Gluing machine and gluing control method

Abstract

The application discloses a gluing machine and a gluing control method. The gluing track is obtained, the glue discharging mechanism is controlled to move along the gluing track through a position adjusting mechanism, the glue discharging mechanism is controlled to discharge glue, the glue discharging pressure of the glue discharging mechanism is detected in real time through a pressure sensor, a target pressure is obtained, the glue discharging pressure is adjusted in real time based on a fuzzy control algorithm according to the target pressure, and the glue discharging pressure is kept as the target pressure, so that the glue discharging amount of the glue discharging mechanism is uniform during the gluing process, and the gluing effect is good.

Description

Technical Field

[0001] This application relates to the field of glue applicator technology, and in particular to a glue applicator and glue applicator control method. Background Technology

[0002] A glue applicator, also known as a coating machine, glue scraper, or automatic glue sprayer, is a mechanical device mainly used to apply liquid glue to the surface of textiles, cardboard boxes, or leather. However, glue applicators on the market often suffer from uneven glue dispensing during the application process, resulting in poor glue application quality. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a glue applicator and a glue applicator control method, which can solve the problem of uneven glue dispensing during the glue applicator process in traditional glue applicator technologies.

[0004] The glue applicator according to the first aspect of this application includes:

[0005] frame;

[0006] A position adjustment mechanism, which is mounted on the frame;

[0007] A glue dispensing mechanism, which is mounted on the position adjustment mechanism;

[0008] A pressure sensor is used to detect the dispensing pressure of the dispensing mechanism;

[0009] The control module has its output terminal electrically connected to the control terminal of the position adjustment mechanism and the control terminal of the glue dispensing mechanism. The output terminal of the pressure sensor is electrically connected to the input terminal of the control module. The control module performs the glue application operation through a glue application control method.

[0010] The adhesive application control method includes:

[0011] Obtain the adhesive application trajectory;

[0012] The position adjustment mechanism controls the movement of the glue dispensing mechanism along the glue application trajectory.

[0013] The dispensing mechanism is controlled to dispense adhesive, and the dispensing pressure of the dispensing mechanism is detected in real time by the pressure sensor;

[0014] Obtain the target pressure, and adjust the dispensing pressure in real time based on the target pressure using a fuzzy control algorithm, so that the dispensing pressure remains constant at the target pressure.

[0015] The glue applicator according to the first aspect of the present application has at least the following beneficial effects:

[0016] The adhesive application trajectory is obtained, and the dispensing mechanism is controlled to move along the trajectory via a position adjustment mechanism. The dispensing mechanism is controlled to dispense adhesive, and the dispensing pressure is detected in real time by a pressure sensor to obtain a target pressure. Based on the target pressure, the dispensing pressure is adjusted in real time using a fuzzy control algorithm to ensure that the dispensing pressure remains constant at the target pressure. Compared to traditional adhesive application techniques, the adhesive application machine of the first aspect embodiment of this application achieves better adhesive application results because the dispensing pressure is maintained at the target pressure, resulting in uniform adhesive dispensing and a better coating effect.

[0017] According to some embodiments of this application, a conveyor belt mechanism is provided on the frame, and the output terminal of the control module is electrically connected to the control terminal of the conveyor belt mechanism.

[0018] According to some embodiments of this application, a vision mechanism is also included, which is mounted on the frame and whose output is electrically connected to the input of the control module.

[0019] According to some embodiments of this application, the position adjustment mechanism is a three-degree-of-freedom parallel robot. The three-degree-of-freedom parallel robot includes a static platform, a moving platform, and three kinematic chains arranged in parallel between the static platform and the moving platform. The kinematic chain includes a first motor, an active arm, and a driven arm. The output shaft of the first motor is drivenly connected to one end of the active arm, the other end of the active arm is hinged to one end of the driven arm, and the other end of the driven arm is hinged to the moving platform. The glue dispensing mechanism is mounted on the moving platform.

[0020] According to some embodiments of this application, the glue dispensing mechanism includes a second motor, a transmission mechanism, a piston, a glue cylinder, and a glue dispensing head. The output shaft of the second motor is connected to one end of the piston through the transmission mechanism. The piston is installed inside the glue cylinder, and the glue dispensing head is disposed at one end of the glue cylinder.

