and drive the R-axis movement based on the R-axis motion trajectory, so that the X-axis, Y-axis, and R-axis move the screen in a three-axis linkage to complete the adhesive removal.

[0126] The three-axis linkage adhesive removal method of this application, after obtaining the product's dimensional parameters, calculates the electronic cam curves of the horizontal X-axis, horizontal Y-axis, and rotational R-axis through interpolation, and connects them to the corresponding process object. The X, Y, and R three-axis linkage control makes the mobile phone screen move around the scraper at a fixed position on the horizontal plane to achieve adhesive removal, thereby realizing automated adhesive removal, greatly improving production efficiency and saving labor costs.

[0127] Specifically, based on the above embodiments, the step of establishing a virtual spindle further includes:

[0128] Set the initial posture of the screen, wherein the initial posture is that the first straight edge of the screen coincides with the Y-axis and the starting point of the squeegee is located on the first straight edge;

[0129] Based on the movement path and the initial posture, the working range of the virtual spindle is sequentially divided into: a first scraping segment, a second scraping segment, a third scraping segment, a fourth scraping segment, a fifth scraping segment, a sixth scraping segment, a seventh scraping segment, an eighth scraping segment, and a ninth scraping segment, wherein the first scraping segment, the third scraping segment, the fifth scraping segment, the seventh scraping segment, and the ninth scraping segment are straight-line scraping segments, and the second scraping segment, the fourth scraping segment, the sixth scraping segment, and the eighth scraping segment are corner scraping segments.

[0130] like Figure 5 As shown, for ease of control, the starting point for scraping the adhesive is set on side A, for example, at the midpoint of side A. As the screen moves clockwise, the adhesive is scraped sequentially across the first half of side A, the first corner, side B, the second corner, side C, the third corner, side D, the fourth corner, and the second half of side A. Based on this, the working range of the spindle is segmented, as shown in Table 1 and... Figure 2 As shown:

[0131]

[0132]

[0133] Table 1

[0134] As shown in Table 1, in the straight-edge adhesive scraping section, only the Y-axis movement is needed to complete the adhesive removal. However, in the corner adhesive scraping section, synchronous movement of the X-axis, Y-axis, and R-axis is required to achieve adhesive removal at the corner. Therefore, the planning of the cam curve at the corner is particularly important. Analysis of the motion path at the screen corner reveals that the screen center point coordinates P(x,y) have a certain functional relationship with the screen rotation angle in the corner adhesive scraping section. The electronic cam curve of the R-axis is used to characterize the correspondence between the screen rotation angle β and the main axis position. Therefore, the motion equation for each corner adhesive scraping section can be constructed, and the X-axis and Y-axis displacements corresponding to the R-axis displacement can be calculated. This yields the synchronization relationship data between the virtual main axis and the X-axis and Y-axis for each corner adhesive scraping section.

[0135] The following is combined Figure 3 The functional relationship between the screen center point coordinates P(x,y) and the screen rotation angle is explained.

[0136] like Figure 3 As shown, the corner of the screen is an arc, specifically a quarter-circle arc. L1 is the length of side A of the screen, L2 is the length of side B of the screen, and r is the radius of the corner arc. Based on L1, L2, and r, the fixed distance R from the center point of the screen to the center point of the arc, and the initial angle α at each corner can be calculated, where α1 is the initial angle of the first corner, α2 is the initial angle of the second corner, α3 is the initial angle of the third corner, and α4 is the initial angle of the fourth corner. These angles are calculated using trigonometric functions.

[0137] α1=tan -1

(L2 / 2-r) / (L1 / 2-r)

[0138] α2=tan -1

(L1 / 2-r) / (L2 / 2-r)

[0139] α3=tan -1

(L2 / 2-r) / (L1 / 2-r)

[0140] α4=tan -1

(L1 / 2-r) / (L2 / 2-r)

[0141]

[0142] Depend on Figure 3 As can be seen from the above formula, α1 = α3, α2 = α4.

[0143] like Figure 3 As shown, in the first corner scraping section, if the scraper is rotated by β1 degrees with the center of the screen as the center, the relationship between the relative movement distance Δx along the x-axis and the relative movement distance Δy along the y-axis and the rotation angle β1 can be obtained, as follows: Figure 3 As shown:

[0144] If α1 + β1 < 90°, then

[0145]

[0146] like Figure 3 As shown, when α1+β1 exceeds 90 degrees, i.e. 90°<α1+β1<180°, the relationship between Δx and Δy and α1 and R changes:

[0147]

[0148] After conversion based on trigonometric function formulas, Formula 1-2 and Formula 1-1 are the same, and are uniformly represented by Formula 1-1.

