Dispensing apparatus, control method of dispensing apparatus, and storage medium

Abstract

The application discloses a dispensing equipment, a control method of the dispensing equipment and a storage medium, and is applied to the technical field of dispensing, and comprises a main shaft driving assembly, a slave shaft driving assembly, a dispensing device and a control device, wherein the slave shaft driving assembly comprises a slave shaft and a slave shaft driving device; the dispensing device is slidably arranged on the slave shaft, and the slave shaft driving device is used for driving the dispensing device to move back and forth along the slave shaft; and the control device is used for controlling the main shaft driving assembly and the slave shaft driving assembly to drive the dispensing device to move. When the dispensing device and a dispensing position keep relatively stable, the dispensing device performs multiple dispensing operations on the current dispensing position. After the current dispensing position is completed, the slave shaft driving device drives the dispensing device to move back and forth along the slave shaft, so that the dispensing device is reset. The dispensing device can perform multiple dispensing operations on multiple dispensing positions in turn under the condition that the slave shaft driving assembly keeps moving, thereby realizing uninterrupted dispensing and improving the dispensing efficiency.

Description

Technical Field

[0001] This invention relates to the field of dispensing technology, specifically to a dispensing device, a control method for the dispensing device, and a storage medium. Background Technology

[0002] In conventional dispensing technology, dispensing equipment typically employs an intermittent dispensing method, repeatedly dispensing glue to the designated dispensing positions on the products. This involves multiple products remaining stationary while the dispensing device moves and stops intermittently. The device stops above the designated dispensing position on each product to dispense glue. After dispensing, the device moves to the next position and stops. Alternatively, the device remains stationary while products move and stop intermittently. Once the product reaches the designated dispensing position, the product stops moving, and the dispensing device continues dispensing. After dispensing, the product continues its journey to the next station. This control method requires repeated pauses and starts of the dispensing device or the product's dispensing position, resulting in low efficiency. Improving dispensing efficiency is a pressing issue that needs to be addressed. Summary of the Invention

[0003] This application provides a dispensing device, a control method for the dispensing device, and a storage medium, which can effectively improve dispensing efficiency.

[0004] In a first aspect, this application provides a dispensing device, comprising:

[0005] Spindle drive assembly;

[0006] A slave shaft drive assembly, the slave shaft drive assembly including a slave shaft and a slave shaft drive device;

[0007] A dispensing device is slidably mounted on the slave shaft, and the slave shaft driving device is used to drive the dispensing device to reciprocate along the slave shaft.

[0008] Control device, the control device being used for:

[0009] The spindle drive assembly is controlled to drive the dispensing position of the product to be dispensed along the axis.

[0010] At the starting position of the movement corresponding to the dispensing position, the slave shaft drive device is controlled to drive the dispensing device to move in the opposite direction to the driving direction of the main shaft drive assembly, so that the dispensing device and the dispensing position remain relatively stable for a first duration.

[0011] Within the first time period, the dispensing device is controlled to dispense glue to the dispensing position a target number of times.

[0012] When the number of times the current dispensing position is dispensed reaches the target number, the slave shaft drive device is controlled to drive the dispensing device to reset so as to dispense the next dispensing position.

[0013] According to the dispensing equipment provided in the first aspect of this application, it has at least the following beneficial effects: During the operation of the dispensing equipment, this application drives the dispensing device to move through the main shaft drive assembly and the slave shaft drive assembly. When the dispensing device and the dispensing position remain relatively stable, the dispensing device performs multiple dispensing operations on the current dispensing position. After the current dispensing position is completed, the slave shaft drive assembly can drive the dispensing device to move back and forth along the slave shaft to achieve a reset, which facilitates dispensing at the next dispensing position. This application adjusts the movement direction and speed of the dispensing device through the main shaft drive assembly and the slave shaft drive assembly, so that the dispensing device can perform multiple dispensing operations on multiple dispensing positions sequentially while the slave shaft drive assembly is always in motion, thereby achieving uninterrupted dispensing and improving dispensing efficiency.

[0014] Secondly, this application provides a control method for a dispensing device, the dispensing device including a spindle drive assembly, a slave shaft drive assembly, and a dispensing device, the slave shaft drive assembly including a slave shaft and a slave shaft drive device, the dispensing device being slidably disposed on the slave shaft, the control method including:

[0015] The spindle drive assembly is controlled to drive the dispensing position of the product to be dispensed along the axis.

[0016] At the starting position of the movement corresponding to the dispensing position, the slave shaft drive device is controlled to drive the dispensing device to move in the opposite direction to the driving direction of the main shaft drive assembly, so that the dispensing device and the dispensing position remain relatively stable for a first duration.

[0017] Within the first time period, the dispensing device is controlled to dispense adhesive to the dispensing position a target number of times;

[0018] When the number of times the current dispensing position is dispensed reaches the target number, the slave shaft drive device is controlled to drive the dispensing device to reset so as to dispense the next dispensing position.

[0019] Since the control method of the dispensing equipment of the second aspect is applied to the dispensing equipment described in any one of the first aspects, it has all the beneficial effects of the first aspect of the present invention.

[0020] According to some embodiments of the second aspect of this application, a first speed, a first acceleration, and a second speed of the product to be dispensed are obtained as the spindle drive assembly drives the slave axis to move at the starting position of the movement;

[0021] Based on the first preset dispensing position corresponding to the dispensing position during the first dispensing, as well as the first speed, the first acceleration, and the second speed, the first driving parameters of the slave shaft drive device are determined from the starting position of the movement to the first dispensing of the current dispensing position;

[0022] When the slave axis drive device drives the dispensing device to perform the remaining dispensing times, the second drive parameter is determined from the completion of the current dispensing time to the next dispensing time.

[0023] The slave drive device is controlled to drive the dispensing device to move in the opposite direction to the drive direction of the main spindle drive assembly, based on the first drive parameter and the second drive parameter.