[0021] According to some embodiments of this application, the transmission mechanism includes a first fixed plate, a second fixed plate, a lead screw, and multiple optical shafts. The second motor is mounted on the first fixed plate. The first fixed plate is provided with multiple first through holes corresponding to the optical shafts. A first bearing is installed in the first through hole. One end of the optical shaft is installed in the first bearing, and the other end of the optical shaft is fixedly connected to the second fixed plate. The second fixed plate is provided with a second through hole. A second bearing is installed in the second through hole. The lead screw is installed in the second bearing, and the output shaft of the second motor is connected to the lead screw.

[0022] The adhesive application control method according to the second aspect of this application includes:

[0023] Obtain the adhesive application trajectory;

[0024] The glue dispensing mechanism is controlled to move along the glue application trajectory by a position adjustment mechanism;

[0025] The dispensing mechanism is controlled to dispense adhesive, and the dispensing pressure of the dispensing mechanism is detected in real time by a pressure sensor;

[0026] Obtain the target pressure, and adjust the dispensing pressure in real time based on the target pressure using a fuzzy control algorithm, so that the dispensing pressure remains constant at the target pressure.

[0027] The adhesive application control method according to the second aspect of this application has at least the following beneficial effects:

[0028] The adhesive application trajectory is obtained, and the dispensing mechanism is controlled to move along the trajectory via a position adjustment mechanism to control the dispensing of adhesive. The dispensing pressure is detected in real time by a pressure sensor to obtain a target pressure. Based on the target pressure, the dispensing pressure is adjusted in real time using a fuzzy control algorithm to ensure that the dispensing pressure remains constant at the target pressure. Compared to traditional adhesive application techniques, the adhesive application control method of the second aspect of this application achieves better results because the dispensing pressure is maintained at the target pressure, resulting in uniform adhesive dispensing and a better coating effect.

[0029] According to some embodiments of this application, the real-time adjustment of the dispensing pressure based on a fuzzy control algorithm includes:

[0030] The dispensing pressure is fuzzified to obtain a first input variable, and the difference between the dispensing pressure and the target pressure is fuzzified to obtain a second input variable.

[0031] A fuzzy rule is obtained, and an output variable is obtained based on the first input variable, the second input variable, and the fuzzy rule. The output variable is the speed control quantity of the second motor.

[0032] The output variable is defuzzified to obtain a control value. The speed of the second motor is controlled according to the control value, thereby adjusting the dispensing pressure. The second motor is used to drive the dispensing mechanism to dispense glue.

[0033] According to some embodiments of this application, the step of performing a fuzzification operation on the dispensing pressure to obtain a first input variable, and performing a fuzzification operation on the difference between the dispensing pressure and the target pressure to obtain a second input variable, includes:

[0034] A first fuzzy set is determined, the elements of which include SP1, MP1 and LP1, where SP1 represents low pressure, MP1 represents medium pressure and LP1 represents high pressure.

[0035] Obtain a first mapping relationship, which is the mapping relationship between the dispensing pressure and the first fuzzy set;

[0036] The first input variable is obtained based on the dispensing pressure and the first mapping relationship;

[0037] A second fuzzy set is determined, the elements of which include SP2, MP2 and LP2, where SP2 represents pressure less than the target pressure, MP2 represents pressure equal to the target pressure, and LP2 represents pressure greater than the target pressure.

[0038] Obtain a second mapping relationship, which is the mapping relationship between the difference between the dispensing pressure and the target pressure and the second fuzzy set;

[0039] The second input variable is obtained based on the difference between the dispensing pressure and the target pressure, and the second mapping relationship.

[0040] According to some embodiments of this application, obtaining the output variable based on fuzzy rules includes:

[0041] A third fuzzy set is determined, the elements of which include SN, ZE, SP, MP and LP, where SN represents a significant decrease in rotational speed, ZE represents a slight decrease in rotational speed, SP represents no change in rotational speed, MP represents a slight increase in rotational speed, and LP represents a significant increase in rotational speed.

[0042] If the first input variable is SP1 and the second input variable is SP2, then the output variable is determined to be MP.