[0149] In the second corner scraping section, if the screen center point is rotated by β2 degrees, the relationship between the relative movement distance Δx along the x-axis and the relative movement distance Δy along the y-axis of the scraper and the rotation angle β1 can be obtained. Figure 3 As shown:

[0150]

[0151] The calculation process for the first rounded corner shows that the equations of motion for the second rounded corner α² + β² < 90° and 90° < α² + β² < 180° are the same, both being Equation 2-1.

[0152] Similarly, the motion equation for the third corner scraping section is:

[0153]

[0154] The motion equation for the fourth corner scraping section is:

[0155]

[0156] Based on the above formula, the relationship between the X and Y axis positions and the R axis position at any corner can be summarized. This allows us to obtain the corresponding positions of the three axes at the corner along with the main axis, thereby achieving control over the glue scraping path.

[0157] It should be noted that formulas 1-1, 2-1, 3-1, and 4-1 calculate the distance the scraper moves along the X and Y axes. However, in this application, the screen moves while the scraper remains stationary; therefore, the above motion equations need to be transformed into displacement equations for the X, Y, and R axes. Based on the origin of the base coordinate system and the positive directions of the X and Y axes, the coordinate values ​​of the R, X, and Y axes at each corner can be obtained through calculation.

[0158] In many cases, the corners of a screen are not a standard arc, but rather a combination of multiple arcs, such as... Figure 4 The screen shown has a corner formed by three arcs (arc1, arc2, arc3) connected sequentially. For example, the step of establishing the motion equation at the corner, formed by the three arcs, further includes:

[0159] Obtain the coordinates of the center point (O1, O2, and O3) and the central angle (θ1, θ2, and θ3) of each arc;

[0160] Based on the center point coordinates and the central angle, the motion equations for each arc-shaped glue-scraping segment are established. The motion equations for each arc-shaped glue-scraping segment are functions of the screen center point coordinates P(x,y) and the rotation angle β of the R axis: Px=f(β), Py=g(β).

[0161] The corners of the product are fitted with three arcs, which makes the actual movement path of the screen more closely match the actual curvature of the screen corner, thus improving the accuracy of the adhesive application at the corners.

[0162] Furthermore, based on the above embodiments, in one feasible implementation, after the step of generating the electronic cam curve of the X-axis and the electronic cam curve of the Y-axis based on the synchronization relationship data, the method further includes:

[0163] A fifth-order polynomial interpolation algorithm is used to interpolate the electronic cam curve segment of the straight edge scraping section.

[0164] By using 5th-order polynomial interpolation to scrape the glued section along the straight edge, such as... Figure 2 As shown, this makes the changes in speed and acceleration uniform and continuous, reducing jitter and thus achieving a better scraping effect.

[0165] Furthermore, based on the above embodiments, before applying adhesive to the screen, automated screen loading is required, and the screen is moved from the loading / unloading position to the adhesive application position. After adhesive application, the screen is moved from the adhesive application position to the loading / unloading position for automated unloading. The process of moving the screen from the adhesive application position to the loading / unloading position also requires X-axis and Y-axis linkage. Therefore, the working range of the spindle is further divided: a preparation section is set before the first adhesive application section, and a restoration section is set after the ninth adhesive application section, as shown in Table 2 and... Figure 2 As shown:

[0166]

[0167] Table 2

[0168] Furthermore, based on the above embodiments, in one feasible implementation, the displacement length of the movement path is greater than the perimeter of the screen.

[0169] If the screen moves around the squeegee exactly one full circle back to the starting point of the adhesive removal, the excess adhesive at the starting point may not have been completely cleaned. Therefore, to solve this problem, after the screen moves one full circle, it continues to move a certain distance along the Y-axis, such as 10mm. That is, the displacement length of the moving path is greater than the circumference of the screen, which can achieve a better adhesive removal effect.

[0170] Furthermore, based on the above embodiments, in one feasible implementation, the scraper has a plurality of scraping positions, the scraping positions being spaced apart along the length direction of the scraper, and the three-axis linkage adhesive removal method further includes the following steps:

[0171] After working at the current adhesive scraping position for a preset time or a preset number of times, the scraper moves to the next adhesive scraping position.

