Gluing control device, gluing control method and gluing apparatus

Abstract

The application belongs to the technical field of lens gluing, and discloses a gluing control device, a gluing control method and a gluing equipment. The method comprises the following steps: a control module determines a first gluing mode corresponding to a first gluing module and a second gluing mode corresponding to a second gluing module according to preset precision requirements; when the first gluing module meets a first preset safety condition, a first gluing track is determined according to the first gluing mode, and the first gluing module is controlled to glue a first lens to be glued according to the first gluing track; and when the second gluing module meets a second preset safety condition, a second gluing track is determined according to the second gluing mode, and the second gluing module is controlled to glue a second lens to be glued according to the second gluing track. In the above manner, the lens gluing automation is realized at low cost, the processing efficiency is improved, the gluing mode can be flexibly selected, the customization is strong, and the precision requirements of different customers can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lens coating, in particular to a coating control device, a coating control method and a coating equipment. BACKGROUND

[0002] VR (Virtual Reality) devices all need to use lenses. At present, the coating of VR lenses is usually fixed, such as a visual guidance mode or a non-visual guidance mode. The coating process cannot be adjusted according to actual needs, the flexibility is poor, and only one lens is coated each time, the coating efficiency is low, and the production efficiency is affected.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a coating control device, a coating control method and a coating equipment, which aims to solve the technical problems of poor flexibility and low coating efficiency of the traditional coating method in the prior art, which affects the production efficiency.

[0005] To achieve the above purpose, the present application provides a coating control device applied to a coating equipment, wherein the coating equipment is provided with a tool module, the coating control device is arranged above the tool, the tool module includes a first tool and a second tool, and the coating control device includes a base guide rail, a first coating module, a second coating module and a control module. The first coating module and the second coating module are movably arranged on the base guide rail, and the control module is connected with the first coating module, the second coating module, the first tool and the second tool respectively.

[0006] The control module is used to determine the first coating mode corresponding to the first coating module and the second coating mode corresponding to the second coating module in a preset coating mode according to a preset precision requirement, and the preset coating mode includes a high precision mode and a low precision mode.

[0007] The control module is also used to determine a first coating track according to the first coating mode when receiving a material signal sent by the first tool and the first coating module meeting a first preset safety condition, and control the first coating module to coat a first lens to be coated on the first tool according to the first coating track.

[0008] The control module is further configured to, when the second material signal sent by the second tooling is received and the second preset safety condition is met, determine a second gluing track according to the second gluing mode, and control the second gluing module to glue the second lens to be glued on the second tooling according to the second gluing track.

[0009] Optionally, the first gluing module comprises a first moving mechanism, a second moving mechanism, a third moving mechanism, a first visual unit, and a first gluing unit, the first moving mechanism is movably arranged on the base rail, the base rail is in a first direction, the second moving mechanism is movably arranged on the first moving mechanism, the third moving mechanism is movably arranged on the second moving mechanism, the first visual unit and the first gluing unit are arranged on the third moving mechanism, and the control module is connected with the first moving mechanism, the second moving mechanism, the third moving mechanism, the first visual unit, and the first gluing unit.

[0010] The first moving mechanism is configured to move in the first direction.

[0011] The second moving mechanism is configured to move in a second direction, and the second direction is perpendicular to the first direction in a horizontal plane.

[0012] The third moving mechanism is configured to move in a third direction, and the third direction is perpendicular to the horizontal plane.

[0013] The control module is further configured to, when the first gluing mode is a high-precision mode, control the first moving mechanism, the second moving mechanism, and the third moving mechanism to move, so that the first lens to be glued is located in a first preset photographing range of the first visual module.

[0014] The first visual unit is configured to, when the first gluing mode is the high-precision mode, acquire a first image of the first lens to be glued, and determine a first visual offset coordinate and a first visual offset angle of the first lens to be glued in the first visual module according to the first image and a first preset template.

[0015] The control module is further configured to, when the first gluing mode is the high-precision mode, determine a first track offset coordinate of the first lens to be glued according to the first visual offset coordinate and a first preset conversion relationship, determine a first track offset angle of the first lens to be glued according to the first visual offset angle, and perform position correction and angle correction on a first preset gluing track according to the first track offset coordinate and the first track offset angle respectively, to obtain the first gluing track.

[0016] The control module is further configured to determine the first coating track according to the first preset coating track when the first coating mode is a low-precision mode.

[0017] The control module is further configured to control the first, second, and third moving mechanisms to move so that the position of the first coating unit is adjusted, and control the first coating unit to coat the first lens to be coated.

[0018] Optionally, the second coating module comprises a fourth moving mechanism, a fifth moving mechanism, a sixth moving mechanism, a second visual unit, and a second coating unit, the fourth moving mechanism is movably arranged on the base rail, the fifth moving mechanism is movably arranged on the fourth moving mechanism, the sixth moving mechanism is movably arranged on the fifth moving mechanism, the second visual unit and the second coating unit are arranged on the sixth moving mechanism, and the control module is connected with the fourth, fifth, and sixth moving mechanisms, the second visual unit, and the second coating unit.

[0019] The fourth moving mechanism is configured to move in the first direction.

[0020] The fifth moving mechanism is configured to move in the second direction.

[0021] The sixth moving mechanism is configured to move in the third direction.

[0022] The control module is further configured to control the fourth, fifth, and sixth moving mechanisms to move so that the second lens to be coated is located in a second preset photographing range of the second visual module when the second coating mode is a high-precision mode.

[0023] The second visual unit is configured to acquire a second image of the second lens to be coated when the second coating mode is the high-precision mode, and determine a second visual offset coordinate and a second visual offset angle of the second lens to be coated in the second visual module according to the second image and a second preset template.

[0024] The control module is further configured to determine a second track offset coordinate of the second lens to be coated according to the second visual offset coordinate and a second preset conversion relationship, determine a second track offset angle of the second lens to be coated according to the second visual offset angle, and perform position and angle correction on a second preset coating track according to the second track offset coordinate and the second track offset angle respectively to obtain the second coating track when the second coating mode is the high-precision mode.

[0025] The control module is further configured to determine the second coating track according to the second preset coating track when the second coating mode is a low-precision mode.

[0026] The control module is further configured to control the fourth moving mechanism, the fifth moving mechanism and the sixth moving mechanism to move according to the second coating track, so that the position of the second coating unit is adjusted, and the second coating unit is controlled to coat the second lens to be coated.

[0027] Optionally, the first vision unit comprises a first camera, the second vision unit comprises a second camera, the first coating unit comprises a first glue gun, and the second coating unit comprises a second glue gun.

[0028] In addition, to achieve the above-mentioned purpose, the application further provides a coating control method, which comprises the following steps:

[0029] The control module determines a first coating mode corresponding to the first coating module and a second coating mode corresponding to the second coating module in a preset coating mode according to a preset precision requirement, and the preset coating mode comprises a high-precision mode and a low-precision mode.

[0030] The control module determines a first coating track according to the first coating mode when receiving a material signal sent by a first tooling and determining that the first coating module meets a first preset safety condition, and controls the first coating module to coat a first lens to be coated on the first tooling according to the first coating track.

[0031] The control module determines a second coating track according to the second coating mode when receiving a material signal sent by a second tooling and determining that the second coating module meets a second preset safety condition, and controls the second coating module to coat a second lens to be coated on the second tooling according to the second coating track.

[0032] Optionally, when the first coating mode is a high-precision mode, the determination of the first coating track according to the first coating mode comprises:

[0033] The control module controls the first coating module to move so that the first lens to be coated is located in a preset photographing range of the first coating module.

[0034] The first coating module acquires a first image of the first lens to be coated, and determines a first visual offset coordinate and a first visual offset angle of the first lens to be coated according to the first image and a first preset template.

[0035] The control module determines a first trajectory offset coordinate of the first to-be-coated lens according to the first visual offset coordinate and a first preset conversion relationship, and determines a first trajectory offset angle of the first to-be-coated lens according to the first visual offset angle;

[0036] The control module performs position correction and angle correction on a first preset coating track according to the first trajectory offset coordinate and the first trajectory offset angle respectively, to obtain the first coating track.

[0037] When the first coating mode is a low-precision mode, the determination of the first coating track according to the first coating mode comprises:

[0038] The first coating track is determined according to the first preset coating track.