[0043] If the first input variable is SP1 and the second input variable is MP2, then the output variable is determined to be LP;

[0044] If the first input variable is SP1 and the second input variable is LP2, then the output variable is determined to be LP;

[0045] If the first input variable is MP1 and the second input variable is SP2, then the output variable is determined to be SP;

[0046] If the first input variable is MP1 and the second input variable is MP2, then the output variable is determined to be SP.

[0047] If the first input variable is MP1 and the second input variable is LP2, then the output variable is determined to be SP;

[0048] If the first input variable is LP1 and the second input variable is SP2, then the output variable is determined to be ZE.

[0049] If the first input variable is LP1 and the second input variable is MP2, then the output variable is determined to be SN;

[0050] If the first input variable is LP1 and the second input variable is LP2, then the output variable is determined to be SN.

[0051] A computer-readable storage medium according to a third aspect of this application stores a processor-executable program, which, when executed by a processor, is used to implement the adhesive application control method as described above.

[0052] The computer-readable storage medium according to the third aspect of the present application has at least the following advantages:

[0053] The adhesive application trajectory is obtained, and the dispensing mechanism is controlled to move along the trajectory via a position adjustment mechanism. The dispensing mechanism dispenses adhesive, and the dispensing pressure is detected in real time by a pressure sensor to obtain a target pressure. Based on the target pressure, the dispensing pressure is adjusted in real time using a fuzzy control algorithm to ensure that the dispensing pressure remains constant at the target pressure. The computer-readable storage medium of the third aspect of this application, compared to traditional adhesive application techniques, achieves better adhesive application results because the dispensing pressure is maintained at the target pressure, resulting in uniform adhesive dispensing and a better coating effect.

[0054] 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

[0055] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0056] Figure 1 This is a schematic diagram of the adhesive applicator in one embodiment of this application;

[0057] Figure 2 This is a flowchart of an adhesive application control method in one embodiment of this application;

[0058] Figure 3 This is a schematic diagram of the vision mechanism in one embodiment of this application;

[0059] Figure 4 This is a schematic diagram of the structure of a three-degree-of-freedom parallel robot in one embodiment of this application;

[0060] Figure 5 This is a schematic diagram of the adhesive dispensing mechanism in one embodiment of this application;

[0061] Figure 6 This is a flowchart illustrating the process of obtaining the adhesive application trajectory in one embodiment of this application;

[0062] Figure 7 This is a flowchart illustrating the adjustment of dispensing pressure in one embodiment of this application;

[0063] Figure 8 This is a flowchart illustrating the process of obtaining the first output variable and the second output variable in one embodiment of this application;

[0064] Figure 9 This is a flowchart illustrating the process of obtaining control quantity values ​​in one embodiment of this application.

[0065] Figure label:

[0066] Rack 100

[0067] Position adjustment mechanism 200, stationary platform 210, moving platform 220, first motor 230, driving arm 240, driven arm 250, glue dispensing mechanism 300, second motor 310, transmission mechanism 320, first fixed plate 321, second fixed plate 322, lead screw 323, optical shaft 324, first bearing 325, second bearing 326, coupling 327, piston 330.

[0068] Glue cartridge 340, dispensing head 350, first adapter 360, second adapter 370

[0069] Pressure sensor 400

[0070] Conveyor belt mechanism 500

[0071] Vision mechanism 600, first support 610, second support 620, camera 630.

[0072] Shade 640. Detailed Implementation

[0073] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0074] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and 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, and therefore should not be construed as a limitation of this application.

[0075] In the description of this application, "multiple" refers to two or more. The use of "first" and "second" is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or the order in which the technical features are indicated.

[0076] In the description of this application, unless otherwise expressly defined, terms such as "setting," "installation," and "electrical connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0077] The following is for reference. Figures 1 to 9 A glue applicator and glue applicator control method according to an embodiment of the present invention are described.