[0172] If the same scraping position on the scraper is always used for scraping glue, the scraping effect may be affected due to scraping wear, resulting in glue overflow that cannot be cleaned up. Therefore, the scraper can be set to move to the next scraping position after working at the current scraping position for a preset time or a preset number of times, thereby effectively avoiding the scraping effect affected by excessive wear of the scraper.

[0173] The three-axis linkage adhesive removal method of this application, after obtaining the product's dimensional parameters, calculates the CAM curves of the horizontal x-axis, horizontal y-axis, and rotational r-axis following the main shaft through interpolation, and connects them to the corresponding process object. When the main virtual axis starts to move, the x, y, and r axes work together to control the mobile phone screen to move around the scraper at a fixed position on the horizontal plane to remove adhesive, thereby realizing automated adhesive removal, greatly improving production efficiency and saving labor costs.

[0174] By applying formulas, the path of each servo axis is made functionally related to the product size. When the product size changes, a new path can be automatically interpolated and generated. Figure 5 It can be seen that when the product dimensions, length L1 and width L2, change, the calculated motion trajectory also changes, still achieving the goal of rotating the mobile phone screen around the scraper once, thus realizing flexible production of mobile phone screen adhesive removal.

[0175] Example 2

[0176] Example 2 is a three-axis linkage adhesive removal system, which is used to perform the three-axis linkage adhesive removal method provided in the aforementioned method examples. It includes:

[0177] Acquisition module: Used to acquire screen size parameters;

[0178] The movement path module is used to determine, based on the size parameters, the movement path of the screen in a first plane, which is the plane where the screen is located, and the position of the scraper in the first plane remains unchanged.

[0179] Motion axis trajectory planning module: Based on the movement path, it plans the motion trajectory of the X-axis, the motion trajectory of the Y-axis, and the motion trajectory of the R-axis, wherein the planes containing the X-axis and the Y-axis are parallel to the first plane, and the R-axis is the central axis of the screen perpendicular to the first plane.

[0180] Control module: used to drive the X-axis movement based on the X-axis motion trajectory, drive the Y-axis movement based on the Y-axis motion trajectory, and drive the R-axis movement based on the R-axis motion trajectory, so that the X-axis, Y-axis, and R-axis three-axis linkage drives the screen to move to complete the glue removal.

[0181] To facilitate a clearer understanding of the technical solution of this application, the following is combined with... Figure 6 The specific process of the adhesive removal method that achieves three-axis linkage in this system is explained in detail through a concrete example.

[0182] like Figure 6 As shown, first, input the dimensions of the screen to be cleaned, including length, width, and corner radius. Next, place the screen on the screen support platform at the loading position. The PLC first plans the synchronous cam curve between the virtual spindle and the R-axis; based on the dimensions, the PLC simultaneously calculates the synchronization relationship data between the virtual spindle and the X and Y axes for one rotation of the glue scraping process, and generates the electronic cam curves for the X and Y axes based on this synchronization data. Activating the synchronization of the X, Y, and R axes with the virtual spindle, the virtual spindle starts and begins scraping the glue. First, the X and Y axes move synchronously to move the screen to the adhesive scraping position. Then, the Y axis moves to scrape the upper half of the straight line edge A. After scraping the upper half of the straight line edge A, the X, Y, and R axes work together to scrape the first corner. After scraping the first corner, the Y axis moves to scrape the straight line edge B. After scraping the straight line edge B, the X, Y, and R axes work together to scrape the second corner. Then, the Y axis moves to scrape the straight line edge C. After scraping the straight line edge C, the X, Y, and R axes work together to scrape the third corner. Next, the Y axis moves to scrape the straight line edge D. After scraping the straight line edge D, the X, Y, and R axes work together to scrape the fourth corner. Finally, the Y axis moves to scrape the lower half of the straight line edge A. Thus, under the coordinated movement of the X, Y, and R axes, the screen rotates around the fixed-position scraper for one revolution, completing the cleaning of the excess adhesive on the screen. Figure 5 As shown. After the glue application is completed, the X and Y axes move synchronously to move the screen to the loading position for unloading and loading.

[0183] The three-axis linkage degumming system provided in this embodiment is used to implement the corresponding three-axis linkage degumming methods in the aforementioned multiple method embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0184] The present invention has been shown and described in detail above with reference to the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above embodiments, those skilled in the art will know that more embodiments of the present invention can be obtained by combining the code review methods in the different embodiments. These embodiments are also within the protection scope of the present invention.

