Scheduling method of automatic film pasting device and automatic film pasting device

Abstract

The application relates to a scheduling method of an automatic film pasting device and the automatic film pasting device. The automatic film pasting device comprises a film pasting mechanism, the film pasting mechanism comprises at least two film pasting platforms and mechanical hands corresponding to the film pasting platforms one by one, the scheduling method comprises the following steps: acquiring estimated waiting time of each film pasting platform; acquiring estimated running time of each mechanical hand for completing one film pasting operation; based on the estimated waiting time of each film pasting platform and the estimated running time of each mechanical hand, a priority coefficient of each film pasting platform for completing film pasting scheduling is calculated, wherein the priority coefficient is positively correlated with the estimated waiting time and is negatively correlated with the estimated running time; the feeding priority of each film pasting platform is determined according to the corresponding priority coefficient, and the feeding end of the film pasting mechanism is scheduled. The application has the advantages of high film pasting efficiency, good film pasting effect, high automation degree and convenient fine control.

Description

Technical Field

[0001] This invention relates to the field of automated equipment, and in particular to a scheduling method for automatic film application equipment and the automatic film application equipment itself. Background Technology

[0002] Currently, due to the need to prevent scratches on electronic interfaces and protect against dust during production, products are typically covered with a protective film during the manufacturing process. A screen protector application machine is a device that automatically applies protective films to displays such as computer screens, mobile phone screens, and watch screens. Application accuracy and efficiency are the main criteria for evaluating whether a screen protector application machine meets production process requirements.

[0003] Existing film application machines suffer from low application efficiency and difficulty in maintenance. Furthermore, they cannot be integrated with existing automated production lines, leaving production in a semi-automatic, purely manual state, which fails to meet the demands of mass production. Therefore, it is necessary to research a scheduling method and an automated film application system to address these issues. Summary of the Invention

[0004] The present invention aims to provide a scheduling method for an automatic film application equipment that is highly efficient, produces good film application results, is highly automated, and is easy to control precisely.

[0005] To achieve the above objectives, one embodiment of the present invention provides a scheduling method for an automatic film applicator. The automatic film applicator includes an applicator mechanism, which includes at least two applicator platforms and corresponding robotic arms. The scheduling method includes:

[0006] Obtain the estimated waiting time for each screen protector application platform;

[0007] Obtain the estimated running time for each of the robotic arms to complete one film application operation;

[0008] Based on the estimated waiting time of each of the film-applying platforms and the estimated running time of each of the robotic arms, a priority coefficient for each film-applying platform to complete the film-applying schedule is calculated, wherein the priority coefficient is positively correlated with the estimated waiting time and negatively correlated with the estimated running time.

[0009] The feeding priority is determined according to the priority coefficient corresponding to each of the film application platforms, and the feeding end of the film application mechanism is scheduled to feed the film application platforms and complete the film application operation in order of priority.

[0010] As a further improvement to one embodiment of the present invention, the step of obtaining the estimated waiting time for each film application platform includes, prior to:

[0011] The set of historical waiting times formed by multiple waiting times before each film application platform is obtained, wherein the waiting time is the time between the unloading time of the workpiece after film application is completed on the film application platform and the loading time of the workpiece to be filmed onto the film application platform.

[0012] After obtaining the set of historical waiting times, the average value of all historical waiting times in the set is calculated as the estimated waiting time for each screen protector application platform.

[0013] As a further improvement to one embodiment of the present invention, the estimated running time for each of the robotic arms to complete one film-applying action is obtained, prior to which the following steps are included:

[0014] Obtain the set of historical running times formed by the previous running times of each of the aforementioned robotic arms;

[0015] After obtaining the set of historical running times, the average value of all historical running times in the set is calculated as the estimated running time for one film-applying action of each of the robotic arms.

[0016] As a further improvement of one embodiment of the present invention, the unloading process includes an unloading arm disposed on the downstream side of the film-applying mechanism to remove the workpiece that has been film-applied from the film-applying platform.

[0017] As a further improvement of one embodiment of the present invention, it also includes a feeding arm disposed on the upstream side of the film-applying mechanism. After determining the feeding priority according to the priority coefficient corresponding to each film-applying platform, the feeding arm moves the workpiece to be applied to the corresponding film-applying platform.

[0018] As a further improvement of one embodiment of the present invention, the automatic film application device further includes a second positioning camera disposed adjacent to the film application platform;

[0019] The loading process includes the loading arm conveying the workpiece to be coated to the second positioning camera, and the second positioning camera taking pictures and positioning the workpiece to be coated.