[0078] According to an embodiment of the present application, a glue applicator is provided, such as... Figure 1 As shown, Figure 1 This is a schematic diagram of the adhesive applicator, including: a frame 100, a position adjustment mechanism 200, an adhesive dispensing mechanism 300, a pressure sensor 400, and a control module. The position adjustment mechanism 200 is mounted on the frame 100, and the adhesive dispensing mechanism 300 is mounted on the position adjustment mechanism 200. The pressure sensor 400 is used to detect the dispensing pressure of the adhesive dispensing mechanism 300. The output terminal of the control module is electrically connected to the control terminal of the position adjustment mechanism 200, and the output terminal of the control module is electrically connected to the control terminal of the adhesive dispensing mechanism 300. The output terminal of the pressure sensor 400 is electrically connected to the input terminal of the control module. The control module performs the adhesive applicator operation through an adhesive applicator control method.

[0079] Adhesive application control methods, such as Figure 2 As shown, Figure 2 The flowchart is for the glue application control method, including but not limited to steps S100, S200, S300 and S400.

[0080] Step S100: Obtain the adhesive application trajectory;

[0081] Step S200: The position adjustment mechanism 200 controls the glue dispensing mechanism 300 to move along the glue application trajectory;

[0082] Step S300: Control the glue dispensing mechanism 300 to dispense glue, and use the pressure sensor 400 to detect the glue dispensing pressure of the glue dispensing mechanism 300 in real time;

[0083] Step S400: Obtain the target pressure, and adjust the dispensing pressure in real time based on the fuzzy control algorithm according to the target pressure, so that the dispensing pressure is always the target pressure.

[0084] According to the glue applicator of this application embodiment, a glue applicator trajectory is obtained. The position adjustment mechanism 200 controls the glue dispensing mechanism 300 to move along the glue applicator trajectory, controlling the glue dispensing mechanism 300 to dispense glue. A pressure sensor 400 detects the glue dispensing pressure of the glue dispensing mechanism 300 in real time to obtain a target pressure. Based on the target pressure, the glue dispensing pressure is adjusted in real time using a fuzzy control algorithm to ensure that the glue dispensing pressure remains constant at the target pressure. Compared to traditional glue applicator technologies, the glue applicator of this application embodiment maintains the target pressure, resulting in uniform glue dispensing and a better glue applicator effect during the glue applicator process.

[0085] According to one embodiment of this application, such as Figure 1 As shown, a conveyor belt mechanism 500 is installed on the frame 100, and the output terminal of the control module is electrically connected to the control terminal of the conveyor belt mechanism 500.

[0086] In this embodiment, by placing the product on the transmission belt mechanism, the control module controls the operation of the transmission belt mechanism 500, so that the product follows the movement of the transmission belt mechanism 500, so as to realize assembly line operation and improve the efficiency of glue application.

[0087] According to one embodiment of this application, such as Figure 1 As shown, it also includes a vision mechanism 600, which is mounted on the frame 100, and the output of the vision mechanism 600 is electrically connected to the input of the control module.

[0088] In this embodiment, the vision mechanism 600 acquires the contour information of the product and feeds the contour information back to the control module. The control module determines the glue application trajectory based on the contour information so that the position adjustment mechanism 200 can control the glue dispensing mechanism 300 to align with the product and move along the glue application trajectory to perform the glue application operation.

[0089] According to one embodiment of this application, such as Figure 3 As shown, the vision mechanism 600 includes a first bracket 610, a second bracket 620, and a camera 630. The first bracket 610 is mounted on the conveyor belt mechanism 500. Light shields 640 are provided on the four sides and the top surface of the first bracket 610. The second bracket 620 is mounted on the light shield 640 on the top surface of the first bracket 610. The camera 630 is mounted on the second bracket 620, so that the camera 630 is located above the conveyor belt and facing the conveyor belt mechanism 500.

[0090] In this embodiment, the contour information of the product is obtained through camera 630, so that the control module can determine the adhesive application trajectory based on the contour information, ensuring accurate adhesive application. The light-shielding plate 640 is made of black acrylic sheet, which can prevent light interference from the environment and avoid affecting the visual recognition effect.

[0091] According to one embodiment of this application, the position adjustment mechanism 200 is a three-degree-of-freedom parallel robot, such as... Figure 4 As shown, the three-degree-of-freedom parallel robot includes a static platform 210, a moving platform 220, and three kinematic chains arranged in parallel between the static platform 210 and the moving platform 220. The kinematic chains include a first motor 230, an active arm 240, and a driven arm 250. The output shaft of the first motor 230 is driven to one end of the active arm 240, the other end of the active arm 240 is hinged to one end of the driven arm 250, and the other end of the driven arm 250 is hinged to the moving platform 220. The glue dispensing mechanism 300 is mounted on the moving platform 220.