[0024] According to some embodiments of the second aspect of this application, determining the first driving parameters of the driven shaft device from the starting position of the movement to the time of the first dispensing at the current dispensing position, based on the first preset dispensing position corresponding to the dispensing position at the first dispensing point, the first speed, the first acceleration, and the second speed, includes:

[0025] The first preset movement time of the slave shaft drive device from the starting position of movement to the first dispensing of glue at the current dispensing position is obtained;

[0026] Based on the first preset motion time, the first preset dispensing position, the first speed, the first acceleration, and the second speed, determine the first dispensing speed at which the slave shaft drive device moves the dispensing device during the first dispensing.

[0027] The first dispensing speed is divided into multiple segments based on the third speed at which the driven shaft drives the dispensing device to move at the starting position of the movement, to obtain multiple target speeds.

[0028] Based on the first preset dispensing position and the first preset motion time, motion planning is performed on multiple target speeds to obtain multiple acceleration motion curves;

[0029] The multiple acceleration motion curves are used as the first driving parameters of the slave shaft drive device from the starting position of the motion to the first dispensing at the current dispensing position.

[0030] According to some embodiments of the second aspect of this application, controlling the slave shaft drive device to drive the dispensing device to reset includes:

[0031] Based on the multiple acceleration curves, multiple deceleration curves are obtained;

[0032] The slave shaft drive device is controlled to drive the dispensing device to decelerate in the opposite direction to the driving direction of the main shaft drive assembly according to the multiple deceleration motion curves.

[0033] When the moving speed of the dispensing device driven by the slave shaft drive device is 0, the slave shaft drive device is controlled to drive the dispensing device to reset along the driving direction of the main shaft drive assembly.

[0034] According to some embodiments of the second aspect of this application, controlling the slave shaft drive device to drive the dispensing device to reset along the driving direction of the main shaft drive assembly includes:

[0035] Obtain a first distance between the dispensing position and the initial position, wherein the initial position is the position of the dispensing device on the slave shaft at the starting position of the movement;

[0036] Based on the first distance, the slave axis drive device is controlled to drive the dispensing device to move along the driving direction of the main axis drive assembly, so that when the dispensing device is in the initial position, the speed at which the slave axis drive device drives the dispensing device to move is the third speed.

[0037] According to some embodiments of the second aspect of this application, when the preset dispensing position corresponding to each dispensing is located directly above the dispensing position, the second driving parameter from the completion of the current dispensing to the next dispensing when determining that the driven shaft drive device drives the dispensing device to perform the remaining dispensing times includes:

[0038] Obtain the real-time speed at which the spindle drive assembly drives the slave axis to move;

[0039] The real-time speed at which the spindle drive assembly drives the slave axis to move is used as the second drive parameter from the completion of dispensing to the next dispensing.

[0040] According to some embodiments of the second aspect of this application, when the preset dispensing position corresponding to each dispensing is located diagonally above the dispensing position, the second driving parameter from the completion of the current dispensing to the next dispensing when determining that the driven device drives the dispensing device to perform the remaining dispensing times includes:

[0041] Obtain a second preset motion time during which the slave shaft drive device moves the dispensing device between two adjacent dispensing intervals;

[0042] Based on the real-time speed at which the spindle drive assembly moves the slave axis and the second preset motion time, a second distance is obtained during two adjacent dispensing cycles, driven by the spindle drive assembly to move the slave axis.

[0043] Based on the second preset dispensing position corresponding to the current dispensing number, the third preset dispensing position corresponding to the next dispensing number, and the second distance, a third distance is determined in which the slave shaft drive device moves the dispensing device during two adjacent dispensing periods.

[0044] Based on the second preset motion time and the third distance, the second driving parameters are determined from the completion of dispensing to the next dispensing.

[0045] According to some embodiments of the second aspect of this application, the product to be dispensed is uniformly conveyed to the dispensing area at the second speed. After controlling the spindle drive assembly to drive the product to be dispensed in the direction of the dispensing position along the axis of the product to be dispensed, the control method further includes:

[0046] The first motion parameters and the second speed of the spindle drive assembly driving the slave axis to move are obtained.

[0047] The motion time of the slave shaft between two adjacent dispensing positions is obtained based on the first motion parameter, the second speed, and the distance between two adjacent dispensing positions.

[0048] A first duration is set based on the movement time of the slave shaft between two adjacent dispensing positions, such that the sum of the first duration and the time for the slave shaft drive device to drive the dispensing device to reset is less than the movement time of the slave shaft between two adjacent dispensing positions.

[0049] Thirdly, this application provides a computer storage medium including computer-executable instructions stored thereon for performing a control method for a dispensing device as described in the second aspect of this invention.

[0050] Since the computer storage medium of the third aspect can execute the control method of the dispensing device of the second aspect, it has all the beneficial effects of the first aspect of the present invention.

[0051] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram of the dispensing equipment provided in the embodiments of this application;

[0054] Figure 2 This is a top view of the dispensing device provided in the embodiments of this application;

[0055] Figure 3 This is a schematic diagram of the driven component of the dispensing device provided in the embodiments of this application;

[0056] Figure 4 This is another structural schematic diagram of the driven assembly of the dispensing equipment provided in the embodiments of this application.

[0057] Figure 5 This is a main flowchart of the control method for the dispensing equipment provided in the embodiments of this application;

[0058] Figure 6 This is a flowchart illustrating the control method for the dispensing equipment provided in this application, specifically the process of driving the dispensing device to move.

[0059] Figure 7 This is a flowchart illustrating the determination of drive parameters in the control method for the dispensing equipment provided in this application embodiment;

[0060] Figure 8 This is a flowchart of the dispensing device reset process in the control method of the dispensing equipment provided in the embodiments of this application;

[0061] Figure 9 This is another flowchart of the dispensing device reset method of the control method for the dispensing equipment provided in the embodiments of this application;

[0062] Figure 10 This is a flowchart of a multiple dispensing process for a dispensing equipment control method provided in this application embodiment;

[0063] Figure 11 This is another flowchart of the control method for the dispensing equipment provided in the embodiments of this application for multiple dispensing;

[0064] Figure 12 This is a flowchart of the first duration setting of the control method for the dispensing equipment provided in the embodiments of this application.

[0065] Figure 13 This is a schematic diagram of the control of an electroplating device provided in an embodiment of this application.