[0020] As a further improvement of one embodiment of the present invention, it also includes a film supply mechanism at least disposed on one side of the film application mechanism and a first positioning camera disposed adjacent to the film application mechanism;

[0021] The screen protector application process includes the following steps:

[0022] The robotic arm moves from the film application station on the film application platform to the film supply mechanism and completes the film retrieval operation;

[0023] After the robotic arm completes the film retrieval, it moves the film from the film supply mechanism to the first positioning camera, which then takes a picture of the film and positions it.

[0024] After the first positioning camera completes the film imaging and positioning, the robotic arm moves the film from the first positioning camera to the film application station, and then applies the film to the surface of the workpiece to be filmed.

[0025] As a further improvement of one embodiment of the present invention, the robotic arm includes a robotic arm body and a film-applying unit disposed at the end of the robotic arm body;

[0026] The film application unit includes a lifting cylinder disposed at the end of the robot body, a processing block connected to the end of the output shaft of the lifting cylinder, and a vacuum unit for sucking or blowing air into the ventilation hole of the processing block. The processing block is used to suck up or release the film.

[0027] The membrane removal operation includes the following steps.

[0028] After the robotic arm moves from the film application station to the film supply mechanism, the lifting cylinder descends to the film picking position.

[0029] After the lifting cylinder descends to the film-taking position, the vacuum unit draws air into the vent of the processing block to pick up the film.

[0030] As a further improvement of one embodiment of the present invention, the film-applying unit includes a roller disposed at the end of the robotic arm body, the roller being spaced apart from the lifting cylinder;

[0031] The robotic arm applies the film to the surface of the workpiece to be covered, including the following steps:

[0032] The robotic arm moves to the film application station, and the vacuum unit blows air into the air vent of the processing block to release the film;

[0033] After the film is released, the lifting cylinder rises from the film-receiving position to a position higher than the roller.

[0034] After the lifting cylinder moves upward, the rollers reciprocate to squeeze out the air bubbles in the membrane.

[0035] To achieve the above method, the present invention also provides an automatic film application device with high film application efficiency, good film application effect and high degree of automation.

[0036] An automatic film-applying device includes a memory, a processor, and a scheduling program for the automatic film-applying device stored in the memory and executable on the processor. When executed by the processor, the scheduling program implements the steps of the scheduling method for the automatic film-applying device as described above. Compared with the prior art, the advantages of the present invention are: the scheduling method and the automatic film-applying device provided by the present invention take into account both running time and waiting time. Based on the estimated waiting time and estimated running time, the feeding priority coefficient of each film-applying platform is calculated. This fully considers the waiting time of each film-applying platform and the film-applying efficiency of the robotic arm, effectively balancing the waiting time and running time. It ensures that the longer the waiting time of a certain film-applying platform, the higher the probability of it being fed first, thus improving the film-applying efficiency. Simultaneously, the working status of the robotic arm can be determined based on the film-applying efficiency of each robotic arm. The device has the advantages of high film-applying efficiency, good film-applying effect, high degree of automation, and easy fine control. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the automatic film application device of the present invention;

[0038] Figure 2 This is a schematic diagram of the structure of the robotic arm in the automatic film-applying device of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure of the robotic arm end region of the automatic film application device of the present invention.

[0040] In the diagram: 1. Robotic arm; 11. Robotic arm body; 12. Lifting cylinder; 13. Processing block; 14. Roller; 141. Connecting part; 142. Roller body; 15. Mounting frame; 2. Film application platform; 3. Film supply mechanism; 4. First positioning camera; 5. Loading arm; 6. Second positioning camera; 7. Unloading arm. Detailed Implementation

[0041] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0042] The terms "comprising" and "having," and any variations thereof, used in this invention are intended to cover non-exclusive inclusion. References to "embodiment" herein mean that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0043] Combination Figure 1 As shown, this invention mainly relates to: a scheduling method for an automatic film-applying device, the automatic film-applying device including a film-applying mechanism. The film-applying mechanism includes at least two film-applying platforms 2 and corresponding robotic arms 1. The film-applying platforms 2 are used to place the workpieces to be film-applied, and the robotic arms 1 cover the workpieces with film.

[0044] Specifically, in this embodiment, the automatic film application equipment includes two symmetrically arranged automatic film application components. Each side of the automatic film application component includes two spaced-apart film application platforms 2 and robotic arms 1 corresponding to each of the two film application platforms 2. It is understood that the number of robotic arms 1 can be set according to actual production needs.