[0092] Understandably, the position adjustment mechanism 200 can also be a six-degree-of-freedom parallel robot.

[0093] In this embodiment, the first motor 230 drives the active arm 240 to swing, and the active arm 240 drives the driven arm 250 to swing, thereby moving the moving platform 220. The glue dispensing mechanism 300 installed on the moving platform 220 moves with the moving platform 220, realizing the position adjustment of the glue dispensing mechanism 300. The movement trajectory of the glue dispensing mechanism 300 can be flexibly controlled to realize different glue application trajectories and meet the glue application operations of different products.

[0094] According to some embodiments of this application, such as Figure 5 As shown, the glue dispensing mechanism 300 includes a second motor 310, a transmission mechanism 320, a piston 330, a glue cylinder 340, and a dispensing head 350. The output shaft of the second motor 310 is connected to one end of the piston 330 through the transmission mechanism 320. The piston 330 is installed inside the glue cylinder 340, and the dispensing head 350 is located at one end of the glue cylinder 340. The second motor 310 is a servo motor.

[0095] In this embodiment, the second motor 310 operates, and the output shaft of the second motor 310 drives the piston 330 to move inside the glue cylinder 340 through the transmission mechanism 320, thereby applying dispensing pressure to the glue inside the glue cylinder 340 and squeezing the glue out from the dispensing head 350.

[0096] It should be noted that, as Figure 5 As shown, the glue dispensing mechanism 300 also includes a first adapter 360 and a second adapter 370. The first adapter 360 is provided with a first port, a second port, and a third port. One end of the glue cartridge 340 is connected to the first port, and a pressure sensor 400 is installed on the second port. The third port is connected to one end of the second adapter 370, and the other end of the second adapter 370 is connected to the glue dispensing head 350. The pressure sensor 400 can accurately detect the glue dispensing pressure.

[0097] According to one embodiment of this application, such as Figure 5As shown, the transmission mechanism 320 includes a first fixed plate 321, a second fixed plate 322, a lead screw 323, and multiple optical shafts 324. A second motor 310 is mounted on the first fixed plate 321. The first fixed plate 321 has multiple first through holes corresponding to the optical shafts 324. A first bearing 325 is installed in each of the first through holes. One end of each optical shaft 324 is installed in the first bearing 325, and the other end of the optical shaft 324 is fixedly connected to the second fixed plate 322. The second fixed plate 322 is mounted on the moving platform 220. The second fixed plate 322 has a second through hole, in which a second bearing 326 is installed. The lead screw 323 is installed in the second bearing 326. The first fixed plate 321 has a third through hole, through which the motor's output shaft passes and is connected to one end of the lead screw 323 via a coupling 327. A piston 330 is mounted on the other end of the lead screw 323 by screws. The lead screw 323 is a trapezoidal lead screw.

[0098] In this embodiment, the second motor 310 operates, and its output shaft rotates, driving the lead screw 323 to move linearly, causing the piston 330 to move linearly, thereby extruding adhesive from the dispensing head 350. When the output shaft of the second motor 310 rotates, the second motor 310 drives the first fixed plate 321 to move. Due to the limiting effect of the optical axis 324 on the first fixed plate 321, the movement trajectory of the second motor 310 is linear.

[0099] According to an embodiment of this application, a method for controlling adhesive application is provided, such as... Figure 2 As shown, steps S100, S200, S300 and S400 are included but are not limited to.

[0100] Step S100: Obtain the adhesive application trajectory;

[0101] Step S200: The position adjustment mechanism 200 controls the glue dispensing mechanism 300 to move along the glue application trajectory;

[0102] Step S300: Control the glue dispensing mechanism 300 to dispense glue, and use the pressure sensor 400 to detect the glue dispensing pressure of the glue dispensing mechanism 300 in real time;

[0103] Step S400: Obtain the target pressure, and adjust the dispensing pressure in real time based on the fuzzy control algorithm according to the target pressure, so that the dispensing pressure is always the target pressure.