[0066] Figure label:

[0067] Conveyor assembly 100;

[0068] Spindle drive assembly 200; X-axis linear module 210; Y-axis linear module 220; Z-axis linear module 230;

[0069] Drive assembly 300; X-axis slide rail 311; X-axis drive mechanism 312; Y-axis slide rail 321; Y-axis drive mechanism 322;

[0070] Dispensing device 400. Detailed Implementation

[0071] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that the embodiments of this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the embodiments of this application with unnecessary detail.

[0072] It should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0073] It should also be understood that references to "one embodiment" or "some embodiments" in the specification of embodiments of this application mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0074] In the description of this application, terms such as greater than, less than, and exceeding are understood to exclude the stated number, while terms such as above, below, and within are understood to include the stated number. The use of terms like "first" and "second" is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, the quantity of indicated technical features, or the sequential relationship between indicated technical features. It should be understood that directional descriptions, such as "up," "down," "front," "back," "left," and "right," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These are solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this application.

[0075] In conventional dispensing technology, dispensing equipment typically employs an intermittent dispensing method, repeatedly dispensing glue to the designated dispensing positions on the products. This involves multiple products remaining stationary while the dispensing device moves and stops intermittently. The device stops above the designated dispensing position on each product to dispense glue. After dispensing, the device moves to the next position and stops. Alternatively, the device remains stationary while products move and stop intermittently. Once the product reaches the designated dispensing position, the product stops moving, and the dispensing device continues dispensing. After dispensing, the product continues its journey to the next station. This control method requires repeated pauses and starts of the dispensing device or the product's dispensing position, resulting in low efficiency. Improving dispensing efficiency is a pressing issue that needs to be addressed in related technologies.

[0076] Based on this, this application provides a dispensing device, a control method for the dispensing device, and a storage medium. The dispensing device provided in this application adjusts the movement direction and speed of the dispensing device through a main shaft drive assembly and a slave shaft drive assembly, enabling the dispensing device to sequentially dispense multiple times at multiple dispensing positions while the slave shaft drive assembly remains in motion, thereby achieving uninterrupted dispensing and improving dispensing efficiency.

[0077] The following is a further explanation with reference to the accompanying diagram.

[0078] Reference Figures 1 to 4 This application provides a dispensing device, including a spindle drive assembly 200, a slave drive assembly 300, a dispensing device 400, and a control device.

[0079] The driven shaft assembly 300 includes a driven shaft and a driven shaft drive device.

[0080] The dispensing device 400 is slidably mounted on the driven shaft, and the driven shaft drive device is used to drive the dispensing device 400 to reciprocate along the driven shaft.

[0081] The control device is used for:

[0082] The spindle drive assembly 200 is controlled to move axially from the dispensing position of the product to be dispensed.

[0083] At the starting position of the movement corresponding to the dispensing position, the slave drive device drives the dispensing device 400 to move in the opposite direction to the driving direction of the main drive assembly 200, so that the dispensing device 400 and the dispensing position remain relatively stable for a first duration.

[0084] Within the first time period, the dispensing device 400 is controlled to dispense the target number of times at each dispensing position.

[0085] When the number of times the current dispensing position is dispensed reaches the target number, the control slave drive device drives the dispensing device 400 to reset so that dispensing can be performed on the next dispensing position.

[0086] It should be noted that during the operation of the dispensing equipment, this application drives the dispensing device 400 to move through the spindle drive assembly 200 and the driven shaft drive assembly 300. When the dispensing device 400 and the dispensing position remain relatively stable, the dispensing device 400 performs multiple dispensing operations on the current dispensing position. After the current dispensing position is completed, the driven shaft drive assembly can drive the dispensing device 400 to move back and forth along the driven shaft to achieve a reset, which facilitates dispensing at the next dispensing position. This application adjusts the movement direction and speed of the dispensing device 400 through the spindle drive assembly 200 and the driven shaft drive assembly 300, so that the dispensing device 400 performs multiple dispensing operations on multiple dispensing positions sequentially while the driven shaft drive assembly 300 is always in motion, thereby achieving uninterrupted dispensing and improving dispensing efficiency.

[0087] It should be noted that the spindle drive assembly 200 includes a spindle and a spindle drive device, with the spindle positioned above the conveying assembly 100. The spindle includes a linear module positioned in the direction of movement of the product to be dispensed. Assuming the direction of movement of the product to be dispensed is the X direction, the spindle includes an X-axis linear module 210, which is positioned in the direction of movement of the product to be dispensed. The slave shaft is slidably mounted on the X-axis linear module 210. The spindle drive device can drive the slave shaft to reciprocate along the X direction, while the slave shaft drive device can drive the dispensing device 400 to reciprocate along the X-axis in the X direction.

[0088] It should be noted that, assuming the moving direction of the product to be dispensed is the X direction, the spindle drive assembly 200 also includes a Y-axis linear module 220, a Z-axis linear module 230, and a linear module drive device. The Y-axis linear module 220 is set perpendicular to the X-axis linear module 210 in the horizontal direction, and the Z-axis linear module 230 is set perpendicular to the X-axis linear module 210 and the Y-axis linear module 220 in the vertical direction. The Y-axis linear module 220 can significantly adjust the position of the dispensing device 400 in the Y-axis direction, while the Z-axis linear module 230 is used to adjust the vertical distance between the dispensing device 400 and the product to be dispensed. Specifically, the Y-axis linear module 220 includes two slide rails, which are respectively disposed on both sides of the frame of the dispensing device. The X-axis linear module 210 is disposed between the two slide rails, and the Z-axis linear module 230 is disposed on the X-axis linear module 210. The X-axis linear module 210 is slidably connected to the Y-axis linear module 220, and the Z-axis linear module 230 is slidably connected to the X-axis linear module 210. The linear module drive device can drive the X-axis linear module 210 to move along the Y-axis linear module 220 to realize the movement of the slave axis, i.e., the dispensing device 400, in the Y direction. The linear module drive device can also drive the slave axis to move along the Z-axis linear module 230 to realize the movement of the slave axis in the Z direction. In addition, the spindle drive device drives the Z-axis linear module 230 to slide along the X-axis linear module 210 to realize the reciprocating motion of the slave axis in the X direction.