[0039] When the second coating mode is a high-precision mode, the determination of the second coating track according to the second coating mode comprises:

[0040] The control module controls the second coating module to move so that the second to-be-coated lens is located in a preset photographing range of the second coating module.

[0041] The second coating module obtains a second image of the second to-be-coated lens, and determines a second visual offset coordinate and a second visual offset angle of the second to-be-coated lens according to the second image and a second preset template.

[0042] The control module determines a second trajectory offset coordinate of the second to-be-coated lens according to the second visual offset coordinate and a second preset conversion relationship, and determines a second trajectory offset angle of the second to-be-coated lens according to the first visual offset angle.

[0043] The control module performs position correction and angle correction on a second preset coating track according to the second trajectory offset coordinate and the second trajectory offset angle respectively, to obtain the second coating track.

[0044] When the second coating mode is a low-precision mode, the determination of the second coating track according to the second coating mode comprises:

[0045] The second coating track is determined according to the second preset coating track.

[0046] Optionally, before determining whether the first coating module meets the first preset safety condition, the control module further comprises, when receiving a material signal sent by a first tooling:

[0047] The control module resets the first coating module and the second coating module according to a preset reset position.

[0048] The control module acquires a reset time, and generates an overtime warning information when the reset time is greater than a preset reset threshold.

[0049] Optionally, the control module further comprises, after receiving the material signal sent by the first tool:

[0050] acquiring a first working distance of the first glue applying module;

[0051] comparing the first working distance with a first safety distance to determine whether the first working distance is greater than the first safety distance;

[0052] determining that the first glue applying module meets a first preset safety condition when the first working distance is greater than the first safety distance;

[0053] The control module further comprises, after receiving the material signal sent by the second tool:

[0054] acquiring a second working distance of the second glue applying module;

[0055] comparing the second working distance with a second safety distance to determine whether the second working distance is greater than the second safety distance;

[0056] determining that the second glue applying module meets a second preset safety condition when the second working distance is greater than the second safety distance.

[0057] In addition, to achieve the above object, the application further provides a glue applying device, which comprises a tool and the glue applying control device and the glue applying control method.

[0058] In the present application, the control module determines the first glue applying mode corresponding to the first glue applying module and the second glue applying mode corresponding to the second glue applying module in the preset glue applying mode according to the preset precision requirement, determines the first glue applying track according to the first glue applying mode when the first glue applying module meets the first preset safety condition, controls the first glue applying module to apply glue to the first lens to be glued on the first tool according to the first glue applying track, determines the second glue applying track according to the second glue applying mode when the second glue applying module meets the second preset safety condition, and controls the second glue applying module to apply glue to the second lens to be glued on the second tool according to the second glue applying track. Since the traditional glue applying equipment adopts a fixed glue applying mode, the flexibility is poor and the efficiency is low, the present application sets two glue applying modules which can realize different modes in the glue applying equipment, can select the mode according to the requirement, can select the low precision mode when the precision requirement is not high, the glue applying module applies glue to the lens according to the preset track, can select the high precision mode when the precision requirement is relatively high, the glue applying module can identify the position and angle of the lens and correct the glue applying of the lens, the flexibility is strong, the customizability is strong, the different precision requirements of customers can be met, in addition, the safety conditions are set for the two glue applying modules, so that the glue applying can be performed at the same time under the complementary interference, the lens glue applying automation is realized at low cost, and the processing efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0059] Figure 1 It is a structural schematic view of the first embodiment of the glue applying control device of the present application.

[0060] Figure 2 It is a schematic view of the application scene of an embodiment of the glue applying control device of the present application.

[0061] Figure 3 It is a structural schematic view of the second embodiment of the glue applying control device of the present application.

[0062] Figure 4 It is a structural schematic view of the tool module of an embodiment of the glue applying control method of the present application.

[0063] Figure 5 It is a flowchart of the first embodiment of the glue applying control method of the present application.

[0064] Figure 6 It is a whole flowchart of an embodiment of the glue applying control method of the present application.

[0065] Figure 7 It is a schematic view of the key parameter setting of an embodiment of the glue applying control method of the present application.

[0066] Figure 8 It is a flowchart of the second embodiment of the glue applying control method of the present application.

[0067] Figure 9The reset flowchart of the glue coating control method.

[0068] Explanation of reference numerals:

[0069] Reference Name Reference Name 10 Gluing control device 1022 Second moving mechanism 20 Tooling module 1023 Third moving mechanism 101 Base guide rail 1024 First vision unit 102 First gluing module 1025 First gluing unit 103 Second gluing module 1031 Fourth moving mechanism 104 Control module 1032 Fifth moving mechanism 201 First tooling 1033 Sixth moving mechanism 202 Second tooling 1034 Second vision unit 1021 First moving mechanism 1035 Second gluing unit

[0070] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0071] It should be understood that the specific embodiments described herein merely exemplify the present application and are not intended to limit the present application.

[0072] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0073] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0074] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of those skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0075] The present application provides a glue coating control device, which refers to Figure 1 , Figure 1 The structure diagram of the first embodiment of the glue coating control device of the present application.

[0076] In the present embodiment, the glue coating control device 10 comprises a base guide rail 101, a first glue coating module 102, a second glue coating module 103 and a control module 104, the first glue coating module 102 and the second glue coating module 103 are movably arranged on the base guide rail 101.

[0077] It should be noted that, asFigure 2 As shown, the glue coating control device 10 is applied to a glue coating device, the glue coating control device 10 is arranged above a tool module 20, the tool module 20 includes a first tool 201 and a second tool 202, the first tool 201 and the second tool 202 can fix the lenses that need to be coated, the first tool 201 corresponds to a first glue coating module 102, the first glue coating module 102 can coat the lenses on the first tool 201, the second tool 202 corresponds to a second glue coating module 103, the second glue coating module 202 can coat the lenses on the second tool 202. Usually, the first tool 201 and the second tool 202 are spaced apart by a distance, so that the first glue coating module 102 and the second glue coating module 103 can coat at the same time.

[0078] It can be understood that the first glue coating module 102 and the second glue coating module 103 are arranged on the base guide rail 101 and can move along the base guide rail 101, the first glue coating module 102 and the second glue coating module 103 can be two modules of the same structure, or two modules of different structures that can realize the same function, and the embodiment does not limit this.

[0079] It should be understood that the control module 104 is the control center of the entire glue coating control device 10, which is usually integrated in the glue coating control device 10 and can run corresponding control programs / algorithms to control / communicate with the first glue coating module 102, the second glue coating module 103, the first tool 201 and the second tool 202. In order to realize the control / communication of the control module 104, the control module 104 is connected with the first glue coating module 102, the second glue coating module 103, the first tool 201 and the second tool 202 respectively, the connection mode can be wired connection, for example: cable, or wireless connection, for example: Bluetooth, WiFi (wireless network communication technology), which can be adjusted according to the actual situation, and the embodiment does not limit this.

[0080] In a specific implementation, the control module 104 is configured to determine, according to a preset precision requirement, a first coating mode corresponding to the first coating module 102 and a second coating mode corresponding to the second coating module 103 in a preset coating mode, the preset coating mode including a high-precision mode and a low-precision mode. The control module 104 is further configured to, when receiving a material signal sent by the first tooling 201 and the first coating module 102 satisfying a first preset safety condition, determine a first coating track according to the first coating mode, and control the first coating module 102 to coat the first lens to be coated on the first tooling 201 according to the first coating track. The control module 104 is further configured to, when receiving a material signal sent by the second tooling 202 and the second coating module 103 satisfying a second preset safety condition, determine a second coating track according to the second coating mode, and control the second coating module 103 to coat the second lens to be coated on the second tooling 202 according to the second coating track.

[0081] It should be noted that the preset precision requirement refers to the requirement of the customer / user for lens coating, for example, all high precision, all low precision, first coating module 102 high precision, second coating module 103 low precision, etc. The preset coating mode refers to the coating mode that can be achieved by the first coating module 102 and the second coating module 103. In this embodiment, two preset coating modes are provided, which are high-precision mode and low-precision mode, i.e. mode with high precision requirement and mode with low precision requirement. The first coating mode refers to the current coating mode of the first coating module 102, and the second coating mode refers to the current coating mode of the second coating module 103, which is determined according to the preset precision requirement. For example, if the preset precision requirement is all high precision, the first coating mode and the second coating mode are both high-precision mode. If the preset precision requirement is first coating module 102 high precision, the first coating mode is high-precision mode and the second coating mode is low-precision mode. The actual situation needs to be determined, which is not limited in this embodiment.