[0104] According to the glue application control method of this application embodiment, a glue application trajectory is obtained. The position adjustment mechanism 200 controls the glue dispensing mechanism 300 to move along the glue application trajectory, controlling the glue dispensing mechanism 300 to dispense glue. A pressure sensor 400 detects the glue dispensing pressure of the glue dispensing mechanism 300 in real time to obtain a target pressure. Based on the target pressure, the glue dispensing pressure is adjusted in real time using a fuzzy control algorithm to ensure that the glue dispensing pressure remains constant at the target pressure. Compared with traditional glue application techniques, the glue application control method of this application embodiment maintains the target pressure, resulting in uniform glue dispensing from the glue dispensing mechanism 300 during the glue application process and a better glue application effect.

[0105] According to an embodiment of this application, the step of "obtaining the adhesive application trajectory" in step S100 will be further explained, such as... Figure 6 As shown, step S100 includes, but is not limited to, steps S110 and S120.

[0106] Step S110: Obtain the product outline information through the vision mechanism 600;

[0107] Step S120: Determine the adhesive application trajectory based on the contour information.

[0108] In this embodiment, the outline information is obtained by the vision mechanism 600 to identify the edge outline of the product, so that the edge outline can be used as the glue application trajectory. The position adjustment mechanism 200 controls the glue dispensing mechanism 300 to align with the product and move along the glue application trajectory to perform the glue application operation.

[0109] According to an embodiment of this application, the step S400 of "adjusting the dispensing pressure in real time based on a fuzzy control algorithm" will be further explained, such as... Figure 7 As shown, step S400 includes, but is not limited to, steps S410, S420 and S430.

[0110] Step S410: Perform a fuzzification operation on the dispensing pressure to obtain the first input variable, and perform a fuzzification operation on the difference between the dispensing pressure and the target pressure to obtain the second input variable;

[0111] Step S420: Obtain the fuzzy rule, and obtain the output variable based on the first input variable, the second input variable and the fuzzy rule. The output variable is the speed control quantity of the second motor 310.

[0112] Step S430: Perform defuzzification operation on the output variable to obtain the control value, and control the speed of the second motor 310 according to the control value, thereby adjusting the glue dispensing pressure.

[0113] In this embodiment, since the dispensing pressure and the difference between the dispensing pressure and the target pressure are specific values, the dispensing pressure is converted into a first input variable and the difference between the dispensing pressure and the target pressure is converted into a second input variable through fuzzification. This allows the output variable to be obtained through fuzzy rules based on the first and second input variables. The output variable is then defuzzified to obtain a control value, and the speed of the second motor 310 is controlled according to the control value to achieve the purpose of adjusting the dispensing pressure.

[0114] According to some embodiments of this application, the step S410 of "performing a fuzzy operation on the dispensing pressure to obtain a first input variable, and performing a fuzzy operation on the difference between the dispensing pressure and the target pressure to obtain a second input variable" will be further explained. For example... Figure 8 As shown, step S410 includes, but is not limited to, steps S411, S412, S413, S414, S415, and S416.

[0115] Step S411: Determine the first fuzzy set. The elements of the first fuzzy set include SP1, MP1 and LP1, where SP1 represents low pressure, MP1 represents medium pressure and LP1 represents high pressure.

[0116] It is understandable that, as shown in Table 1, Table 1 is the definition table of the first fuzzy set elements, and the dispensing pressure of the dispensing mechanism 300 is represented by each element of the first fuzzy set.

[0117] Table 1. Definition of Elements of the First Fuzzy Set

[0118] SP1 Small pressure MP1 moderate pressure LP1 High pressure

[0119] Step S412: Obtain the first mapping relationship, which is the mapping relationship between dispensing pressure and the first fuzzy set;

[0120] In this step, according to the first mapping relationship, SP1, MP1 and LP1 correspond to different intervals. When the dispensing pressure falls into the interval of an element, that element is determined as the first input variable.

[0121] Step S413: Obtain the first input variable based on the dispensing pressure and the first mapping relationship;

[0122] In this step, the first input variable is obtained based on the dispensing pressure and the first mapping relationship.

