An automated dispensing method, apparatus, terminal device, and readable storage medium.

Abstract

This application relates to the field of automation control technology, and provides an automatic dispensing method, apparatus, terminal device, and readable storage medium. The method includes: acquiring a first weight and a second weight measured by a weight sensor of a supported product to be dispensed; the first weight is measured when the product to be dispensed and the dispensing port are in a first relative positional relationship; the second weight is measured when the product to be dispensed and the dispensing port are in a second relative positional relationship; and generating a dispensing control command based on the first and second weights, the dispensing control command being used to instruct the dispensing device at the dispensing port to perform dispensing control on the product to be dispensed. This application can avoid the occurrence of inaccurate dispensing positioning.

Description

Technical Field

[0001] This application belongs to the field of automation control technology, and in particular relates to an automatic dispensing method, apparatus, terminal equipment and readable storage medium. Background Technology

[0002] During product manufacturing, some products require potting. For example, a specific amount of adhesive needs to be injected into a switching power supply to meet its explosion-proof requirements and provide insulation protection. Current potting methods typically involve moving the product or potting port to a set position using a moving device and then directly starting the potting process. However, this method is prone to inaccurate positioning due to issues such as aging or damage to the moving device, or incorrect commands. Therefore, avoiding inaccurate positioning is a crucial technical problem that needs to be solved. Summary of the Invention

[0003] This application provides an automatic dispensing method, apparatus, terminal device, and readable storage medium, which can avoid inaccurate dispensing positioning.

[0004] In a first aspect, embodiments of this application provide an automatic dispensing method, the method comprising:

[0005] The system collects a first weight and a second weight measured by a weight sensor on the product to be glued; the first weight is measured when the product to be glued and the glue inlet are in a first relative positional relationship; the second weight is measured when the product to be glued and the glue inlet are in a second relative positional relationship.

[0006] Based on the first weight and the second weight, a dispensing control command is generated, which is used to instruct the dispensing device at the dispensing port to control the dispensing of the product to be dispensed.

[0007] Secondly, embodiments of this application provide an automatic dispensing device, the device comprising:

[0008] The weight acquisition module is used to acquire a first weight and a second weight measured by the weight sensor of the product to be glued; the first weight is measured when the product to be glued and the glue inlet are in a first relative positional relationship; the second weight is measured when the product to be glued and the glue inlet are in a second relative positional relationship.

[0009] The instruction generation module is used to generate a dispensing control instruction based on the first weight and the second weight. The dispensing control instruction is used to instruct the dispensing device where the dispensing port is located to perform dispensing control on the product to be dispensed.

[0010] Thirdly, embodiments of this application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the automatic dispensing method described in the first aspect above.

[0011] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the automatic dispensing method described in the first aspect above.

[0012] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the automatic dispensing method described in the first aspect above.

[0013] The beneficial effects of this application embodiment compared with the prior art are as follows: This application collects a first weight and a second weight measured by a weight sensor on the product to be glued; the first weight is measured when the product to be glued and the glue outlet are in a first relative positional relationship; the second weight is measured when the product to be glued and the glue outlet are in a second relative positional relationship; based on the first weight and the second weight, a glue-filling control command is generated, which is used to instruct the glue-filling device where the glue outlet is located to perform glue-filling control on the product to be glued. Before the glue-filling device performs glue-filling control on the product to be glued, this application performs position offset detection on the product to be glued and / or the glue outlet based on the first weight and the second weight, avoiding inaccurate glue-filling positioning. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic flowchart of an automatic glue-dispensing method provided in an embodiment of this application;

[0016] Figure 2 This is a flowchart illustrating an automatic dispensing method according to another embodiment of this application;

[0017] Figure 3 This is a schematic structural block diagram of an automatic glue-dispensing device provided in one embodiment of this application;

[0018] Figure 4 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0019] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0020] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0021] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0022] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0023] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0024] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0025] Example 1:

[0026] Please see Figure 1 , Figure 1 This illustration shows a schematic flow of an automated dispensing method provided in this application.