[0082] It can be understood that the first and second to-be-coated lenses respectively refer to the lenses fixed on the first and second fixtures 201 and 202 that need to be coated, and the first and second to-be-coated lenses can be the same lens product or different lens products, which can be adjusted according to actual conditions. The material signal refers to a signal that the lens is fixed. After the first fixture 201 fixes the first to-be-coated lens, it will send a material signal to the control module 104. Correspondingly, after the second fixture 202 fixes the second to-be-coated lens, it will also send a material signal to the control module 104. After receiving the material signal, the control module 104 will control the corresponding coating module to coat the lens. The order of fixing the lens and the order of sending the signal are operated according to actual conditions, and the present embodiment is not limited.

[0083] It should be understood that, in order to avoid mutual interference (for example: collision) between the first and second coating modules 102 and 103, the first and second preset safety conditions are set. When the first or second coating module 102 or 103 is in a safe state, normal coating can be performed.

[0084] In the present embodiment, the first preset safety condition refers to the judgment condition when the first coating module 102 is in a safe state. A first safety distance is usually set as the basis for judgment. For example, the distance from the first coating module 102 to the second coating module 103 is greater than or equal to the first safety distance, at which time the first safety distance is the distance that the first coating module 102 needs to maintain from the second coating module 103, or the distance from the first coating module 102 to the midpoint line of the base guide rail 101 is greater than or equal to the first safety distance, at which time the first safety distance is the distance that the first coating module 102 needs to maintain from the midpoint line of the base guide rail 101 in a safe state. It can be set according to actual conditions, and the present embodiment does not limit it. The second preset safety condition refers to the judgment condition when the second coating module 103 is in a safe state. A second safety distance is usually set as the basis for judgment. For example, the distance from the second coating module 103 to the first coating module 102 is greater than or equal to the second safety distance, at which time the second safety distance is the distance that the second coating module 103 needs to maintain from the first coating module 102, or the distance from the second coating module 103 to the midpoint line of the base guide rail 101 is greater than or equal to the second safety distance, at which time the second safety distance is the distance that the second coating module 103 needs to maintain from the midpoint line of the base guide rail 101 in a safe state. It can be set according to actual conditions, and the present embodiment does not limit it.

[0085] It should be noted that the control module 104 can obtain the position coordinates of the first glue applying module 102 and the second glue applying module 103 in real time, so as to determine whether the distance from the first glue applying module 102 to the second glue applying module 103 is greater than or equal to the first safety distance, or whether the distance from the first glue applying module 102 to the midpoint line of the base rail 101 is greater than or equal to the first safety distance, and whether the distance from the second glue applying module 103 to the first glue applying module 102 is greater than or equal to the second safety distance, or whether the distance from the second glue applying module 103 to the midpoint line of the base rail 101 is greater than or equal to the second safety distance, and then determine whether the first glue applying module 102 or the second glue applying module 103 is in a safe state.

[0086] It can be understood that the first glue applying track and the second glue applying track refer to the currently used glue applying tracks of the first glue applying module 102 and the second glue applying module 103. In the high-precision mode, the initially set glue applying track usually needs to be corrected to obtain the currently used glue applying track. In the low-precision mode, the initially set glue applying track can be directly used as the currently used glue applying track.

[0087] It should be understood that the tool module 20 not only includes the first tool 201 and the second tool 202, but also can have tools that are not currently used or tools that have not yet reached the turn for glue applying, such as Figure 3 As shown in the drawings, all the tools within the glue applying range of the first glue applying module 102 can be used as the first tool 201, and all the tools within the glue applying range of the second glue applying module 103 can be used as the second tool 202. Since the first glue applying module 102 and the second glue applying module 103 can only apply glue to one lens at a time, if the number of tools in the tool module 20 is greater than 2, the control module 104 will determine the current first tool 201 and the second tool 202 before glue applying. For example, one tool within the glue applying range of the first glue applying module 102 can be randomly determined as the first tool 201, and one tool within the glue applying range of the second glue applying module 103 can be randomly determined as the second tool 202, or the tools can be determined according to the order of fixed lenses, i.e., the tool that is fixed first within the glue applying range of the first glue applying module 102 is determined as the current first tool 201, and the tool that is fixed later is determined as the first tool 201 in the next turn, and the tool that is fixed first within the glue applying range of the second glue applying module 103 is determined as the current second tool 202, and the tool that is fixed later is determined as the second tool 202 in the next turn. Any suitable method can be used as long as at least one tool can be used as the first tool 201 corresponding to the first glue applying module 102 and at least one tool can be used as the second tool 202 corresponding to the second glue applying module 103. The embodiments are not limited in this regard. After the current first tool 201 and the second tool 202 are determined, the lenses that are fixed by the tools are the first lens to be glued and the second lens to be glued.

[0088] It should be noted that the gluing range of the first gluing module 102 and the second gluing module 103, i.e. the position range that can be reached and the gluing can be smoothly completed, needs to be determined according to the actual situation. The gluing range of the first gluing module 102 and the second gluing module 103 usually only partially overlaps, so that the first gluing module 102 and the second gluing module 103 can be provided with fixtures that can be used as the first fixture 201 and the second fixture 202 in the tool module 20.

[0089] In the embodiment, the gluing control device 10 comprises a base guide rail 101, a first gluing module 102, a second gluing module 103 and a control module 104. The first gluing module 102 and the second gluing module 103 are movably arranged on the base guide rail 101. In the embodiment, two gluing modules that can realize different modes are arranged in the gluing device. The modes can be selected according to the requirements. When the precision requirement is not high, the low-precision mode can be selected. The gluing module glues the lens according to the pre-set track. When the precision requirement is high, the high-precision mode can be selected. The gluing module can recognize the position and angle of the lens and glue the lens after rectification. The flexibility is strong, the customizability is strong, the different precision requirements of customers can be met, and the safety conditions of the two gluing modules are set so that they can glue at the same time without interfering with each other. The lens gluing automation is realized at low cost, and the processing efficiency is improved.

[0090] Reference Figure 4 , Figure 4 It is a structural schematic view of the second embodiment of the gluing control device.

[0091] Based on the first embodiment, the first gluing module 102 comprises a first moving mechanism 1021, a second moving mechanism 1022, a third moving mechanism 1023, a first vision unit 1024 and a first gluing unit 1025. The first moving mechanism 1021 is movably arranged on the base guide rail 101. The base guide rail 101 is located in the first direction. The second moving mechanism 1022 is movably arranged on the first moving mechanism 1021. The third moving mechanism 1023 is movably arranged on the second moving mechanism 1022. The first vision unit 1024 and the first gluing unit 1025 are arranged on the third moving mechanism 1023. The control module 104 is connected with the first moving mechanism 1021, the second moving mechanism 1022, the third moving mechanism 1023, the first vision unit 1024 and the first gluing unit 1025.

[0092] In a specific implementation, the first moving mechanism 1021 is configured to move in the first direction, the second moving mechanism 1022 is configured to move in the second direction, the second direction is perpendicular to the first direction in the horizontal plane, and the third moving mechanism 1023 is configured to move in the third direction, the third direction is perpendicular to the horizontal plane.

[0093] It should be noted that the first moving mechanism 1021, the second moving mechanism 1022, and the third moving mechanism 1023 can move in three different directions respectively. The first direction is the moving direction in the horizontal plane, which can be the front-back moving direction or the left-right moving direction, and the second direction is also the moving direction in the horizontal plane, which can be the front-back moving direction or the left-right moving direction. In this embodiment, the first direction is the left-right moving direction, the first moving mechanism 1021 corresponds to the X1 axis, and since the first direction is perpendicular to the second direction in the horizontal plane, the second direction is the front-back moving direction, and the second moving mechanism 1022 corresponds to the Y1 axis. The third direction is the moving direction perpendicular to the horizontal plane, which can be the up-down moving direction. In this embodiment, the third moving mechanism 1023 corresponds to the Z1 axis. Since the first vision unit 1024 and the first gluing unit 1025 are arranged on the third moving mechanism 1023, the third moving mechanism 1023 is arranged on the second moving mechanism 1022, and the second moving mechanism 1022 is arranged on the first moving mechanism 1021, the positions of the first vision unit 1024 and the first gluing unit 1025 on the X1 axis, the Y1 axis, and the Z1 axis can be adjusted by moving the first moving mechanism 1021, the second moving mechanism 1022, and the third moving mechanism 1023.