[0123] Step S414: Determine the second fuzzy set, which includes SP2, MP2 and LP2. SP2 represents pressure less than the target pressure, MP2 represents pressure equal to the target pressure, and LP2 represents pressure greater than the target pressure.

[0124] It is understandable that, as shown in Table 2, Table 2 is the definition table of the second fuzzy set elements, and the dispensing pressure of the dispensing mechanism 300 is represented by each element of the second fuzzy set.

[0125] Table 2. Definition of Elements of the Second Fuzzy Set

[0126] SP2 Less pressure than the target MP2 equal to target pressure LP2 Greater pressure than the target

[0127] Step S415: Obtain the second mapping relationship, which is the mapping relationship between the difference between the dispensing pressure and the target pressure and the second fuzzy set;

[0128] In this step, according to the second mapping relationship, SP2, MP2 and LP2 correspond to different intervals. When the difference between the dispensing pressure and the target pressure falls into the interval of a certain element, that element is determined as the second input variable.

[0129] Step S416: Obtain the second input variable based on the difference between the dispensing pressure and the target pressure and the second mapping relationship;

[0130] In this step, the second input variable is obtained based on the difference between the dispensing pressure and the target pressure and the second mapping relationship.

[0131] According to an embodiment of this application, the step S420 of "obtaining fuzzy rules and obtaining output variables based on the first input variable, the second input variable, and the fuzzy rules" is further explained, including:

[0132] The third fuzzy set is determined, which includes SN, ZE, SP, MP and LP. SN represents a significant decrease in speed, ZE represents a slight decrease in speed, SP represents no change in speed, MP represents a slight increase in speed, and LP represents a significant increase in speed.

[0133] If the first input variable is SP1 and the second input variable is SP2, then the output variable is determined to be MP.

[0134] If the first input variable is SP1 and the second input variable is MP2, then the output variable is determined to be LP;

[0135] If the first input variable is SP1 and the second input variable is LP2, then the output variable is determined to be LP;

[0136] If the first input variable is MP1 and the second input variable is SP2, then the output variable is determined to be SP;

[0137] If the first input variable is MP1 and the second input variable is MP2, then the output variable is determined to be SP.

[0138] If the first input variable is MP1 and the second input variable is LP2, then the output variable is determined to be SP;

[0139] If the first input variable is LP1 and the second input variable is SP2, then the output variable is determined to be ZE.

[0140] If the first input variable is LP1 and the second input variable is MP2, then the output variable is determined to be SN;

[0141] If the first input variable is LP1 and the second input variable is LP2, then the output variable is determined to be SN.

[0142] In this step, as shown in Table 3, Table 3 is the definition table of the third fuzzy set elements. Each element of the third fuzzy set represents the speed control quantity of the second motor 310.

[0143] Table 3. Definition of Elements of the Third Fuzzy Set

[0144] SN Significantly reduce speed ZE Slightly reduce the speed SP constant speed MP Slightly increase the speed LP Significantly increase the speed

[0145] It is understandable that, as shown in Table 4, which is a fuzzy rule control table, the output variable is obtained based on the first input variable, the second input variable, and the fuzzy rule.

[0146] Table 4 Fuzzy Rule Control Table

[0147]

[0148] According to an embodiment of this application, the step S430 of "performing defuzzification on the output variable to obtain the control quantity value" and its reverse process are further explained, as follows: Figure 9 As shown, step S430 includes, but is not limited to, steps S431, S432 and S433.

[0149] Step S431: Obtain the membership function of the first triangle, and obtain the first membership degree based on the membership function of the first triangle and the dispensing pressure. The first membership degree is the membership degree of the first input variable.

[0150] In this step, the formula for the membership function of the first triangle is as follows:

[0151]

[0152] For any fuzzy set A in the domain X, where x belongs to X, μ A (x) represents the membership degree of x to A, where a, b, and c are real values ​​that are taken according to the specific application scenario.

[0153] Step S432: Obtain the second triangle membership function, and obtain the second membership degree based on the second triangle membership function and the difference between the dispensing pressure and the target pressure. The second membership degree is the membership degree of the second input variable.

[0154] In this step, the formula for the membership function of the second triangle is as follows:

[0155]

[0156] For any fuzzy set A in the domain X, where x belongs to X, μ A (x) represents the membership degree of x to A, where a, b, and c are real values ​​that are taken according to the specific application scenario.