[0089] It should be noted that the driven axis can drive the dispensing device 400 to reciprocate along the direction of movement of the product to be dispensed. Assuming the product to be dispensed moves along the X-axis, the driven axis can drive the dispensing device 400 to reciprocate in the X-axis direction. The driven axis includes an X-axis slide rail 311, and the driven axis includes an X-axis drive mechanism 312. The X-axis drive mechanism 312 drives the dispensing device 400 to reciprocate along the X-axis slide rail 311. The driven axis is also provided with a Y-axis slide rail 321 and a Y-axis drive mechanism 322. The Y-axis slide rail 321 is slidably mounted on the X-axis slide rail 311 via a mounting plate, mounting bracket, or other structure. The dispensing device 400 is slidably mounted on the Y-axis slide rail 321, and the Y-axis drive mechanism 322 drives the dispensing device 400 to move along the Y-axis slide bar.

[0090] It should be noted that the dispensing equipment also includes a conveying assembly 100, which is used to drive the product to be dispensed to move.

[0091] In addition, this application provides a control method for a dispensing device, applied to the aforementioned dispensing device. The dispensing device includes a spindle drive assembly 200, a slave shaft drive assembly 300, and a dispensing device 400. The slave shaft drive assembly 300 includes a slave shaft and a slave shaft drive device. The dispensing device 400 is slidably disposed on the slave shaft. (Refer to...) Figure 5 The control method includes, but is not limited to, the following steps:

[0092] Step S100: Control the spindle drive assembly 200 to move from the direction of the dispensing position of the product to be dispensed along the axis.

[0093] Step S200: At the starting position of the movement corresponding to the dispensing position, control the slave drive device to drive the dispensing device 400 to move in the opposite direction to the driving direction of the main drive device, so that the dispensing device 400 and the dispensing position remain relatively stable for a first duration.

[0094] Step S300: Within the first time period, control the dispensing device 400 to dispensing the target number of times at the dispensing position.

[0095] Step S400: When the number of times the current dispensing position is dispensed reaches the target number, the control slave drive device drives the dispensing device 400 to reset so as to dispense the next dispensing position.

[0096] It should be noted that during the operation of the dispensing equipment, this application drives the dispensing device 400 to move through the spindle drive assembly 200 and the driven shaft drive assembly 300. When the dispensing device 400 and the dispensing position remain relatively stable, the dispensing device 400 performs multiple dispensing operations on the current dispensing position. After the current dispensing position is completed, the driven shaft drive assembly can drive the dispensing device 400 to move back and forth along the driven shaft to achieve a reset, which facilitates dispensing at the next dispensing position. This application adjusts the movement direction and speed of the dispensing device 400 through the spindle drive assembly 200 and the driven shaft drive assembly 300, so that the dispensing device 400 performs multiple dispensing operations on multiple dispensing positions sequentially while the driven shaft drive assembly 300 is always in motion, thereby achieving uninterrupted dispensing and improving dispensing efficiency.

[0097] It should be noted that the starting position of the movement is the position where the slave axis drive device starts moving the dispensing device 400 corresponding to the current dispensing position. Typically, the slave axis is shorter. When the dispensing position of the dispensing device 400 and the starting position are on different sides of the dispensing position, the maximum speed required for the slave axis drive device to move the dispensing device is higher, and the distance traveled along the slave axis is longer. Therefore, when the main shaft drive assembly 200 drives the dispensing device 400 to move from left to right, if the preset dispensing position of the dispensing device 400 is on the left side of the dispensing position, the starting position is set to the left side of the dispensing position; if the preset dispensing position of the dispensing device 400 is on the right side of the dispensing position, the starting position is set to the right side of the dispensing position; and when the preset dispensing position of the dispensing device 400 is directly above the dispensing product, the starting position can be set arbitrarily.

[0098] It should be noted that since the length of the main shaft along the direction of movement of the product to be glued is fixed, the main shaft drive device needs to drive the slave shaft to reciprocate along the main shaft. Therefore, the driving direction of the main shaft drive device can be the same as the conveying direction of the product to be glued, or the driving direction of the main shaft drive device can be opposite to the conveying direction of the product to be glued.

[0099] It should be noted that the target number is a positive integer greater than or equal to 1.

[0100] It should be noted that the dispensing device 400 and the dispensing position of the product to be dispensed are relatively stable. This can be achieved by keeping the dispensing device 400 and the dispensing position relatively stationary, that is, by having the same speed and direction of movement as the product to be dispensed. Alternatively, the speed difference between the dispensing device 400 and the product to be dispensed can be fixed, and the distance between the dispensing device 400 and the dispensing position of the product to be dispensed can be fixed.

[0101] It should be noted that the first duration is the time from the first dispensing of glue to the last dispensing of glue at the dispensing position by the dispensing device 400. When the target number is 1, the value of the first duration is small and infinitely close to 0. The first duration needs to be set according to the interval distance between multiple dispensing positions to ensure that the round-trip motion time of the dispensing device 400 driven by the shaft drive to dispensing glue to a single dispensing position multiple times is less than the motion time of the shaft between two adjacent dispensing positions.

[0102] It should be noted that the relative stability between the dispensing device 400 and the dispensing position can mean that the dispensing device 400 and the dispensing position remain relatively stationary, or that when the dispensing device 400 and the dispensing position are separated by a certain distance, the movement speed of the dispensing device 400 is sufficient to ensure that the glue output by the dispensing device 400 falls on the dispensing position.

[0103] Understandably, referring to Figure 6 Step S200 includes, but is not limited to, the following steps:

[0104] Step S210: Obtain the first speed, the first acceleration, and the second speed of the product to be dispensed as driven by the spindle drive assembly 200 at the starting position of the motion.

[0105] Step S220: Based on the first preset dispensing position corresponding to the dispensing position during the first dispensing, as well as the first speed, first acceleration, and second speed, determine the first driving parameters of the driven shaft device from the starting position of the movement to the first dispensing at the current dispensing position.