[0094] In specific implementation, when the first gluing mode is the high-precision mode, the control module 104 is further configured to control the first moving mechanism 1021, the second moving mechanism 1022 and the third moving mechanism 1023 to move so that the first lens to be glued is located in a first preset photographing range of the first visual module 1024 when the first gluing mode is the high-precision mode. The first visual unit 1024 is configured to acquire a first image of the first lens to be glued when the first gluing mode is the high-precision mode, and determine a first visual offset coordinate and a first visual offset angle of the first lens to be glued in the first visual module according to the first image and a first preset template. The control module 104 is further configured to determine a first trajectory offset coordinate of the first lens to be glued according to the first visual offset coordinate and a first preset conversion relationship when the first gluing mode is the high-precision mode, determine a first trajectory offset angle of the first lens to be glued according to the first visual offset angle, and perform position correction and angle correction on the first preset gluing trajectory according to the first trajectory offset coordinate and the first trajectory offset angle respectively, to obtain the first gluing trajectory. The control module 104 is further configured to control the first moving mechanism 1021, the second moving mechanism 1022 and the third moving mechanism 1023 to move according to the first gluing trajectory, so that the position of the first gluing unit 1025 is adjusted, and control the first gluing unit 1025 to glue the first lens to be glued.

[0095] It can be understood that the first preset photographing range refers to a photographing point of the first visual unit 1024, that is, a region for photographing the first to-be-glued lens. The first preset photographing range is usually the center of the field of view of the first visual unit 1024. When the first to-be-glued lens is at the center of the field of view of the first visual unit 1024, the first visual unit 1024 is triggered to take a photograph. At this time, the image obtained by photographing can meet the requirements of clarity and completeness. Other ranges can also be set according to actual conditions, which are not limited in the embodiment. The first image is a photo of the first to-be-glued lens taken by the first visual unit 1024. The first preset template refers to a photo reference preset in the first visual unit 1024. By comparing the first image obtained by photographing, the position movement and the angle rotation of the first to-be-glued lens relative to the photo reference can be obtained, that is, the first visual offset coordinates and the first visual offset angle. Since the first visual unit 1024 and the overall glue coating control device 10 have different coordinate systems, the first visual offset coordinates and the first visual offset angle obtained in the coordinate system of the first visual unit 1024 need to be converted to obtain the corresponding position movement and angle rotation in the coordinate system of the glue coating control device 10, that is, the first trajectory offset position coordinates and the first trajectory offset angle. The first preset conversion relationship specifies the corresponding relationship between the first visual unit 1024 and the overall glue coating control device 10 coordinate system. Generally, the angle rotation does not need to be converted, and the first visual offset angle is the first trajectory offset angle.

[0096] It should be understood that when the first glue coating mode is a low-precision mode, the control module 104 is further configured to determine the first glue coating trajectory according to the first preset glue coating trajectory.

[0097] It should be understood that when the first glue coating mode is a low-precision mode, the control module 104 is further configured to determine the first glue coating trajectory according to the first preset glue coating trajectory.

[0098] Further, the second gluing module 103 comprises a fourth moving mechanism 1031, a fifth moving mechanism 1032, a sixth moving mechanism 1033, a second vision unit 1034 and a second gluing unit 1035, the fourth moving mechanism 1031 is movably arranged on the base rail 101, the fifth moving mechanism 1032 is movably arranged on the fourth moving mechanism 1031, the sixth moving mechanism 1033 is movably arranged on the fifth moving mechanism 1032, the second vision unit 1034 and the second gluing unit 1035 are arranged on the sixth moving mechanism 1033, and the control module 104 is connected with the fourth moving mechanism 1031, the fifth moving mechanism 1032, the sixth moving mechanism 1033, the second vision unit 1034 and the second gluing unit 1035.

[0099] In a specific implementation, the fourth moving mechanism 1031 is configured to move in the first direction, the fifth moving mechanism 1032 is configured to move in the second direction, and the sixth moving mechanism 1033 is configured to move in the third direction.

[0100] It can be understood that the fourth moving mechanism 1031, the fifth moving mechanism 1032 and the sixth moving mechanism 1033 can move in three different directions respectively. In the embodiment, the first direction is the left-right moving direction, the fourth moving mechanism 1031 corresponds to the X2 axis, the second direction is the front-back moving direction, the fifth moving mechanism 1032 corresponds to the Y2 axis, and the third direction is the up-down moving direction, the sixth moving mechanism 1033 corresponds to the Z2 axis. Since the second vision unit 1034 and the second gluing unit 1035 are arranged on the sixth moving mechanism 1033, and the sixth moving mechanism 1033 is arranged on the fifth moving mechanism 1032, and the fifth moving mechanism 1032 is arranged on the fourth moving mechanism 1031, the positions of the second vision unit 1034 and the second gluing unit 1035 on the X2 axis, the Y2 axis and the Z2 axis can be adjusted by moving the fourth moving mechanism 1031, the fifth moving mechanism 1032 and the sixth moving mechanism 1033.

[0101] In specific implementation, when the second gluing mode is the high-precision mode, the control module 104 is further configured to control the fourth moving mechanism 1031, the fifth moving mechanism 1032 and the sixth moving mechanism 1033 to move, so that the second to-be-glued lens is located in a second preset photographing range of the second visual module 1034. The second visual unit 1034 is configured to acquire a second image of the second to-be-glued lens when the second gluing mode is the high-precision mode, and determine a second visual offset coordinate and a second visual offset angle of the second to-be-glued lens in the second visual module according to the second image and a second preset template. The control module 104 is further configured to determine a second trajectory offset coordinate of the second to-be-glued lens according to the second visual offset coordinate and a second preset conversion relationship, and determine a second trajectory offset angle of the second to-be-glued lens according to the second visual offset angle when the second gluing mode is the high-precision mode. The control module 104 is further configured to perform position correction and angle correction on the second preset gluing trajectory according to the second trajectory offset coordinate and the second trajectory offset angle respectively, to obtain the second gluing trajectory. The control module 104 is further configured to control the fourth moving mechanism 1031, the fifth moving mechanism 1032 and the sixth moving mechanism 1033 to move according to the second gluing trajectory, so that the position of the second gluing unit 1035 is adjusted, and control the second gluing unit 1035 to glue the second to-be-glued lens.

[0102] It should be understood that the second preset photographing range refers to a photographing point of the second visual unit 1034, that is, an area for photographing the second to-be-glued lens. The second preset photographing range is usually the center of the field of view of the second visual unit 1034. When the first to-be-glued lens is at the center of the field of view of the second visual unit 1034, the second visual unit 1034 triggers photographing. At this time, the image obtained by photographing can meet the requirements of clarity and completeness. Other ranges can also be set according to actual conditions, which are not limited in the embodiment. The second image is a photo of the second to-be-glued lens obtained by the second visual unit 1034. The second preset template refers to a photo reference preset in the second visual unit 1034. By comparing the obtained second image with the photo reference, the position movement and the angle rotation of the second to-be-glued lens relative to the photo reference can be obtained, that is, the second visual offset coordinates and the second visual offset angle. Since the second visual unit 1034 and the overall glue coating control device 10 have different coordinate systems, the second visual offset coordinates and the second visual offset angle obtained in the coordinate system of the second visual unit 1034 need to be converted to obtain the corresponding position movement and angle rotation in the coordinate system of the glue coating control device 10, that is, the second trajectory offset position coordinates and the second trajectory offset angle. The second preset conversion relationship specifies the corresponding relationship between the second visual unit 1034 and the overall glue coating control device 10 coordinate system. Generally, the angle rotation does not need to be converted, and the second visual offset angle is the second trajectory offset angle.

[0103] It should be noted that the control module 104 is further configured to determine the second glue coating trajectory according to the second preset glue coating trajectory when the second glue coating mode is the low-precision mode.

[0104] It can be understood that the second preset glue coating trajectory refers to the initial glue coating trajectory of the second glue coating module 103. Since the positions of the first tooling 201 and the second tooling 202 are different, even if the first to-be-glued lens and the second to-be-glued lens are the same product, the corresponding coordinates of the initial glue coating trajectory in the glue coating control device 10 are different. Therefore, the first preset glue coating trajectory and the second preset glue coating trajectory need to be set according to the tooling position and the lens product type respectively.