Claims

1. A three-axis linkage method for cleaning excess adhesive from the edges of a screen, characterized in that, Includes the following steps: Obtain the screen's size parameters, wherein the screen's cross-section is a rounded rectangle; Based on the size parameters, the movement path of the screen in the first plane is automatically determined from a point on the edge of the screen along the squeegee for one revolution, so that the edge of the screen always remains in the preset squeegee position and posture with the squeegee throughout the entire movement path, wherein the first plane is the plane where the screen is located, and the position of the squeegee in the first plane remains unchanged; Based on the movement path, electronic cam curves for the X-axis, Y-axis, and R-axis are planned respectively, wherein the planes containing the X-axis and Y-axis are parallel to the first plane, and the R-axis is the central axis of the screen perpendicular to the first plane; wherein, in the electronic cam curve corresponding to the rounded corner of the screen, the position values ​​of the X-axis and Y-axis are functionally related to the rotation angle of the R-axis, and this function is determined by the screen's size parameters; the electronic cam curve based on the X-axis drives the X-axis movement, the electronic cam curve based on the Y-axis drives the Y-axis movement, and the electronic cam curve based on the R-axis drives the R-axis movement, so that the X-axis, Y-axis, and R-axis move in tandem along the movement path for comprehensive and continuous glue scraping; wherein, when cleaning glue on straight sections, the X-axis or the Y-axis moves; when cleaning glue on arc sections, the X-axis, Y-axis, and R-axis move synchronously.

2. The three-axis linkage adhesive removal method as described in claim 1, characterized in that, Based on the aforementioned movement path, the steps of planning the electronic cam curves for the X-axis, Y-axis, and R-axis respectively further include: Kinematic analysis is performed on the movement path to determine the master-slave relationship of the X-axis, Y-axis and R-axis, and the corresponding electronic cam curve is established.

3. The three-axis linkage adhesive removal method as described in claim 1, characterized in that, Based on the aforementioned movement path, the steps of planning the electronic cam curves for the X-axis, Y-axis, and R-axis respectively further include: A virtual master axis is established, wherein the X-axis, Y-axis, and R-axis are slave axes of the virtual master axis, respectively. Plan the electronic cam curve for the R-axis; Based on the movement path and the electronic cam curve of the R-axis, electronic cam curves for the X-axis and Y-axis are established respectively.

4. The three-axis linkage adhesive removal method as described in claim 3, characterized in that, The step of establishing a virtual spindle further includes: Set the initial posture of the screen, wherein the initial posture is that the first straight edge of the screen coincides with the Y-axis and the starting point of the squeegee is located on the first straight edge; Based on the movement path and the initial posture, the working range of the virtual spindle is sequentially divided into: a first scraping segment, a second scraping segment, a third scraping segment, a fourth scraping segment, a fifth scraping segment, a sixth scraping segment, a seventh scraping segment, an eighth scraping segment, and a ninth scraping segment, wherein the first scraping segment, the third scraping segment, the fifth scraping segment, the seventh scraping segment, and the ninth scraping segment are straight-line scraping segments, and the second scraping segment, the fourth scraping segment, the sixth scraping segment, and the eighth scraping segment are corner scraping segments.

5. The three-axis linkage adhesive removal method as described in claim 4, characterized in that, The step of establishing the electronic cam curves for the X-axis and Y-axis based on the movement path, the virtual master axis, and the electronic cam curve for the R-axis further includes: Based on the dimensional parameters and the electronic cam curve of the R-axis, calculate the synchronization relationship data between the virtual spindle and the X-axis and Y-axis; Based on the synchronization relationship data, the electronic cam curve of the X-axis and the electronic cam curve of the Y-axis are generated.

6. The three-axis linkage adhesive removal method as described in claim 5, characterized in that, The step of calculating the synchronization relationship data between the virtual spindle and the X and Y axes based on the dimensional parameters and the electronic cam curve of the R-axis further includes: Establish the motion equations for each corner scraping segment, wherein the motion equations are the functional relationship between the screen center point coordinates P(x,y) and the rotation angle β of the R axis: Px=f(β),Py=g(β); Based on the aforementioned motion equations, the synchronization relationship data between the virtual main axis and the X-axis and Y-axis of each corner scraping section is calculated.