[0106] Step S230: Determine the second driving parameters from the completion of the current dispensing cycle to the next dispensing cycle when the shaft drive device drives the dispensing device 400 to perform the remaining dispensing cycles.

[0107] Step S240: Control the slave drive device to drive the dispensing device 400 to move in the opposite direction to the drive direction of the main spindle drive assembly 200 according to the first drive parameter and the second drive parameter.

[0108] It should be noted that, in order to maintain the relative stability between the dispensing device 400 and the current dispensing position for a first duration, the first driving parameters of the driven device from the start of operation to the first dispensing at the current dispensing position are determined based on the first preset dispensing position, the first speed, the first acceleration, and the second speed. Then, the second driving parameters corresponding to each dispensing operation are determined based on the remaining dispensing operations driven by the driven device. The driven device is controlled to move the dispensing device 400 in the opposite direction to the driving direction of the main spindle drive assembly 200, according to the first and second driving parameters, so that the dispensing device 400 and the dispensing position of the product to be dispensed can remain relatively stable during subsequent dispensing operations.

[0109] It should be noted that the second speed is the moving speed of the product to be dispensed. When the second speed is 0, the product remains stationary during the dispensing process, and the dispensing device 400 moves relative to the product at a speed of 0. The main shaft drive assembly 200 drives the driven shaft to move in the direction of the dispensing position on the product. During this process, the driven shaft drive device drives the dispensing device 400 to move in the opposite direction. Throughout this process, the driven shaft remains in motion, achieving uninterrupted dispensing. When the second speed is 0, the product remains stationary during the dispensing process, making it easier to set the motion parameters.

[0110] It should be noted that the first acceleration can be a specific value, while when the first acceleration is 0, the shaft drive component drives the shaft to move at a constant speed, which makes it easier to set the motion parameters.

[0111] It should be noted that the first preset glue dispensing position is the position where the glue dispensing device 400 outputs glue during the first dispensing.

[0112] It should be noted that the second driving parameter is the driving parameter corresponding to each dispensing operation, that is, the driving parameter of the drive device from the completion of the current dispensing operation to the next dispensing operation. When the first dispensing operation is completed, the second driving parameter is the driving parameter of the drive device from the completion of the second dispensing operation to the next dispensing operation.

[0113] Understandably, referring to Figure 7 Step S220 includes, but is not limited to, the following steps:

[0114] Step S221: Obtain the first preset motion time from the starting position of the shaft drive device to the first dispensing of glue at the current dispensing position.

[0115] Step S222: Based on the first preset motion time, the first preset dispensing position, the first speed, the first acceleration, and the second speed, determine the first dispensing speed at which the dispensing device 400 is moved by the shaft drive device during the first dispensing.

[0116] Step S223: The first dispensing speed is divided into multiple segments based on the third speed at which the driven device drives the dispensing device 400 to move at the starting position of the motion, so as to obtain multiple target speeds.

[0117] Step S224: Based on the first preset glue dispensing position and the first preset motion time, perform motion planning for multiple target speeds to obtain multiple acceleration motion curves.

[0118] Step S225: Use multiple acceleration motion curves as the first driving parameters when the driven shaft moves from the starting position to the first dispensing position at the current dispensing point.

[0119] It should be noted that, based on the first preset dispensing position corresponding to the dispensing position during the first dispensing, as well as the first speed, first acceleration, and second speed, the first dispensing speed driven by the shaft drive device to move the dispensing device 400 during the first dispensing is determined. Furthermore, based on the third speed at which the shaft drive device moves the dispensing device 400 at the initial position, the first dispensing speed is divided into multiple segments to obtain multiple target speeds. Then, motion planning is performed on these multiple target speeds to obtain multiple acceleration motion curves, thus yielding the first driving parameters. This application, through the first driving parameters, can control the shaft drive device to drive the dispensing device 400 to accelerate in multiple segments along the shaft, enabling the dispensing device 400 to operate smoothly, improving the stability of the dispensing device 400's operation, thereby improving dispensing accuracy, and reducing the occurrence of damage caused by excessively rapid instantaneous acceleration of the dispensing device 400.

[0120] It should be noted that the first preset motion time in step S221 is the motion time of the driven shaft from the starting position to the first dispensing of glue at the current dispensing position. This time can be adjusted and set according to the motion time of the driven shaft between two adjacent dispensing positions.

[0121] It should be noted that in step S222, the moving speed of the spindle drive assembly 200 driving the slave shaft during the first dispensing is first calculated based on the first preset movement time, the first speed, and the first acceleration. The moving distance of the spindle drive assembly 200 driving the slave shaft is then obtained based on the moving speed of the spindle drive assembly 200 driving the slave shaft during the first dispensing and the first preset movement time. Based on the first preset movement time and the second speed, the moving distance of the product to be dispensed, i.e., the moving distance of the dispensing position, can be obtained. Furthermore, based on the vertical distance between the dispensing device 400 and the product to be dispensed, the movement time of the adhesive from dispensing to being applied at the dispensing position can be obtained. Based on this movement time and the moving speed and second speed of the spindle drive assembly 200 driving the slave shaft during the first dispensing, the first dispensing speed of the slave shaft drive device driving the dispensing device 400 during the first dispensing can be determined.

[0122] It should be noted that in step S224, motion planning is performed on multiple target speeds, and the motion time and distance corresponding to each acceleration motion curve are controlled so that after the dispensing device 400 is driven by the shaft drive device to move for a first preset motion time, the dispensing device 400 is located at the first preset dispensing position.

[0123] Understandably, referring to Figure 8 Step S400 includes, but is not limited to, the following steps:

[0124] Step S410: Based on multiple acceleration curves, obtain multiple deceleration curves.

[0125] Step S420: Based on multiple deceleration motion curves, control the slave shaft drive device to drive the dispensing device 400 to decelerate in the opposite direction to the drive direction of the main shaft drive assembly 200.

[0126] Step S430: When the moving speed of the dispensing device 400 driven by the driven shaft is 0, control the driven shaft to drive the dispensing device 400 to reset along the driving direction of the main shaft drive assembly 200.