[0105] It should be understood that the first safety distance and the second safety distance can be respectively set according to the first preset glue coating track and the second preset glue coating track, for example: on the basis of ensuring that the first glue coating module 102 and the second glue coating module 103 can simultaneously coat glue according to the first preset glue coating track and the second preset glue coating track respectively, a displacement distance possibly generated by an adjustment track is reserved, which is the distance that needs to be maintained between the first glue coating module 102 and the second glue coating module 103, or an adjustment distance is reserved on the basis of the first preset glue coating track and an adjustment distance is reserved on the basis of the second preset glue coating track, which is the distance that needs to be maintained between the first glue coating module 102 and the midpoint line of the base guide rail 101 and the distance that needs to be maintained between the second glue coating module 103 and the midpoint line of the base guide rail 101. The actual situation can be determined, and the present embodiment does not limit this.

[0106] In a specific implementation, in different modes, corresponding to different track determination manners, the low-precision mode directly uses a preset track, and the high-precision mode first acquires a photo image of a product, determines a position and angle offset, and corrects the preset track to obtain a final glue coating track.

[0107] It should be noted that the first moving mechanism 1021, the second moving mechanism 1022, the third moving mechanism 1023, the fourth moving mechanism 1031, the fifth moving mechanism 1032 and the sixth moving mechanism 1033 all have linear motors to realize movement under the control of the control module 104.

[0108] Further, the first vision unit 1024 includes a first camera, the second vision unit 1034 includes a second camera, the first glue coating unit 1025 includes a first glue gun, and the second glue coating unit 1035 includes a second glue gun.

[0109] In a specific implementation, the first camera is configured to acquire the first image, the second camera is configured to acquire the second image, the first glue gun is configured to coat glue on the first lens to be coated, and the second glue gun is configured to coat glue on the second lens to be coated.

[0110] In the embodiment, the first gluing module 102 comprises a first moving mechanism 1021, a second moving mechanism 1022, a third moving mechanism 1023, a first vision unit 1024 and a first gluing unit 1025, the first moving mechanism 1021 is movably arranged on the base rail 101 in the first direction, the second moving mechanism 1022 is movably arranged on the first moving mechanism 1021, the third moving mechanism 1023 is movably arranged on the second moving mechanism 1022, the first vision unit 1024 and the first gluing unit 1025 are arranged on the third moving mechanism 1023, the second gluing module 103 comprises a fourth moving mechanism 1031, a fifth moving mechanism 1032, a sixth moving mechanism 1033, a second vision unit 1034 and a second gluing unit 1035, the fourth moving mechanism 1031 is movably arranged on the base rail 101, the fifth moving mechanism 1032 is movably arranged on the fourth moving mechanism 1031, the sixth moving mechanism 1033 is movably arranged on the fifth moving mechanism 1032, and the second vision unit 1034 and the second gluing unit 1035 are arranged on the sixth moving mechanism 1033. When the precision requirement is not high, the gluing module is controlled to glue the lens according to the preset track, when the precision requirement is relatively high, the gluing module is controlled to recognize the position and angle of the lens and correct the gluing of the lens, which is flexible, has strong customizability and can meet different precision requirements of customers.

[0111] The embodiment of the present application provides a gluing control method, referring to Figure 5 , Figure 5 which is a flowchart of the first embodiment of the gluing control method.

[0112] Based on the above embodiment, the gluing control method comprises the following steps:

[0113] Step S10: The control module determines the first gluing mode corresponding to the first gluing module and the second gluing mode corresponding to the second gluing module in the preset gluing mode according to the preset precision requirement, and the preset gluing mode comprises a high-precision mode and a low-precision mode.

[0114] It should be noted that the embodiment is applied to the above-mentioned gluing control device, the gluing control device comprises a base rail, a first gluing module, a second gluing module and a control module, the execution subject of the embodiment is the gluing control device, and the gluing control device is arranged in a gluing equipment, and the gluing equipment is also provided with a first tool and a second tool, and the specific structure can be referred to Figures 1 to 4 .

[0115] It can be understood that the preset precision requirement refers to the requirement of the customer / user for the lens coating, for example: all high precision, all low precision, high precision of the first coating module, low precision of the second coating module, etc. The preset coating mode refers to the coating mode that can be realized by the first coating module and the second coating module. In the embodiment, two preset coating modes are set, which are high precision mode and low precision mode, i.e. mode with higher precision requirement and mode with lower precision requirement. The first coating mode and the second coating mode respectively refer to the current coating mode of the first coating module and the second coating module, which is determined according to the preset precision requirement, for example: if the preset precision requirement is all high precision, the first coating mode and the second coating mode are both high precision mode, if the preset precision requirement is high precision of the first coating module, the first coating mode is high precision mode and the second coating mode is low precision mode. The actual situation can be determined, which is not limited in the embodiment.

[0116] In the specific implementation, the corresponding coating mode can be selected for the first coating module and the second coating module according to the requirement. When the precision requirement is not high, the low precision mode can be selected, and when the precision requirement is relatively high, the high precision mode can be selected.

[0117] Step S20: When the control module receives the material signal sent by the first tool and determines that the first coating module meets the first preset safety condition, the first coating trajectory is determined according to the first coating mode, and the first coating module is controlled to coat the first lens to be coated on the first tool according to the first coating trajectory.

[0118] It should be understood that the first lens to be coated refers to the lens fixed on the first tool that needs to be coated. The material signal refers to the signal that the lens is fixed. After the first tool fixes the first lens to be coated, it will send a material signal to the control module. After receiving the material signal, the control module will control the first coating module to coat the first lens to be coated. The first coating trajectory refers to the coating trajectory currently used by the first coating module, which corresponds to different coating trajectories in different modes.

[0119] It should be noted that, in order to avoid the interference (for example: collision) of the second glue applying module on the first glue applying module, the embodiment sets a first preset safety condition, that is, a judgment condition when the first glue applying module is in a safe state. When the first glue applying module is in a safe state, normal glue applying can be performed. A first safety distance is usually set as a judgment basis. After receiving the material signal sent by the first tool, the control module further includes: acquiring a first working distance of the first glue applying module, comparing the first working distance with the first safety distance, and determining whether the first working distance is greater than the first safety distance. When the first working distance is greater than the first safety distance, it is determined that the first glue applying module meets the first preset safety condition. The first safety distance can be the distance that the first glue applying module needs to maintain from the second glue applying module. At this time, the first working distance is the distance between the first glue applying module and the second glue applying module. The first safety distance can also be the distance that the first glue applying module needs to maintain from the midpoint line of the base rail. At this time, the first working distance is the distance from the first glue applying module to the midpoint line of the base rail. The first safety distance can be set according to actual conditions, and the embodiment does not limit this. The first working distance corresponds thereto. Since the control module can acquire the position coordinates of the first glue applying module and the second glue applying module in real time, the current first working distance of the first glue applying module can be obtained, it is determined whether the first working distance is greater than the first safety distance, and then it is determined whether the first glue applying module is in a safe state.

[0120] Further, when the first glue applying mode is a high-precision mode, the first glue applying trajectory is determined according to the first glue applying mode, including: the control module controls the first glue applying module to move, so that the first lens to be glued is located in a preset photographing range of the first glue applying module. The first glue applying module acquires a first image of the first lens to be glued, determines a first visual offset coordinate and a first visual offset angle of the first lens to be glued according to the first image and a first preset template. The control module determines a first trajectory offset coordinate of the first lens to be glued according to the first visual offset coordinate and a first preset conversion relationship, and determines a first trajectory offset angle of the first lens to be glued according to the first visual offset angle. The control module performs position correction and angle correction on a first preset glue applying trajectory according to the first trajectory offset coordinate and the first trajectory offset angle, respectively, to obtain the first glue applying trajectory.

[0121] It can be understood that the first visual unit and the first glue applying unit are arranged in the first glue applying module, and can be used for photographing and glue applying, respectively.