[0045] In the following description of the embodiment, for ease of understanding, a single-sided automatic film application assembly including two robotic arms 1 will be used. The two film application platforms 2 are a first film application platform and a second film application platform, respectively. The two robotic arms 1 are respectively a first robotic arm and a second robotic arm. Each of the first and second film application platforms accepts at least one workpiece to be filmed. The workpiece to be filmed is a display screen, glass, or other workpiece.

[0046] Scheduling methods include:

[0047] Obtain the estimated waiting time for each screen protector application platform 2;

[0048] Obtain the estimated running time for each robotic arm 1 to complete one film application operation;

[0049] Based on the estimated waiting time of each film application platform 2 and the estimated running time of each robotic arm 1, the priority coefficient for each film application mechanism to complete the film application schedule is calculated. The priority coefficient is positively correlated with the estimated waiting time and negatively correlated with the estimated running time.

[0050] The feeding priority is determined according to the priority coefficient of each film application platform, and the product feeding end is scheduled so that the film application platform 2 with the highest priority feeds first. Then, the corresponding robotic arm 1 covers the workpiece to be filmed on the current film application platform 2 to complete the film application operation.

[0051] While the film application platform 2 is waiting for the workpiece to be filmed to be loaded, the corresponding robot arm 1 picks up the film and remains in a waiting state. When there is a workpiece on the current film application platform 2, the robot arm 1 applies the film to the workpiece to be filmed, then returns to remove the next piece of film and waits for the next film application.

[0052] Specifically, the trigger condition for obtaining the priority coefficient of the film application mechanism is when robot arm 1 completes the previous film application operation. After the previous film application is completed, that is, before the next film application, the priority coefficient of the film application mechanism needs to be recalculated to determine the film application platform to be loaded.

[0053] In the scheduling method described above, assuming the estimated running times of the first and second robotic arms are the same, and the estimated waiting time of the first film-applying platform is greater than that of the second film-applying platform, and given that the priority coefficient is positively correlated with the estimated waiting time, the priority coefficient of the first film-applying platform is greater than that of the second film-applying platform. Therefore, the first film-applying platform becomes the target film-applying platform 2, meaning the next workpiece to be applied is placed on the first film-applying platform. This balances the waiting time of the first film-applying platform with the operating time of the robotic arms; the longer the waiting time, the greater the probability of the workpiece being placed.

[0054] In the scheduling method described above in this invention, assuming that the estimated waiting time of the first film-applying platform and the second film-applying platform is the same, the estimated running time of the first robot arm is greater than the estimated running time of the second robot arm. Based on the fact that the priority coefficient is negatively correlated with the estimated running time, the longer the film-applying operation time of the robot arm, the lower the priority coefficient of the loading. Considering the waiting time of the film-applying platform and the film-applying running time of the robot arm, it can be seen that at this time, the priority coefficient of the first film-applying platform is less than the priority coefficient of the second film-applying platform. Therefore, the second film-applying platform is the target film-applying platform 2, that is, the next workpiece to be film-applyed is placed on the second film-applying platform.

[0055] In the scheduling method of the present invention, if the estimated waiting time of the first film-applying platform and the second film-applying platform are different, and the estimated running time of the first robot arm is also different from that of the second robot arm, then it is necessary to calculate the priority coefficient of the first film-applying platform and the second film-applying platform, obtain the target film-applying platform 2, and then complete the loading operation of the workpiece to be film-applying.

[0056] Furthermore, in one embodiment, the priority is calculated as follows:

[0057] Priority = (Waiting time of the film application platform + Film application time of the robotic arm) / Film application time of the robotic arm

[0058] The scheduling method for the automatic film-applying equipment provided by this invention takes into account both the film-applying running time of the robotic arm and the waiting time of the film-applying platform. Based on the waiting time and running time, a priority coefficient for each film-applying platform 2 is calculated. This method fully considers the waiting time of each film-applying platform 2 and the film-applying efficiency of the robotic arm 1, effectively balancing the waiting time and running time and improving the film-applying efficiency. At the same time, the working status of the robotic arm 1 can also be monitored based on the film-applying efficiency of each robotic arm 1. It has the advantages of high film-applying efficiency, high degree of automation, and easy fine control.

[0059] Furthermore, before obtaining the estimated waiting time for each screen protector platform 2, the following steps are taken:

[0060] The historical waiting time is a collection of waiting times from previous waiting times on each film application platform 2. The waiting time is the time between the unloading time of the previous workpiece after film application is completed on the film application platform 2 and the loading time of the next workpiece to be filmed on the film application platform 2.