[0027] Step 101: Collect the first weight and the second weight of the product to be glued supported by the weight sensor; the first weight is measured when the product to be glued and the glue outlet are in a first relative positional relationship; the second weight is measured when the product to be glued and the glue outlet are in a second relative positional relationship.

[0028] The dispensing nozzle, also known as a dispensing tip, needs to be aligned with the product before dispensing glue; this alignment process is necessary to prevent glue overflow. The alignment process can involve moving the product and / or the dispensing nozzle. In this application, the first relative positional relationship can refer to the relative positional relationship before the alignment process, and the second relative positional relationship can refer to the relative positional relationship after the alignment process.

[0029] After alignment, the product to be glued may collide with the glue dispensing nozzle, such as the nozzle hitting the product's casing or other components. At this time, the nozzle will exert pressure on the product, which can be reflected in its weight. Therefore, this application detects whether a collision occurs between the product and the nozzle based on the weight of the product before and after alignment, i.e., it performs positional offset detection between the relative positions of the product and the nozzle to determine whether the nozzle is aligned with the product.

[0030] Optionally, the weight values ​​can be read from the weight sensor via the coordination bus command before and after the alignment operation, and the weight values ​​returned by the weight sensor can be received to obtain the first weight and the second weight.

[0031] In one possible implementation, the acquisition of a first weight and a second weight of the supported product to be glued by the weight sensor includes: acquiring the first weight of the supported product to be glued by the weight sensor at a first position, and acquiring the second weight of the supported product to be glued by the weight sensor as it moves to a second position; at the first position, the product to be glued and the glue outlet are in a first relative positional relationship; at the second position, the product to be glued and the glue outlet are in a second relative positional relationship.

[0032] In this embodiment, the product to be glued is moved so that the glue dispensing nozzle is aligned with the product. It is important to note that the weight sensor must move along with the product when it is moved.

[0033] In another possible implementation, the first weight and second weight of the supported product to be glued are collected by the weight sensor, including: collecting the first weight of the supported product to be glued by the weight sensor when the glue outlet is in a third position, and collecting the second weight of the product to be glued by the weight sensor when the glue outlet is moved to a fourth position; in the third position, the product to be glued and the glue outlet are in a first relative positional relationship; in the fourth position, the product to be glued and the glue outlet are in a second relative positional relationship.

[0034] In this embodiment, the dispensing nozzle is moved so that it is aligned with the product to be dispensed.

[0035] In another possible implementation, the product to be glued and the glue dispensing port can be moved simultaneously. A first weight is obtained before moving the product to be glued and the glue dispensing port, and a second weight is obtained after moving the product to be glued and the glue dispensing port. Before moving the product to be glued and the glue dispensing port, the product to be glued and the glue dispensing port are in a first relative positional relationship, and after moving the product to be glued and the glue dispensing port, they are in a second relative positional relationship.

[0036] Optionally, after receiving the positioning signal sent by the first positioning sensor, the first weight of the supported product to be potted can be collected by the weight sensor.

[0037] It should be noted that each product to be glued has a corresponding weight sensor. When there are multiple products to be glued, the weight of multiple products can be measured simultaneously.

[0038] Step 102: Based on the first weight and the second weight, generate a dispensing control command. The dispensing control command is used to instruct the dispensing device at the dispensing port to dispense the product to be dispensed.

[0039] Optionally, based on the first weight and the second weight, a dispensing control command is generated, including: if the second weight is greater than the first weight, a first dispensing control command is generated, which instructs the dispensing device not to dispense the product; if the second weight is not greater than the first weight, a second dispensing control command is generated, which instructs the dispensing device to dispense the product. Dispensing control can be based on dispensing control parameters, which may include parameters such as dispensing volume and dispensing speed. Corresponding to the dispensing control parameters, dispensing control can refer to dispensing volume control, dispensing speed control, etc., during dispensing.

[0040] Optionally, the dispensing control parameters can be pre-stored in a programmable logic controller (PLC).

[0041] If the second weight is greater than the first weight, it means that the dispensing nozzle has squeezed the product to be dispensed and is not aligned with the product. In this case, the product to be dispensed should not be dispensed.