[0127] It should be noted that, based on multiple acceleration motion curves, corresponding deceleration motion curves are obtained. Based on the multiple deceleration motion curves, the slave shaft drive device is controlled to drive the dispensing device 400 to decelerate in the opposite direction to the driving direction of the main shaft drive device. When the movement speed of the dispensing device 400 driven by the slave shaft drive device is 0, the slave shaft drive device is controlled to drive the dispensing device 400 to reset in the driving direction of the main shaft drive device.

[0128] It should be noted that the movement of the dispensing device 400 is controlled according to the deceleration motion curve. This application controls the dispensing device 400 to perform multi-stage deceleration, enabling the dispensing device 400 to smoothly change its direction of movement and reducing damage caused by excessively rapid changes in the direction of movement.

[0129] It should be noted that in step S410, when the moving speed of the dispensing device 400 driven by the shaft drive device during the last dispensing is the same as the first dispensing speed, multiple deceleration motion curves can be directly obtained from multiple acceleration motion curves. When the moving speed of the dispensing device 400 driven by the shaft drive device during the last dispensing is less than the first dispensing speed, a target speed with a similar value in the acceleration motion curves can be selected, and multiple deceleration motion curves can be obtained from the acceleration motion curve corresponding to that target speed. When the moving speed of the dispensing device 400 driven by the shaft drive device during the last dispensing is greater than the first dispensing speed, the moving speed of the dispensing device 400 driven by the shaft drive device during the last dispensing can be segmented based on the original multiple acceleration motion curves, and then multiple deceleration motion curves can be obtained from the acceleration motion curves.

[0130] It should be noted that in step S430, the time for the slave shaft drive device to drive the dispensing device 400 to reset along the driving direction of the main shaft drive assembly 200 can be set according to the first duration and the movement time of the slave shaft between two adjacent dispensing positions.

[0131] Understandably, referring to Figure 9 Step S430 includes, but is not limited to, the following steps:

[0132] Step S431: Obtain the first distance between the dispensing position and the initial position. The initial position is the position of the dispensing device 400 on the slave axis when the movement starts.

[0133] Step S432: Based on the first distance, control the driven device to drive the dispensing device 400 to move along the driving direction of the main shaft drive assembly 200, so that when the dispensing device 400 is in the initial position, the speed at which the driven device drives the dispensing device 400 to move is the third speed.

[0134] It should be noted that, based on the first distance between the current dispensing device 400 and the initial position, the driven device is controlled to move the dispensing device 400 along the driving direction of the main shaft drive assembly 200, so that when the dispensing device 400 is in the initial position, the speed at which the driven device moves the dispensing device 400 is the third speed. The third speed is the speed at which the driven device moves the dispensing device 400 at the starting position of the movement, that is, the third speed is the moving speed of the dispensing device 400 at the initial position, and the initial position is the position of the dispensing device 400 on the driven shaft when the driven device is at the starting position of the movement corresponding to the current dispensing position.

[0135] It should be noted that the time for the slave shaft drive device to drive the dispensing device 400 to reset also needs to be adjusted based on the movement time of the slave shaft between two adjacent dispensing positions and the first duration.

[0136] Understandably, referring to Figure 10 When the preset dispensing position for each dispensing is directly above the dispensing position, step S230 includes, but is not limited to, the following steps:

[0137] Step S231: Obtain the real-time speed at which the spindle drive assembly 200 drives the slave axis to move.

[0138] Step S232: Use the real-time speed at which the spindle drive assembly 200 drives the axis to move as the second drive parameter from the completion of dispensing to the next dispensing.

[0139] It should be noted that when the preset dispensing position corresponding to each dispensing is located directly above the dispensing position, that is, when the dispensing device 400 and the dispensing position remain relatively stationary and the speed of the dispensing device 400 relative to the dispensing position is 0, the real-time speed of the spindle drive assembly 200 driving the driven shaft to move is used as the second drive parameter of the driven shaft from the first dispensing to the last dispensing at the current dispensing position.

[0140] It should be noted that when the preset dispensing position corresponding to each dispensing is located directly above the dispensing position, the first driving parameter is mainly used to drive the dispensing device 400 to be located directly above the dispensing position. After that, the speed at which the slave drive device drives the dispensing device 400 to move, i.e., the second driving parameter, is always consistent with the real-time speed at which the spindle drive assembly 200 drives the slave axis to move.

[0141] Understandably, referring to Figure 11 When the preset dispensing position for each dispensing is located diagonally above the dispensing position, step S230 includes, but is not limited to, the following steps:

[0142] Step S233: Obtain the second preset motion time during which the dispensing device 400 is moved by the shaft drive device during two adjacent dispensing intervals.

[0143] Step S234: Based on the real-time speed of the spindle drive assembly 200 driving the slave axis to move and the second preset motion time, obtain the second distance that the spindle drive assembly 200 drives the slave axis to move during two adjacent dispensing cycles.

[0144] Step S235: Based on the second preset dispensing position corresponding to the current dispensing number, the third preset dispensing position corresponding to the next dispensing number, and the second distance, determine the third distance that the dispensing device 400 is driven to move by the shaft drive device during two adjacent dispensing periods.

[0145] Step S236: Determine the second driving parameters from the completion of dispensing to the next dispensing based on the second preset motion time and the third distance.

[0146] It should be noted that when the preset dispensing position corresponding to each dispensing is located diagonally above the dispensing position, the glue output by the dispensing device 400 moves in a parabolic motion. Based on the second preset dispensing position corresponding to the previous dispensing number and the third preset dispensing position of the current dispensing number, the second driving parameter of the slave shaft drive device is determined from the first dispensing to the last dispensing at the current dispensing position, so that the dispensing device 400 can perform multiple dispensings at the dispensing position.

[0147] It should be noted that in step S234, the second preset motion time is the time during which the slave axis drive device drives the dispensing device 400 to move between two adjacent dispensing operations. Based on the second preset motion time and the real-time motion parameters of the spindle drive assembly 200 driving the slave axis to move, the second distance that the spindle drive assembly 200 drives the slave axis to move during two adjacent dispensing operations can be obtained. The real-time motion parameters include the speed and acceleration of the spindle drive assembly 200 driving the slave axis to move.