7. The three-axis linkage adhesive removal method as described in claim 6, characterized in that, The corners of the screen are rounded, and the rounded corners are 1 / 4 arcs. The equation of motion for the first corner scraping section is: Where △X is the X-axis displacement; △Y is the Y-axis displacement; α1 is the initial included angle of the first fillet; β1 is the rotation angle of the screen; r is the fillet radius of the screen; L1 is the length of the first straight line side; L2 is the length of the second straight line side; The equation of motion for the second corner scraping section is: Where △X is the X-axis displacement; △Y is the Y-axis displacement; α2 is the initial included angle of the second fillet; β2 is the screen rotation angle; r is the fillet radius of the screen; L1 is the length of the first straight line side; L2 is the length of the second straight line side; The equation of motion for the third corner scraping section is: Where △X is the X-axis displacement; △Y is the Y-axis displacement; α3 is the initial angle of the third fillet; β3 is the screen rotation angle; r is the fillet radius of the screen; L1 is the length of the first straight line side; L2 is the length of the second straight line side; The motion equation for the fourth corner scraping section is: Where △X is the X-axis displacement; △Y is the Y-axis displacement; α4 is the initial included angle of the fourth fillet; β4 is the screen rotation angle; r is the fillet radius of the screen; L1 is the length of the first straight line side; L2 is the length of the second straight line side; in, 。 8. The three-axis linkage adhesive removal method as described in claim 6, characterized in that, The corner comprises three arc segments. The motion equations for each corner's adhesive-scraping segment are established, where the motion equations are functions of the screen center point coordinates P(x,y) and the rotation angle β of the R-axis: Px=f(β), Py=g(β). The steps further include: Obtain the coordinates of the center point of each arc and the central angle of each arc; Based on the center point coordinates and the central angle, the motion equations of each arc-shaped glue-scraping segment are established, wherein the motion equations of the arc-shaped glue-scraping segment are functions of the screen center point coordinates P(x,y) and the rotation angle β of the R axis: Px=f(β), Py=g(β).

9. The three-axis linkage adhesive removal method as described in claim 5, characterized in that, After generating the electronic cam curve of the X-axis and the electronic cam curve of the Y-axis based on the synchronization relationship data, the process further includes: A fifth-order polynomial interpolation algorithm is used to interpolate the electronic cam curve segment of the straight edge scraping section on the Y-axis.

10. The three-axis linkage adhesive removal method as described in claim 1, characterized in that, The displacement length of the movement path is greater than the perimeter of the screen.

11. The three-axis linkage adhesive removal method according to any one of claims 1-10, characterized in that, The scraper has several scraping positions, which are spaced apart along the length of the scraper. The three-axis linkage adhesive removal method further includes the following steps: After working at the current adhesive scraping position for a preset time or a preset number of times, the scraper moves to the next adhesive scraping position.

12. A system for screen adhesive removal via three-axis linkage, characterized in that, The system includes: Acquisition module: used to acquire the size parameters of the screen, wherein the cross-section of the screen is a rounded rectangle; The moving path module is used to automatically determine the moving path of the screen in the first plane, starting from a point on the edge of the screen and moving around the scraper, so that the edge of the screen always remains in a preset scraping position and posture with the scraper throughout the moving path, wherein the first plane is the plane where the screen is located, and the position of the scraper in the first plane remains unchanged. Motion axis trajectory planning module: Based on the movement path, electronic cam curves for the X-axis, Y-axis and R-axis are planned respectively, wherein the planes containing the X-axis and the Y-axis are parallel to the first plane, and the R-axis is the central axis of the screen perpendicular to the first plane; wherein, in the electronic cam curve corresponding to the rounded corners of the screen, the position values ​​of the X-axis and Y-axis are functionally related to the rotation angle of the R-axis, and this function is determined by the size parameters of the screen; Control module: used to drive the X-axis movement based on the electronic cam curve of the X-axis, drive the Y-axis movement based on the electronic cam curve of the Y-axis, and drive the R-axis movement based on the electronic cam curve of the R-axis, so that the X-axis, Y-axis, and R-axis move the screen along the movement path in a coordinated manner to perform comprehensive and continuous glue scraping; wherein when cleaning glue on straight segments, the X-axis or the Y-axis moves; when cleaning glue on arc segments, the X-axis, Y-axis, and R-axis move synchronously.

13. A non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores instructions, characterized in that, When executed by a processor, the instructions cause the processor to perform the steps of the method as described in any one of claims 1 to 11.

14. An electronic device, characterized in that, include: Processor and memory, wherein: The memory stores a program configured to cause the processor to perform the steps of the method as described in any one of claims 1 to 11 when executed by the processor.

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