[0042] Optionally, based on the first weight and the second weight, a dispensing control instruction is generated, including: if the second weight is greater than the first weight, and the weight difference between the first weight and the second weight is greater than a set value, then a first dispensing control instruction is generated; otherwise, a second dispensing control instruction is generated.

[0043] If the dispensing nozzle does not compress the product to be dispensed, the second weight is equal to the first weight, or the weight difference between the second weight and the first weight is on the order of a few grams; if the dispensing nozzle compresses the product to be dispensed, the weight difference between the second weight and the first weight is on the order of 100 grams or more. Therefore, in order to accurately determine whether the dispensing nozzle has compressed the product to be dispensed, this application can set a setting value and generate a dispensing control command based on the setting value.

[0044] Optionally, if the dispensing nozzle causes compression of the product to be dispensed, an alarm device can be activated via PLC control to alert the user that the dispensing nozzle is not aligned with the product. As an example, and not a limitation, the alarm device could be a three-color LED that emits a red light to trigger an alarm after the first dispensing control command is generated.

[0045] Optionally, the product to be glued has corresponding product identification information. If the glue dispensing nozzle causes compression to the product, the product identification information and its corresponding secondary weight can be displayed on the display device, allowing the user to determine the degree of compression based on the secondary weight. The product identification information may refer to information such as product number, product barcode, and product location.

[0046] Optionally, the corresponding process flow information can be obtained from the Manufacturing Execution System (MES) based on the product identification information.

[0047] Optionally, the first weight, the second weight, and the product identification information of the product to be glued can be associated and stored.

[0048] Optionally, the product to be glued corresponds to a glue-filling fixture, which is used to fix the product to be glued. A weight sensor supports the product to be glued and the glue-filling fixture. The method further includes: obtaining fixture identification information corresponding to each glue-filling fixture; and generating a movement command when the product identification information of the associated product to be glued is found based on the fixture identification information. The movement command is used to change the relative positional relationship between the product to be glued and the glue-filling port from a first relative positional relationship to a second relative positional relationship.

[0049] Normally, the product to be glued can be fixed in place by a glue-filling fixture during glue filling. In order to facilitate users to trace the position offset detection process based on the glue-filling fixture, the product to be glued, the first weight, and the second weight, the first weight, the second weight, the fixture identification information corresponding to the glue-filling fixture, and the product identification information corresponding to the product to be glued can be associated and stored.

[0050] The fixtures are reusable; therefore, Radio Frequency Identification (RFID) tags can be used to store fixture identification information, which can include fixture number, fixture barcode, and net weight. Each product to be glued is unique; therefore, barcodes can be used to store product identification information.

[0051] To associate the weight information of each product to be glued with the fixture identification information and the product identification information, it can be determined in the database before the alignment operation whether the fixture identification information of the glue-filling fixture and the corresponding product identification information of the product to be glued have been associated and stored. Since the glue-filling fixture is reused and its changes relative to the product to be glued are minimal, this application can first obtain the fixture identification information corresponding to each glue-filling fixture, and based on each fixture identification information, search the database for the associated product identification information of the product to be glued, thereby determining whether the fixture identification information of the glue-filling fixture and the corresponding product identification information of the product to be glued have been successfully associated and stored.

[0052] The associated jig identification information and product identification information can be obtained by using an RFID reader to acquire the jig identification information and a barcode scanner to acquire the product identification information of the product to be glued after the product to be glued is placed on or in the glue-filling jig. The acquired information is then associated and stored. Storage errors may occur during the storage process. Therefore, before alignment, the process of finding the associated product identification information of the product to be glued based on the jig identification information can be used to determine if a storage error has occurred. This application does not limit the number of barcode scanners. As an example, two barcode scanners can be used to scan the barcodes of each product to be glued to obtain its product identification information.

[0053] Optionally, if the RFID tag is not successfully read or the barcode is not successfully scanned, an alarm can be triggered by controlling the alarm device through the PLC to notify the user that the tag reading or barcode scanning has failed.