[0122] It should be understood that the first preset photographing range refers to a photographing point of the first visual unit, that is, a region for photographing the first to-be-glued lens, and the first preset photographing range is usually the center of the field of view of the first visual unit. When the first to-be-glued lens is at the center of the field of view of the first visual unit, the first visual unit triggers photographing, and the image obtained at this time can meet the requirements of clarity and completeness. Other ranges can also be set according to actual conditions, which are not limited in the embodiment. The first image is a photo of the first to-be-glued lens obtained by the first visual unit. The first preset template refers to a photo reference preset in the first visual unit. By comparing the obtained first image with the photo reference, the position movement and the angle rotation of the first to-be-glued lens relative to the photo reference can be obtained, that is, the first visual offset coordinates and the first visual offset angle. Since the first visual unit and the overall glue coating control device have different coordinate systems, the obtained first visual offset coordinates and the first visual offset angle in the first visual unit coordinate system need to be converted to obtain the corresponding position movement and angle rotation in the glue coating control device coordinate system, that is, the first trajectory offset position coordinates and the first trajectory offset angle. The first preset conversion relationship specifies the corresponding relationship between the first visual unit and the overall glue coating control device coordinate system. For example, the coordinates of point A in the first visual unit are (x1, y1, z1), and the coordinates of point A in the glue coating control device are (m1, n1, p1). The first preset conversion relationship is the relationship between the coordinates (m1, n1, p1) and the coordinates (x1, y1, z1). Generally, the angle rotation does not need to be converted, and the first visual offset angle is the first trajectory offset angle. The first preset glue coating trajectory refers to the initial glue coating trajectory of the first glue coating module.

[0123] Further, when the first glue coating mode is the low-precision mode, the first glue coating trajectory is determined according to the first preset glue coating trajectory.

[0124] In specific implementation, when the first glue coating mode is the high-precision mode, the first glue coating module first obtains a photo image of the product, determines the offset of the position and the angle, corrects the preset trajectory, and obtains the current glue coating trajectory. When the first glue coating mode is the low-precision mode, the first glue coating module directly uses the preset trajectory as the current glue coating trajectory.

[0125] It should be noted that in the high-precision mode, the initial glue coating trajectory usually needs to be corrected to obtain the current glue coating trajectory, and in the low-precision mode, the initial glue coating trajectory can be directly used as the current glue coating trajectory.

[0126] Further, after the step S20, further comprising: determining, by the control module, whether the first gluing module meets the first preset safety condition after the first gluing module finishes gluing, and when the first gluing module meets the first preset safety condition, determining a first safety area on the base guide according to the first preset safety condition, and moving the first gluing module into the first safety area.

[0127] It can be understood that the first safety area refers to the safety area range of the first gluing module on the base guide, which is usually the area range that can make the first gluing module meet the first preset safety condition, and needs to be determined according to the first preset safety condition. For example, the first gluing module is located on the left side of the second gluing module, and if the first preset safety condition is that the distance between the two modules needs to be kept K, then the first safety area can be the area range on the left side of the base guide with a distance greater than K from the second gluing module.

[0128] It should be understood that when the first gluing module finishes gluing, the second gluing module can still be gluing. In order to facilitate the gluing operation of the second gluing module, the first gluing module can be moved to the safety area.

[0129] Step S30: When the control module receives the material signal sent by the second tooling and determines that the second gluing module meets the second preset safety condition, the control module determines the second gluing track according to the second gluing mode, and controls the second gluing module to glue the second lens to be glued on the second tooling according to the second gluing track.

[0130] It should be noted that the second lens to be glued refers to the lens fixed on the second tooling that needs to be glued. The first lens to be glued and the second lens to be glued can be the same lens product or different lens products, which can be adjusted according to actual conditions. After the second tooling fixes the second lens to be glued, it also sends a material signal to the control module. The order of fixing the lens by the first tooling and the second tooling and the order of sending the signal can be operated according to actual conditions, and the present embodiment is not limited.

[0131] It can be understood that it is necessary to point out that, in order to avoid interference (for example: collision) of the first glue applying module on the second glue applying module, a second preset safety condition, that is, a judgment condition when the second glue applying module is in a safe state, is set in the embodiment, and the second glue applying module can be normally glued when it is in the safe state. A second safety distance is usually set as a basis for judgment. After receiving the material signal sent by the second tool, the control module further includes: acquiring a second working distance of the second glue applying module, comparing the second working distance with the second safety distance, and determining whether the second working distance is greater than the second safety distance. When the second working distance is greater than the second safety distance, it is determined that the second glue applying module meets the second preset safety condition. The second safety distance can be a distance that the second glue applying module needs to maintain from the first glue applying module, and the second working distance is a distance between the second glue applying module and the first glue applying module at this time. The second safety distance can also be a distance that the second glue applying module needs to maintain from the midpoint line of the base guide rail in the safe state, and the second working distance is a distance from the second glue applying module to the midpoint line of the base guide rail at this time. The second safety distance can be set according to actual conditions, and the embodiment does not limit this, and the second working distance corresponds thereto. Since the control module can acquire the position coordinates of the second glue applying module and the first glue applying module in real time, the current second working distance of the second glue applying module can be obtained, it is determined whether the second working distance is greater than the second safety distance, and then it is determined whether the second glue applying module is in the safe state.

[0132] Further, when the second glue applying mode is a high-precision mode, the second glue applying trajectory is determined according to the second glue applying mode, including: the control module controls the second glue applying module to move, so that the second lens to be glued is located in a preset photographing range of the second glue applying module, the second glue applying module acquires a second image of the second lens to be glued, determines a second visual offset coordinate and a second visual offset angle of the second lens to be glued according to the second image and a second preset template, the control module determines a second trajectory offset coordinate of the second lens to be glued according to the second visual offset coordinate and a second preset conversion relationship, and determines a second trajectory offset angle of the second lens to be glued according to the first visual offset angle, the control module performs position correction and angle correction on a second preset glue applying trajectory according to the second trajectory offset coordinate and the second trajectory offset angle respectively, and obtains the second glue applying trajectory.

[0133] It should be understood that the second visual unit and the second glue applying unit are arranged in the second glue applying module, and can be used for photographing and glue applying, respectively.

[0134] It should be noted that the second preset photographing range refers to a photographing point of the second visual unit, that is, a region for photographing the second to-be-glued lens. The second preset photographing range is usually the center of the field of view of the second visual unit. When the first to-be-glued lens is at the center of the field of view of the second visual unit, the second visual unit triggers photographing. At this time, the image obtained by photographing can meet the requirements of clarity and completeness. Other ranges can also be set according to actual conditions, and the present embodiment does not limit this. The second image is a photo of the second to-be-glued lens obtained by the second visual unit. The second preset template refers to a photo reference preset in the second visual unit. By comparing the obtained second image with the photo reference, the position movement and the angle rotation of the second to-be-glued lens relative to the photo reference can be obtained, that is, the second visual offset coordinates and the second visual offset angle. Since the second visual unit and the overall glue coating control device have different coordinate systems, the second visual offset coordinates and the second visual offset angle obtained in the coordinate system of the second visual unit need to be converted to obtain the corresponding position movement and angle rotation in the coordinate system of the glue coating control device, that is, the second trajectory offset position coordinates and the second trajectory offset angle. The second preset conversion relationship specifies the corresponding relationship between the second visual unit and the overall glue coating control device coordinate system. For example, the coordinates of point B in the second visual unit 1034 are (x2, y2, z2), and the coordinates of point B in the glue coating control device 10 are (m2, n2, p2). The second preset conversion relationship is the relationship between the coordinates (m2, n2, p2) and the coordinates (x2, y2, z2). Generally, the angle rotation does not need to be converted, and the second visual offset angle is the second trajectory offset angle.

[0135] It can be understood that the second preset glue coating trajectory refers to the initial glue coating trajectory of the second glue coating module preset in advance, and the second glue coating trajectory refers to the current glue coating trajectory used by the second glue coating module. Since the positions of the first tooling and the second tooling are different, even if the first to-be-glued lens and the second to-be-glued lens are the same product, the corresponding coordinates of the initial glue coating trajectory in the glue coating control device are different. Therefore, the first preset glue coating trajectory and the second preset glue coating trajectory need to be set according to the tooling position and the lens product type respectively.

[0136] It should be understood that the first safety distance and the second safety distance can be respectively set according to the first preset glue coating track and the second preset glue coating track, for example, on the basis of ensuring that the first glue coating module and the second glue coating module can simultaneously glue coating according to the first preset glue coating track and the second preset glue coating track, a displacement distance possibly generated by an adjustment track is reserved, which is the distance that needs to be maintained between the first glue coating module and the second glue coating module, or an adjustment distance is reserved on the basis of the first preset glue coating track and an adjustment distance is reserved on the basis of the second preset glue coating track, which is the distance that needs to be maintained between the first glue coating module and the midpoint line of the base guide rail and the distance that needs to be maintained between the second glue coating module and the midpoint line of the base guide rail, which can be determined according to actual conditions, and the embodiment does not limit this.