[0061] After obtaining the set of historical waiting times, the average value of all historical waiting times in the set is calculated as the estimated waiting time for each screen protector platform 2.

[0062] Specifically, before each screen protector application, the historical waiting time of each application platform 2 needs to be retrieved again to calculate the estimated waiting time of each platform 2 in real time and dynamically. This makes the priority coefficient calculation more accurate. The number of historical waiting times in the set is set according to actual needs.

[0063] Furthermore, the estimated running time for each robotic arm 1 to complete one film application action is obtained, including:

[0064] Obtain the set of historical running times formed by the previous multiple running times of each robot arm 1;

[0065] After obtaining the set of historical running times, the average value of all historical running times in the set is calculated as the estimated running time for one film-applying action of each robot arm 1.

[0066] Specifically, in this embodiment, the robot arm's operating time is defined as the time it takes for the robot arm to complete a full process from taking the film, taking a picture, and then applying the film.

[0067] Specifically, the operating time of robot arm 1 is theoretically consistent, but it varies due to factors such as the speed of robot arm 1, and / or the film supply speed, and / or the lifting cylinder at the end of robot arm 1, and / or vacuum. Before each film application, the historical operating time of each robot arm 1 needs to be re-acquired to calculate the estimated operating time of each robot arm 1 in real time and dynamically.

[0068] Preferably, the average running time of every 20-30 sets is collected in real time as the running time of robot arm 1, which is more representative. This makes the calculation result of the priority coefficient more accurate.

[0069] If, during actual calculations, a significant difference is found between the running time of a certain robotic arm 1 and the preset value, the cause of some abnormal problems can be investigated. This has the advantage of monitoring the working status of robotic arm 1.

[0070] Furthermore, the unloading process includes the unloading arm 7, located downstream of the film-applying mechanism, removing the film-applied workpiece from the film-applying platform 2. The unloading arm 7 is responsible for transporting the film-applied workpiece to downstream equipment. This process offers the advantage of a high degree of automation.

[0071] Furthermore, the automatic film-applying equipment also includes a feeding arm 5 located upstream of the film-applying mechanism and a second positioning camera 6 located adjacent to the film-applying platform 2. The feeding arm 5 picks up two products at a time from the upstream equipment and places them on the film-applying platform 2, while the unloading arm 7 is responsible for transporting the film-applied products to the downstream equipment. The two transport arms have a clear division of labor and do not interfere with each other. During equipment operation, the unloading arm 7 has a higher priority for picking up materials than the feeding arm 5 for unloading materials.

[0072] The loading process includes the loading arm 5 conveying the workpiece to be coated to the second positioning camera 6, and the second positioning camera 6 taking pictures and positioning the workpiece. The second positioning camera 6 is used to take pictures to obtain the compensation value of the image of the workpiece to be coated, and then place the workpiece to be coated onto the coating platform 2 according to the compensation value, thus completing the alignment and positioning of the workpiece to be coated.

[0073] Preferably, the film application platform 2 is further provided with a loading station and a unloading station. The second positioning camera 6 is used to take pictures to obtain the compensation value of the image of the workpiece to be filmed, and then place the workpiece to be filmed at the loading station according to the compensation value.

[0074] The movement between the loading station, unloading station and film application station on the film application platform 2 can be achieved through linear modules.

[0075] Furthermore, the automatic film application equipment also includes a film supply mechanism 3 located at least on one side of the film application mechanism and a first positioning camera 4 located adjacent to the film application mechanism. The first positioning camera 4 takes pictures to obtain the compensation value of the film image, and then, according to the compensation value, the robot arm 1 applies the film to the surface of the workpiece to be filmed.

[0076] Preferably, the film supply mechanism 3 is located on both sides of the robotic arm 1, and at least two sets of the film supply mechanism 3 are provided. In this embodiment, two sets of the film supply mechanism 3 are provided, one set serving as a backup film supply. If one set of the film supply mechanism 3 malfunctions or is without film, the other set of the film supply mechanism 3 is activated.

[0077] The screen protector application process includes the following steps:

[0078] Robotic arm 1 moves from the film application station on film application platform 2 to the film supply mechanism 3 and completes the film retrieval operation;

[0079] After the robotic arm 1 completes the film retrieval, the robotic arm 1 moves the film from the film supply mechanism 3 to the first positioning camera 4, and the first positioning camera 4 completes the film's photographing and positioning.