[0054] Optionally, after receiving the positioning signal from the second positioning sensor, the fixture identification information of the dispensing jig can be obtained through an RFID reader, and the product identification information of the product to be dispensed can be obtained through a barcode scanner. The position corresponding to the second positioning sensor may or may not be the same as the position corresponding to the first positioning sensor.

[0055] This application collects a first weight and a second weight measured by a weight sensor on a product to be glued. The first weight is measured when the product to be glued and the glue outlet are in a first relative position; the second weight is measured when the product to be glued and the glue outlet are in a second relative position. Based on the first and second weights, a glue-filling control command is generated, which instructs the glue-filling device at the glue outlet to perform glue-filling control on the product to be glued. Before the glue-filling device performs glue-filling control on the product to be glued, this application performs positional offset detection on the product to be glued and / or the glue outlet based on the first and second weights to avoid inaccurate glue-filling positioning.

[0056] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0057] Example 2:

[0058] Please see Figure 2 , Figure 2 This illustration shows a schematic flow of an automated dispensing method provided in this application.

[0059] Step 201: Collect the first weight and the second weight of the product to be glued supported by the weight sensor.

[0060] Step 202: Generate dispensing control instructions based on the first weight and the second weight.

[0061] For details regarding steps 201 and 202, please refer to the relevant descriptions in steps 101 and 102.

[0062] Step 203: After the dispensing device controls the dispensing of the product to be dispensed, the third weight of the product to be dispensed is collected by the weight sensor.

[0063] The weight of the glue applied will affect the quality of the product to be glued. Therefore, after the glue application is completed, the weight of the product to be glued can be obtained again, which is called the third weight. It should be noted that at this point, the product to be glued has already been glued by the glue application equipment.

[0064] It should be noted that the first weight can be called tare weight, and the third weight can be called gross weight.

[0065] Step 204: Based on the first weight and the third weight, obtain the actual glue dispensing weight.

[0066] The actual glue weight is obtained by subtracting the first weight from the third weight. The actual glue weight can be referred to as the net weight.

[0067] The weight sensor may exhibit weighing deviation during the weighing process; that is, after the product to be glued is removed from the weight sensor, the measured value of the weight sensor is not zero. Therefore, in order to obtain an accurate actual glue-filling weight, after acquiring the third weight measured by the weight sensor on the supported product to be glued, the method further includes: acquiring the measurement value of the weight sensor after the product to be glued is removed from the weight sensor to obtain a fourth weight.

[0068] The actual glue-filling weight is obtained based on the first weight and the third weight, including: the actual glue-filling weight is obtained based on the first weight, the third weight and the fourth weight.

[0069] Optionally, the actual glue-pouring weight is obtained by subtracting the first and fourth weights from the third weight.

[0070] Optionally, to facilitate user tracking of the actual glue weight of the product to be glued, after obtaining the actual glue weight, the method further includes: associating and storing the actual glue weight with product identification information. Alternatively, the actual glue weight can be associated and stored with both product identification information and corresponding fixture identification information.

[0071] Step 205: Determine whether the actual glue dispensing weight is qualified.

[0072] After obtaining the actual glue weight, it can be determined whether the actual glue weight is within the set glue weight range. If it is within the set glue weight range, the actual glue weight is determined to be qualified; otherwise, the actual glue weight is determined to be unqualified. Optionally, the above-mentioned set glue weight range can be pre-stored in the MES.

[0073] This application, after the dispensing device controls the dispensing of the product to be dispensed, collects a third weight measured by a weight sensor on the supported product; based on the first and third weights, the actual dispensing weight is obtained; and it is determined whether the actual dispensing weight is qualified. This application can obtain the weight of the product to be dispensed after dispensing, i.e., the third weight, and combine it with the first and third weights to determine the actual dispensing weight, realizing online acquisition of the actual dispensing weight without the need for additional personnel to perform weighing operations, thus improving the efficiency of weighing operations.

[0074] Example 3:

[0075] Please see Figure 3 , Figure 3 A schematic structure of an automatic dispensing device provided in this application is shown. For ease of explanation, only the parts relevant to the embodiments of this application are shown in the figure.