[0157] Step S433: Obtain the Sugeno fuzzy inference formula, and obtain the control variable values ​​based on the first membership degree, the second membership degree, the output variable, and the Sugeno fuzzy inference formula.

[0158] In this step, the Sugeno fuzzy inference formula is as follows:

[0159]

[0160] Among them, y * To control the value of the variable, α j y represents the excitation degree of the j-th fuzzy rule. j Let be the output variable of the j-th fuzzy rule.

[0161] In addition, according to an embodiment of this application, a computer-readable storage medium is also disclosed, wherein a processor-executable program is stored, which, when executed by a processor, is used to implement the adhesive application control method as described above.

[0162] According to the computer-readable storage medium of this application embodiment, by obtaining the adhesive application trajectory, the position adjustment mechanism 200 controls the dispensing mechanism 300 to move along the adhesive application trajectory, thereby controlling the dispensing mechanism 300 to dispense adhesive. A pressure sensor 400 detects the dispensing pressure of the dispensing mechanism 300 in real time to obtain a target pressure. Based on the target pressure, the dispensing pressure is adjusted in real time using a fuzzy control algorithm to ensure that the dispensing pressure remains constant at the target pressure. Compared to traditional adhesive application techniques, the computer-readable storage medium of this application embodiment, because the dispensing pressure is maintained at the target pressure, results in a more uniform dispensing amount and better adhesive application effect during the adhesive application process.

[0163] 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 devices, 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.

[0164] 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.

Claims

1. A method for controlling adhesive application, characterized in that, include: Obtain the adhesive application trajectory; The glue dispensing mechanism (300) is controlled to move along the glue application trajectory by the position adjustment mechanism (200); The dispensing mechanism (300) is controlled to dispense adhesive, and the dispensing pressure of the dispensing mechanism (300) is detected in real time by a pressure sensor (400); Gain target pressure; A first fuzzy set is determined, the elements of which include SP1, MP1 and LP1, where SP1 represents low pressure, MP1 represents medium pressure and LP1 represents high pressure. Obtain a first mapping relationship, which is the mapping relationship between the dispensing pressure and the first fuzzy set; The first input variable is obtained based on the dispensing pressure and the first mapping relationship; A second fuzzy set is determined, which includes SP2, MP2, and LP2, where SP2 represents pressure less than the target pressure, MP2 represents pressure equal to the target pressure, and LP2 represents pressure greater than the target pressure. Obtain a second mapping relationship, which is the mapping relationship between the difference between the dispensing pressure and the target pressure and the second fuzzy set; The second input variable is obtained based on the difference between the dispensing pressure and the target pressure, and the second mapping relationship; A fuzzy rule is obtained, and an output variable is obtained based on the first input variable, the second input variable, and the fuzzy rule. The output variable is the speed control quantity of the second motor (310). The output variable is defuzzified to obtain the control value. The speed of the second motor (310) is controlled according to the control value, thereby adjusting the dispensing pressure so that the dispensing pressure is constant at the target pressure. The output variables are obtained through the following steps: A third fuzzy set is determined, which includes SN, ZE, SP, MP, and LP, where SN represents a significant decrease in rotational speed, ZE represents a slight decrease in rotational speed, SP represents no change in rotational speed, MP represents a slight increase in rotational speed, and LP represents a significant increase in rotational speed. If the first input variable is SP1 and the second input variable is SP2, then the output variable is determined to be MP. If the first input variable is SP1 and the second input variable is MP2, then the output variable is determined to be LP; If the first input variable is SP1 and the second input variable is LP2, then the output variable is determined to be LP; If the first input variable is MP1 and the second input variable is SP2, then the output variable is determined to be SP; If the first input variable is MP1 and the second input variable is MP2, then the output variable is determined to be SP. If the first input variable is MP1 and the second input variable is LP2, then the output variable is determined to be SP; If the first input variable is LP1 and the second input variable is SP2, then the output variable is determined to be ZE. If the first input variable is LP1 and the second input variable is MP2, then the output variable is determined to be SN; If the first input variable is LP1 and the second input variable is LP2, then the output variable is determined to be SN.

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