[0137] Further, when the second glue coating mode is the low-precision mode, the second glue coating track is determined according to the second preset glue coating track.

[0138] In a specific implementation, when the second glue coating mode is the high-precision mode, the second glue coating module first acquires a photo image of the product, determines the position and angle offset, and corrects the preset track to obtain the current glue coating track. When the second glue coating mode is the low-precision mode, the second glue coating module directly uses the preset track as the current glue coating track.

[0139] Further, after the step S30, the method further includes the following steps: determining, by the control module, whether the second glue coating module satisfies the second preset safety condition after the second glue coating module finishes glue coating, and moving the first glue coating module to the second safety area on the base guide rail according to the second preset safety condition when the second glue coating module satisfies the second preset safety condition.

[0140] It should be noted that the second safety area refers to the safety area range of the second glue coating module on the base guide rail, which is usually an area range in which the second glue coating module can satisfy the second preset safety condition, and needs to be determined according to the second preset safety condition, for example, the second glue coating module is located on the right side of the first glue coating module, and if the second preset safety condition is that the distance between the two modules needs to be kept K, the first safety area can be an area range in which the distance from the right side of the base guide rail to the first glue coating module is greater than K.

[0141] It can be understood that when the second glue coating module finishes glue coating, the first glue coating module can still be glue coating, and at this time, in order to facilitate the glue coating operation of the first glue coating module, the second glue coating module can be moved to the safety area.

[0142] It should be understood that if the first tooling and the second tooling are replaced, it is difficult to guarantee that they will still be in the same position. Furthermore, the coating trajectories of different first and second lenses to be coated will also be somewhat different. Even the same two lenses may have corresponding deviations when fixed. Therefore, using a high-precision mode can effectively correct these possible deviations.

[0143] It should be noted that in other embodiments, the first glue application module and the second glue application module can apply glue simultaneously, or the second glue application module can apply glue first and the first glue application module can apply glue later. This can be set according to actual needs, and this embodiment does not limit it.

[0144] like Figure 6 The overall process diagram shown illustrates that the two glue application modules wait for the material supply signal from the tooling. Upon receiving the material supply signal, it is necessary to determine whether the safety conditions are met. If the safety conditions are met, the current glue application mode is determined according to the pre-set requirements. If the high-precision mode (vision mode) is selected, the position and angle of the pre-set initial trajectory are corrected based on the photo of the lens product before glue application. If the low-precision mode (blind application mode) is selected, the glue is applied directly according to the pre-set initial trajectory. After the glue application is completed, the glue application module is moved to the safe area.

[0145] Furthermore, such as Figure 7 As shown, this embodiment sets some key parameters before applying the adhesive. These key parameters include stroke parameters, running speed parameters, protection parameters, process parameters, and a first preset conversion relationship and a second preset conversion relationship. The stroke parameters refer to parameters related to the first and second preset adhesive application trajectories. The running speed parameters refer to the speeds of the first and second adhesive application modules during movement, generally determined by the linear motors installed in the first and second adhesive application modules. Different models of linear motors require different running speed parameters, which are not limited in this embodiment. The protection parameters refer to parameters used to protect the two adhesive application modules from interference, including a first safety distance and a second safety distance. The process parameters refer to parameters related to the adhesive application process, which can be set according to actual needs, and are not limited in this embodiment.

[0146] In the embodiment, the control module determines a first gluing mode corresponding to the first gluing module and a second gluing mode corresponding to the second gluing module according to preset accuracy requirements in the preset gluing mode, determines a first gluing track according to the first preset gluing track and the first gluing mode when the first gluing module meets the first preset safety condition, controls the first gluing module to glue the first lens to be glued on the first tool according to the first gluing track, determines a second gluing track according to the second preset gluing track and the second gluing mode when the second gluing module meets the second preset safety condition, and controls the second gluing module to glue the second lens to be glued on the second tool according to the second gluing track. The embodiment sets two gluing modules that can realize different modes in the gluing device, can select a mode according to requirements, can select a low-precision mode when the accuracy requirement is not high, and can select a high-precision mode when the accuracy requirement is relatively high. The gluing module can identify the position and angle of the lens and correct and glue the lens. The flexibility is strong, the customizability is strong, the different accuracy requirements of customers can be met, and in addition, the safety conditions of the two gluing modules are set to enable them to glue at the same time in the complementary interference condition. The processing efficiency is improved while realizing lens gluing automation at low cost.

[0147] The embodiment of the present application provides a gluing control method, referring to Figure 8 , Figure 8 The embodiment of the present application provides a gluing control method, referring to

[0148] Based on the above embodiment, before the step S10, the method further comprises:

[0149] Step S01: the control module resets the first gluing module and the second gluing module according to a preset reset position.

[0150] It should be noted that the first gluing module is provided with a first moving mechanism, a second moving mechanism and a third moving mechanism, and can move on an X1 axis (left-right direction), a Y1 axis (front-rear direction) and a Z1 axis (up-down direction). The second gluing module is provided with a fourth moving mechanism, a fifth moving mechanism and a sixth moving mechanism, and can move on an X2 axis (left-right direction), a Y2 axis (front-rear direction) and a Z2 axis (up-down direction).

[0151] It is understood that the preset reset positions refer to the pre-set reset zero points of the first and second glue application modules, which are the reset zero points on the X1, Y1, and Z1 axes, and the reset zero points on the X2, Y2, and Z2 axes, respectively. In this embodiment, the reset zero point of the X1 axis is set on the leftmost side, the reset zero point of the Y1 axis is set on the rearmost side, the reset zero point of the Z1 axis is set on the topmost side, the reset zero point of the X2 axis is set on the rightmost side, the reset zero point of the Y2 axis is set on the rearmost side, and the reset zero point of the Z2 axis is set on the topmost side.

[0152] Step S02: The control module obtains the reset time, and generates a timeout warning message when the reset time is greater than the preset reset threshold.

[0153] It is understood that the reset time includes the reset time of the first glue application module and the reset time of the second glue application module, respectively referring to the time used for the reset of the first and second glue application modules. The reset time of the first glue application module includes the reset time of the X1 axis, the Y1 axis, and the Z1 axis, and the reset time of the second glue application module includes the reset time of the X2 axis, the Y2 axis, and the Z2 axis. The preset reset threshold refers to a set reset time standard, which is usually determined according to the actual situation. This embodiment does not impose any restrictions on this. The timeout warning information refers to an alarm prompt for timeout. When the reset time is greater than the preset reset threshold, it is considered that the reset has timed out and an alarm is issued. When the reset time is less than or equal to the preset reset threshold, the reset is considered to be normal.

[0154] like Figure 9 The reset process diagram shown indicates that the first and second glue application modules are reset in the order of Z1 axis, Y1 axis, X1 axis and Z2 axis, Y2 axis, X2 axis respectively. After the reset is completed, the coordinates of each axis are cleared to zero.

[0155] In this embodiment, the control module resets the first and second glue-applying modules according to a preset reset position. The control module obtains the reset time, and generates a timeout warning message when the reset time exceeds a preset reset threshold. This embodiment resets the first and second glue-applying modules before determining the glue-applying mode to clear the coordinates, ensuring normal glue-applying operation. If problems occur during the reset process, timely warnings and processing can be provided, further improving processing efficiency.

[0156] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0157] It should be noted that the above-described workflow is merely illustrative and does not constitute a limitation on the scope of protection of the present application. In actual applications, a person skilled in the art can select part or all of the workflow according to actual needs to achieve the purpose of the embodiment scheme, which is not limited here.