[0076] Reference Figure 3The device includes a weight acquisition module 31 and a command generation module 32; the specific functions of each module are as follows:

[0077] The weight acquisition module 31 is used to acquire the first weight and the second weight of the product to be glued supported by the weight sensor; the first weight is measured when the product to be glued and the glue outlet are in a first relative positional relationship; the second weight is measured when the product to be glued and the glue outlet are in a second relative positional relationship.

[0078] The instruction generation module 32 is used to generate a dispensing control instruction based on the first weight and the second weight. The dispensing control instruction is used to instruct the dispensing device at the dispensing port to dispense the product to be dispensed.

[0079] Optionally, the weight acquisition module 31 is specifically used for:

[0080] The weight sensor measures the first weight of the product to be glued at the first position, and the weight sensor measures the second weight of the product to be glued as it moves to the second position.

[0081] In the first position, the product to be glued and the glue outlet are in a first relative positional relationship; in the second position, the product to be glued and the glue outlet are in a second relative positional relationship.

[0082] Optionally, the weight acquisition module 31 is specifically used for:

[0083] The first weight of the product to be glued is measured by the weight sensor when the glue dispensing nozzle is in the third position, and the second weight of the product to be glued is measured by the weight sensor when the glue dispensing nozzle is moved to the fourth position.

[0084] In the third position, the product to be glued and the glue outlet are in the first relative positional relationship; in the fourth position, the product to be glued and the glue outlet are in the second relative positional relationship.

[0085] Optionally, the weight acquisition module 31 is specifically used to: after the dispensing device controls the dispensing of the product to be dispensed, acquire the third weight measured by the weight sensor on the product to be dispensed.

[0086] The device also includes:

[0087] The glue dispensing weight acquisition module is used to obtain the actual glue dispensing weight based on the first weight and the third weight;

[0088] The pass / fail judgment module is used to determine whether the actual glue dispensing weight is up to standard.

[0089] Optionally, the weight acquisition module 31 is specifically used to: acquire the measurement value of the weight sensor after the product to be glued is removed from the weight sensor to obtain the fourth weight.

[0090] The glue dispensing weight acquisition module is specifically used to obtain the actual glue dispensing weight based on the first weight, the third weight, and the fourth weight.

[0091] Optionally, the device further includes:

[0092] The associated storage module is used to associate and store the actual glue weight with the product identification information after obtaining the actual glue weight.

[0093] The product to be glued has a corresponding glue-dispensing fixture, which is used to fix the product to be glued. A weight sensor supports the product to be glued and the glue-dispensing fixture. Optionally, the device also includes:

[0094] The information acquisition module is used to acquire the fixture identification information corresponding to each glue dispensing fixture;

[0095] The movement instruction generation module is used to generate a movement instruction when the product identification information of the associated product to be glued is found based on the identification information of each fixture. The movement instruction is used to change the relative positional relationship between the product to be glued and the glue dispensing port from a first relative positional relationship to a second relative positional relationship.

[0096] The automatic glue-dispensing device provided in this application embodiment can be applied to the aforementioned method embodiment one and embodiment two. For details, please refer to the description of the aforementioned method embodiment one and embodiment two, which will not be repeated here.

[0097] Example 4:

[0098] Please see Figure 4 , Figure 4 A schematic structure of a terminal device according to an embodiment of this application is shown. The terminal device 4 of this embodiment includes: at least one processor 40 ( Figure 4 Only one is shown in the diagram), memory 41, and computer program 42 stored in the memory 41 and executable on the at least one processor 40, wherein the processor 40 executes the computer program 42 to implement the steps of an automatic glue-dispensing method in Embodiments 1 and 2 described above.

[0099] The terminal device 4 can be a desktop computer, laptop, handheld computer, industrial control host, cloud server, or other computing device. The terminal device 4 may include, but is not limited to, a processor 40 and a memory 41. Those skilled in the art will understand that... Figure 4This is merely an example of terminal device 4 and does not constitute a limitation on terminal device 4. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0100] The processor 40 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0101] In some embodiments, the memory 41 may be an internal storage unit of the terminal device 4, such as a hard disk or memory of the terminal device 4. In other embodiments, the memory 41 may be an external storage device of the terminal device 4, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the terminal device 4. Furthermore, the memory 41 may include both internal and external storage units of the terminal device 4. The memory 41 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 41 can also be used to temporarily store data that has been output or will be output.