[0148] It should be noted that in step S235, the distance between the dispensing device 400 and the dispensing position can be determined based on the second preset dispensing position for the current dispensing number, and the distance between the dispensing device 400 and the dispensing position can be determined based on the third preset dispensing position for the next dispensing number. Therefore, based on the second preset dispensing position, the third preset dispensing position, and the second distance, the third distance by which the dispensing device 400 is moved by the shaft drive device during two adjacent dispensing intervals can be determined.

[0149] It should be noted that the second preset dispensing position is the position where the dispensing device 400 outputs glue corresponding to the previous dispensing number, and the third preset dispensing position is the position where the dispensing device 400 outputs glue corresponding to the current dispensing number. The second and third preset dispensing positions are adjusted according to the number of dispensings. When the first dispensing is completed, a second dispensing is required at the dispensing position. In this case, the second preset dispensing position is the position where the dispensing device 400 outputs glue during the first dispensing, which is the same as the first preset dispensing position.

[0150] It should be noted that in step S236, based on the second preset movement time and the third distance, the second driving parameters from the completion of dispensing to the next dispensing can be determined so that after the second preset movement time, the shaft drive device can drive the dispensing device 400 to move to the third preset dispensing position.

[0151] Understandably, referring to Figure 12 The product to be dispensed is conveyed uniformly to the dispensing area at a second speed. Between steps S200 and S300, the following steps may also be included:

[0152] Step S510: Obtain the first motion parameters and the second speed of the spindle drive assembly 200 driving the slave axis to move.

[0153] Step S520: Based on the first motion parameter, the second velocity, and the distance between two adjacent glue points, obtain the motion time of the slave shaft between two adjacent glue points.

[0154] Step S530: Set a first duration based on the movement time of the slave shaft between two adjacent dispensing positions, so that the sum of the first duration and the time for the slave shaft drive device to drive the dispensing device 400 to reset is less than the movement time of the slave shaft between two adjacent dispensing positions.

[0155] It should be noted that the first duration is set according to the movement time of the slave shaft between two adjacent dispensing positions, so that the time for the dispensing position to dispense a preset number of dispensing positions is less than the movement time of the slave shaft between two adjacent dispensing positions. This enables the dispensing device 400 to dispense dispensing at each dispensing position, reducing the occurrence of missed dispensing at dispensing positions.

[0156] It should be noted that the dispensing area is the area where the dispensing device 400 dispenses glue to the dispensing position. In this area, the spindle drive assembly 200 drives the spindle to move from the direction of the dispensing position, while the driven spindle drive device drives the dispensing device 400 to reciprocate along the driven spindle.

[0157] It should be noted that in step S620, the first motion parameter is the speed and acceleration of the spindle drive assembly 200 driving the slave axis to move during the dispensing of multiple dispensing positions. Based on the first motion parameter, the second speed, and the distance between two adjacent dispensing positions, the movement time of the slave axis between two adjacent dispensing positions is obtained.

[0158] It should be noted that during the operation of the dispensing equipment, this application drives the dispensing device 400 to move through the spindle drive assembly 200 and the driven shaft drive assembly 300. When the dispensing device 400 and the dispensing position remain relatively stable, the dispensing device 400 performs multiple dispensing operations on the current dispensing position. After the current dispensing position is completed, the driven shaft drive assembly can drive the dispensing device 400 to move back and forth along the driven shaft to achieve a reset, which facilitates dispensing at the next dispensing position. This application adjusts the movement direction and speed of the dispensing device 400 through the spindle drive assembly 200 and the driven shaft drive assembly 300, so that the dispensing device 400 can perform multiple dispensing operations on multiple dispensing positions sequentially while the driven shaft drive assembly 300 is always in motion, thereby achieving uninterrupted dispensing and improving dispensing efficiency.

[0159] Additionally, refer to Figure 13 This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program as in steps S100 to S500, which describes a method for controlling a dispensing device.

[0160] The processor and memory can be connected via a bus or other means.

[0161] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0162] The non-transient software program and instructions required to implement the control method of the dispensing equipment in the above embodiments are stored in memory. When executed by a processor, the control method of the dispensing equipment in the above embodiments is executed, for example, the method described above is executed. Figure 5 Method steps S100 to S400.

[0163] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0164] Furthermore, one embodiment of this application also provides a computer-readable storage medium storing computer-executable instructions. These instructions are executed by a processor or controller, causing the processor to perform the control method for the dispensing equipment described in the above embodiments, for example, performing the above-described... Figure 5 Method steps S100 to S400 in the text Figure 6 Method steps S210 to S240 in the text Figure 7 Method steps S221 to S225 in the text Figure 8 Method steps S410 to S430, Figure 9 Method steps S431 to S432 in the text Figure 10 Method steps S231 to S232 in the text Figure 11 Method steps S233 to S236 in the text Figure 12 Method steps S510 to S530.

[0165] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage media, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0166] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A dispensing device, characterized in that, include: Spindle drive assembly; A slave shaft drive assembly, the slave shaft drive assembly including a slave shaft and a slave shaft drive device; A dispensing device is slidably mounted on the slave shaft, and the slave shaft driving device is used to drive the dispensing device to reciprocate along the slave shaft. Control device, the control device being used for: The spindle drive assembly is controlled to drive the dispensing position of the product to be dispensed along the axis. At the starting position of the movement corresponding to the dispensing position, the slave shaft drive device is controlled to drive the dispensing device to move in the opposite direction to the driving direction of the main shaft drive assembly, so that the dispensing device and the dispensing position remain relatively stable for a first duration. Within the first time period, the dispensing device is controlled to dispense glue to the dispensing position a target number of times. When the number of times the current dispensing position is dispensed reaches the target number, the slave shaft drive device is controlled to drive the dispensing device to reset so as to dispense the next dispensing position.