[0158] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0159] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A glue application control device applied to a glue application apparatus, wherein a tool module is provided in the glue application apparatus, the glue application control device is arranged above the tool, and the tool module comprises a first tool and a second tool, characterized in that, The glue coating control device comprises a base guide rail, a first glue coating module, a second glue coating module and a control module, the first glue coating module and the second glue coating module are movably arranged on the base guide rail, the control module is connected with the first glue coating module, the second glue coating module, the first tooling and the second tooling respectively, the first glue coating module comprises a first moving mechanism, a second moving mechanism, a third moving mechanism, a first visual unit and a first glue coating unit, and the control module is connected with the first moving mechanism, the second moving mechanism, the third moving mechanism, the first visual unit and the first glue coating unit; The control module is used for determining a first glue coating mode corresponding to the first glue coating module and a second glue coating mode corresponding to the second glue coating module in a preset glue coating mode according to a preset precision requirement, and the preset glue coating mode comprises a high-precision mode and a low-precision mode; The control module is further used for determining a first glue coating track according to the first glue coating mode and controlling the first glue coating module to coat a first lens to be coated on the first tooling according to the first glue coating track when a material signal sent by the first tooling is received and the first glue coating module meets a first preset safety condition; The control module is further used for determining a second glue coating track according to the second glue coating mode and controlling the second glue coating module to coat a second lens to be coated on the second tooling according to the second glue coating track when a material signal sent by the second tooling is received and the second glue coating module meets a second preset safety condition; The control module is further used for controlling the first moving mechanism, the second moving mechanism and the third moving mechanism to move so that the first lens to be coated is located in a first preset photographing range of the first visual unit when the first glue coating mode is the high-precision mode; The first visual unit is used for acquiring a first image of the first lens to be coated when the first glue coating mode is the high-precision mode, and determining a first visual offset coordinate and a first visual offset angle of the first lens to be coated in the first visual unit according to the first image and a first preset template; The control module is further used for determining a first track offset coordinate of the first lens to be coated according to the first visual offset coordinate and a first preset conversion relationship, determining a first track offset angle of the first lens to be coated according to the first visual offset angle, and performing position correction and angle correction on a first preset glue coating track according to the first track offset coordinate and the first track offset angle respectively to obtain the first glue coating track when the first glue coating mode is the high-precision mode. The control module is further configured to, when the first gluing mode is a low-precision mode, determine the first gluing track according to the first preset gluing track, control the first moving mechanism, the second moving mechanism, and the third moving mechanism to move according to the first gluing track, so that the position of the first gluing unit is adjusted, and control the first gluing unit to glue the first lens to be glued.

2. The gluing control device of claim 1, wherein The first moving mechanism is movably arranged on the base rail in the first direction, the second moving mechanism is movably arranged on the first moving mechanism, and the third moving mechanism is movably arranged on the second moving mechanism, and the first visual unit and the first gluing unit are arranged on the third moving mechanism. The first moving mechanism is configured to move in the first direction. The second moving mechanism is configured to move in a second direction, and the second direction is perpendicular to the first direction in a horizontal plane. The third moving mechanism is configured to move in a third direction, and the third direction is perpendicular to the horizontal plane.

3. The gluing control device of claim 2, wherein The second gluing module includes a fourth moving mechanism, a fifth moving mechanism, a sixth moving mechanism, a second visual unit, and a second gluing unit, the fourth moving mechanism is movably arranged on the base rail, the fifth moving mechanism is movably arranged on the fourth moving mechanism, the sixth moving mechanism is movably arranged on the fifth moving mechanism, and the second visual unit and the second gluing unit are arranged on the sixth moving mechanism, and the control module is connected with the fourth moving mechanism, the fifth moving mechanism, the sixth moving mechanism, the second visual unit, and the second gluing unit. The fourth moving mechanism is configured to move in the first direction. The fifth moving mechanism is configured to move in the second direction. The sixth moving mechanism is configured to move in the third direction. The control module is further configured to, when the second gluing mode is a high-precision mode, control the fourth moving mechanism, the fifth moving mechanism, and the sixth moving mechanism to move, so that the second lens to be glued is located in a second preset photographing range of the second visual unit. The second visual unit is configured to, when the second gluing mode is a high-precision mode, acquire a second image of the second lens to be glued, and determine a second visual offset coordinate and a second visual offset angle of the second lens to be glued in the second visual unit according to the second image and a second preset template. The control module is further configured to, when the second gluing mode is a high-precision mode, determine a second track offset coordinate of the second lens to be glued according to the second visual offset coordinate and a second preset conversion relationship, determine a second track offset angle of the second lens to be glued according to the second visual offset angle, and perform position correction and angle correction on a second preset gluing track according to the second track offset coordinate and the second track offset angle respectively, to obtain the second gluing track. The control module is further configured to determine the second coating track according to the second preset coating track when the second coating mode is a low-precision mode. The control module is further configured to control the fourth moving mechanism, the fifth moving mechanism, and the sixth moving mechanism to move so that the position of the second coating unit is adjusted, and control the second coating unit to coat the second lens to be coated.

4. The gluing control device of claim 3, wherein The first visual unit includes a first camera, the second visual unit includes a second camera, the first coating unit includes a first glue gun, and the second coating unit includes a second glue gun.

5. A method of controlling the application of glue, applied to the glue application control device according to any one of claims 1 to 4, characterized by, The coating control method includes: The control module determines a first coating mode corresponding to the first coating module and a second coating mode corresponding to the second coating module in a preset coating mode according to a preset precision requirement, and the preset coating mode includes a high-precision mode and a low-precision mode. The control module determines a first coating track according to the first coating mode when a material signal is received from a first tooling and the first coating module meets a first preset safety condition, and controls the first coating module to coat a first lens to be coated on the first tooling according to the first coating track. The control module determines a second coating track according to the second coating mode when a material signal is received from a second tooling and the second coating module meets a second preset safety condition, and controls the second coating module to coat a second lens to be coated on the second tooling according to the second coating track.

6. The method of claim 5, wherein, When the first coating mode is a high-precision mode, the determination of the first coating track according to the first coating mode includes: The control module controls the first coating module to move so that the first lens to be coated is located in a preset photographing range of the first coating module. The first coating module acquires a first image of the first lens to be coated, determines a first visual offset coordinate and a first visual offset angle of the first lens to be coated according to the first image and a first preset template. The control module determines a first track offset coordinate of the first lens to be coated according to the first visual offset coordinate and a first preset conversion relationship, and determines a first track offset angle of the first lens to be coated according to the first visual offset angle. The control module performs position correction and angle correction on a first preset coating track according to the first track offset coordinate and the first track offset angle respectively, and obtains the first coating track. When the first coating mode is a low-precision mode, the determination of the first coating track according to the first coating mode includes: The first coating track is determined according to the first preset coating track.

7. The method of claim 5, wherein, When the second coating mode is a high-precision mode, the determination of the second coating track according to the second coating mode includes: The control module controls the second coating module to move so that the second lens to be coated is located in a preset photographing range of the second coating module. The second gluing module acquires a second image of the second to-be-glued lens, and determines a second visual offset coordinate and a second visual offset angle of the second to-be-glued lens according to the second image and a second preset template; The control module determines a second trajectory offset coordinate of the second to-be-glued lens according to the second visual offset coordinate and a second preset conversion relationship, and determines a second trajectory offset angle of the second to-be-glued lens according to the first visual offset angle; The control module performs position correction and angle correction on a second preset gluing trajectory according to the second trajectory offset coordinate and the second trajectory offset angle respectively, to obtain the second gluing trajectory. When the second gluing mode is a low-precision mode, the control module determines the second gluing trajectory according to the second gluing mode, including: determining the second gluing trajectory according to the second preset gluing trajectory.

8. The method of claim 5, wherein, The control module further includes, after receiving the material signal sent by the first tool: acquiring a first working distance of the first gluing module; comparing the first working distance with a first safety distance to determine whether the first working distance is greater than the first safety distance; when the first working distance is greater than the first safety distance, determining that the first gluing module meets the first preset safety condition; The control module further includes, after receiving the material signal sent by the second tool: acquiring a second working distance of the second gluing module; comparing the second working distance with a second safety distance to determine whether the second working distance is greater than the second safety distance; when the second working distance is greater than the second safety distance, determining that the second gluing module meets the second preset safety condition.

9. The method according to any one of claims 5 to 8, characterized in that, The control module further includes, before determining the first gluing mode corresponding to the first gluing module and the second gluing mode corresponding to the second gluing module in the preset gluing mode according to the preset precision requirement: The control module resets the first gluing module and the second gluing module according to a preset reset position; The control module acquires a reset time, and generates an overtime warning information when the reset time is greater than a preset reset threshold.

10. A gluing apparatus characterized by, The gluing device includes a tool and the gluing control device according to any one of claims 1 to 4.

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