[0102] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0103] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0104] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0105] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a terminal device, a recording medium, a computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0106] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0107] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0108] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0109] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0110] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An automatic glue-dispensing method, characterized in that, The method includes: The weight sensor measures a first weight and a second weight of the product to be glued, which are supported by the weight sensor. The first weight is measured when the product to be glued and the glue outlet are in a first relative position. The second weight is measured when the product to be glued and the glue outlet are in a second relative position. The first relative position refers to the relative position before the alignment operation, and the second relative position refers to the relative position after the alignment operation. Based on the first weight and the second weight, a dispensing control command is generated, which is used to instruct the dispensing device at the dispensing port to control the dispensing of the product to be dispensed.

2. The method as described in claim 1, characterized in that, The weight sensor measures the first and second weights of the supported product to be glued, including: The weight sensor measures the first weight of the product to be glued at a first position, and the weight sensor measures the second weight of the product to be glued as it moves to a second position. In the first position, the product to be glued and the glue inlet are in a first relative positional relationship; in the second position, the product to be glued and the glue inlet are in a second relative positional relationship.

3. The method as described in claim 1, characterized in that, The weight sensor measures the first and second weights of the supported product to be glued, including: The first weight of the product to be glued is measured by the weight sensor when the glue dispensing port is in the third position, and the second weight of the product to be glued is measured by the weight sensor when the glue dispensing port is moved to the fourth position. In the third position, the product to be glued and the glue inlet are in the first relative positional relationship; in the fourth position, the product to be glued and the glue inlet are in the second relative positional relationship.

4. The method as described in claim 1, characterized in that, The method further includes: After the glue-dispensing device controls the glue dispensing of the product to be glued, the third weight of the product to be glued supported by the weight sensor is collected. Based on the first weight and the third weight, the actual glue-pouring weight is obtained; Determine whether the actual glue dispensing weight is acceptable.

5. The method as described in claim 4, characterized in that, After acquiring the third weight measured by the weight sensor of the supported product to be potted, the method further includes: After the product to be glued is removed from the weight sensor, the measurement value of the weight sensor is collected to obtain the fourth weight; The process of obtaining the actual glue-pouring weight based on the first weight and the third weight includes: The actual glue-pouring weight is obtained based on the first weight, the third weight, and the fourth weight.

6. The method as described in claim 4 or 5, characterized in that, The product to be glued has corresponding product identification information. After obtaining the actual glue weight, the method further includes: The actual glue dispensing weight is associated with and stored in relation to the product identification information.

7. The method as described in claim 1, characterized in that, The product to be glued corresponds to a glue-filling fixture, the glue-filling fixture is used to fix the product to be glued, the weight sensor supports the product to be glued and the glue-filling fixture, and the method further includes: Obtain the fixture identification information corresponding to each of the aforementioned glue-filling fixtures; If the product identification information of the product to be glued is found based on the identification information of each fixture, a movement instruction is generated. The movement instruction is used to change the relative positional relationship between the product to be glued and the glue dispensing port from the first relative positional relationship to the second relative positional relationship.

8. An automatic glue-dispensing device, characterized in that, The device includes: The weight acquisition module is used to acquire a first weight and a second weight measured by the weight sensor on the supported product to be glued; the first weight is measured when the product to be glued and the glue inlet are in a first relative positional relationship; the second weight is measured when the product to be glued and the glue inlet are in a second relative positional relationship; the first relative positional relationship refers to the relative positional relationship before the alignment operation, and the second relative positional relationship refers to the relative positional relationship after the alignment operation. The instruction generation module is used to generate a dispensing control instruction based on the first weight and the second weight. The dispensing control instruction is used to instruct the dispensing device where the dispensing port is located to perform dispensing control on the product to be dispensed.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

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