2. A control method for a dispensing device, characterized in that, The dispensing equipment includes a spindle drive assembly, a slave drive assembly, and a dispensing device. The slave drive assembly includes a slave shaft and a slave drive device. The dispensing device is slidably disposed on the slave shaft. The control method includes: The spindle drive assembly is controlled to drive the dispensing position of the product to be dispensed along the axis. At the starting position of the movement corresponding to the dispensing position, the slave shaft drive device is controlled to drive the dispensing device to move in the opposite direction to the driving direction of the main shaft drive assembly, so that the dispensing device and the dispensing position remain relatively stable for a first duration. Within the first time period, the dispensing device is controlled to dispense glue to the dispensing position a target number of times. When the number of times the current dispensing position is dispensed reaches the target number, the slave shaft drive device is controlled to drive the dispensing device to reset so as to dispense the next dispensing position.

3. The control method for the dispensing equipment according to claim 2, characterized in that, The step of controlling the slave shaft drive device to move the dispensing device in the opposite direction to the driving direction of the main shaft drive assembly at the motion start position corresponding to the dispensing position includes: The first speed, the first acceleration, and the second speed of the product to be dispensed are obtained when the spindle drive assembly drives the slave axis to move at the starting position of the movement. Based on the first preset dispensing position corresponding to the dispensing position during the first dispensing, as well as the first speed, the first acceleration, and the second speed, the first driving parameters of the slave shaft drive device are determined from the starting position of the movement to the first dispensing of the current dispensing position; When the slave axis drive device drives the dispensing device to perform the remaining dispensing times, the second drive parameter is determined from the completion of the current dispensing time to the next dispensing time. The slave drive device is controlled to drive the dispensing device to move in the opposite direction to the drive direction of the main spindle drive assembly, based on the first drive parameter and the second drive parameter.

4. The control method for the dispensing equipment according to claim 3, characterized in that, The step of determining the first driving parameters of the driven shaft device from the starting position of the movement to the time of the first dispensing at the current dispensing position, based on the first preset dispensing position corresponding to the dispensing position at the first dispensing point, the first speed, the first acceleration, and the second speed, includes: The first preset movement time of the slave shaft drive device from the starting position of movement to the first dispensing of glue at the current dispensing position is obtained; Based on the first preset motion time, the first preset dispensing position, the first speed, the first acceleration, and the second speed, determine the first dispensing speed at which the slave shaft drive device moves the dispensing device during the first dispensing. The first dispensing speed is divided into multiple segments based on the third speed at which the driven shaft drives the dispensing device to move at the starting position of the movement, to obtain multiple target speeds. Based on the first preset dispensing position and the first preset motion time, motion planning is performed on multiple target speeds to obtain multiple acceleration motion curves; The multiple acceleration motion curves are used as the first driving parameters of the slave shaft drive device from the starting position of the motion to the first dispensing at the current dispensing position.

5. The control method for the dispensing equipment according to claim 4, characterized in that, The control of the slave shaft drive device to drive the dispensing device to reset includes: Based on the multiple acceleration curves, multiple deceleration curves are obtained; The slave shaft drive device is controlled to drive the dispensing device to decelerate in the opposite direction to the driving direction of the main shaft drive assembly according to the multiple deceleration motion curves. When the moving speed of the dispensing device driven by the slave shaft drive device is 0, the slave shaft drive device is controlled to drive the dispensing device to reset along the driving direction of the main shaft drive assembly.

6. The control method for the dispensing equipment according to claim 5, characterized in that, The control of the slave axis drive device to drive the dispensing device to reset along the driving direction of the main axis drive assembly includes: Obtain a first distance between the dispensing device and the initial position, wherein the initial position is the position of the dispensing device on the slave axis at the starting position of the movement; Based on the first distance, the slave shaft drive device is controlled to drive the dispensing device to move along the driving direction of the main shaft drive assembly, so that the dispensing device moves back to the initial position, and the speed at which the slave shaft drive device drives the dispensing device to move back to the initial position is the third speed.

7. The control method for the dispensing equipment according to claim 3, characterized in that, When the preset dispensing position for each dispensing operation is directly above the dispensing position, the second driving parameter from the completion of the current dispensing operation to the next dispensing operation when determining that the driven shaft device is driving the dispensing device to perform the remaining dispensing operations includes: Obtain the real-time speed at which the spindle drive assembly drives the slave axis to move; The real-time speed at which the spindle drive assembly drives the slave axis to move is used as the second drive parameter from the completion of dispensing to the next dispensing.

8. The control method for the dispensing equipment according to claim 3, characterized in that, When the preset dispensing position for each dispensing operation is located diagonally above the dispensing position, the second driving parameter from the completion of the current dispensing operation to the next dispensing operation when determining that the driven device is driving the dispensing device to perform the remaining dispensing operations includes: Obtain a second preset motion time during which the slave shaft drive device moves the dispensing device between two adjacent dispensing intervals; Based on the real-time speed at which the spindle drive assembly moves the slave axis and the second preset motion time, a second distance is obtained during two adjacent dispensing cycles, driven by the spindle drive assembly to move the slave axis. Based on the second preset dispensing position corresponding to the current dispensing number, the third preset dispensing position corresponding to the next dispensing number, and the second distance, the third distance that the slave shaft drive device drives the dispensing device to move during two adjacent dispensing periods is determined. Based on the second preset motion time and the third distance, the second driving parameters are determined from the completion of dispensing to the next dispensing.

9. The control method for the dispensing equipment according to claim 2, characterized in that, The product to be dispensed is conveyed uniformly to the dispensing area at a second speed. After the spindle drive assembly is controlled to move in the direction of the dispensing position of the product to be dispensed from the axis, the control method further includes: The first motion parameters and the second speed of the spindle drive assembly driving the slave axis to move are obtained. The motion time of the slave shaft between two adjacent dispensing positions is obtained based on the first motion parameter, the second speed, and the distance between two adjacent dispensing positions. A first duration is set based on the movement time of the slave shaft between two adjacent dispensing positions, such that the sum of the first duration and the time for the slave shaft drive device to drive the dispensing device to reset is less than the movement time of the slave shaft between two adjacent dispensing positions.

10. A computer storage medium, characterized in that, It includes storing computer-executable instructions for performing a control method for a dispensing device as described in any one of claims 2 to 9.

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