[0080] After the first positioning camera 4 completes the film imaging and positioning, the robotic arm 1 transports the film from the first positioning camera 4 to the film application station, where it applies the film to the surface of the workpiece. This method has the advantages of high film application efficiency, good film application effect, and high degree of automation.

[0081] Combination Figure 2 and Figure 3 As shown, in this embodiment, the robotic arm 1 includes a robotic arm body 11 and a film-applying unit disposed at the end of the robotic arm body 11. The robotic arm body 11 is used by the four-axis robotic arm 1 to pick up the film and apply the film in cooperation with the film-applying unit.

[0082] Furthermore, the film application unit includes a lifting cylinder 12 disposed at the end of the robotic arm body 11, a processing block 13 connected to the end of the output shaft of the lifting cylinder 12, and a vacuum unit for drawing or blowing air into the vent of the processing block 13. The processing block 13 is used to pick up or release the film. The vacuum unit draws air into the vent of the processing block 13 to draw up the film with negative pressure, and the vacuum unit blows air into the vent of the processing block 13 to release the film with positive pressure. This has the advantage of being easy to operate.

[0083] The membrane removal process includes the following steps:

[0084] After the robotic arm 1 moves from the film application station to the film supply mechanism 3, the lifting cylinder 12 descends to the film picking position.

[0085] After the lifting cylinder 12 descends to the film-taking position, the vacuum unit draws air into the vent of the processing block 13 to pick up the film.

[0086] Furthermore, the film-applying unit includes a roller 14 disposed at the end of the robotic arm body 11, with the roller 14 spaced apart from the lifting cylinder 12. In this embodiment, the processing block 13 and the roller 14 are integrated at the end of the robotic arm 1, and the lifting cylinder 12 drives the processing block 13 to rise and fall, thereby distributing and completing the processes of releasing the film and rolling out air bubbles, ensuring that as many excess air bubbles as possible are squeezed out during film application. This has the advantages of a refined film-applying process and good film-applying effect.

[0087] The robotic arm 1 applies the film to the surface of the workpiece to be covered, including the following steps:

[0088] The robotic arm 1 moves to the film application station, and the vacuum unit blows air into the vent of the processing block 13 to release the film;

[0089] After the film is released, the lifting cylinder 12 rises from the film-receiving position to a position higher than the roller 14;

[0090] After the lifting cylinder 12 moves upward, the roller 14 reciprocates to squeeze the air bubbles in the film.

[0091] During screen protector application, robotic arm 1 moves the suction processing block 13 to match the screen position, ensuring that the film is not excessively exposed outside the screen. Then, a vacuum unit blows air into the vents of the processing block 13 for a certain period of time, ensuring that the film automatically adheres to the screen under the effect of electrostatic charge on the screen surface. Next, robotic arm 1 moves quickly along the top of the screen, the length of the screen being equal to its dimensions. During this movement, roller 14 brushes across the screen surface, squeezing out excess air bubbles. The screen protector application process is thus completed by robotic arm 1.

[0092] Furthermore, the release time of the processing block 13 at the end of the output shaft of the lifting cylinder 12 is 0.2~0.5S.

[0093] Furthermore, the method for obtaining the priority coefficients corresponding to each robotic arm 1 includes,

[0094] The total time is calculated by obtaining the estimated waiting time of each film application platform 2 and the estimated running time of the robotic arm 1 to complete one film application action. The total time is a comprehensive value for judging the film application efficiency.

[0095] After obtaining the total time, a priority factor is set as the ratio of the total time to the estimated running time to complete one screen protector application. The estimated waiting time is defined as T. 等待 The estimated runtime is defined as T. 运行 The priority coefficient is defined as β, where β = (T 运行 +T 等待 ) / T 运行 Converted to β = 1 + T 等待 / T 运行 β and T 等待 There is a positive correlation between β and T. 运行 They are negatively correlated. (T) 等待 The larger the value, the larger the value of β, and the larger the value of T. 运行 The larger the priority coefficient β, the smaller β. The robot arm 1 with a larger priority coefficient β has a higher priority for the assigned film application task. The robot arm 1 with a larger priority coefficient β is designated as the target robot arm 1.

[0096] In the control method described above in this invention, for example, the first film-applying platform and the first robotic arm's T... 运行 T 等待 The values ​​are 4s and 1.5s respectively. According to β=(T 运行 +T 等待 ) / T 运行The calculated value is β = 1.375. The T-axis of the second film application platform and the second robotic arm... 运行 T 等待 They are 5s and 1s respectively, according to β=(T 运行 +T 等待 ) / T 运行 The calculated value of β is 1.2. The first robotic arm has a shorter running time, while the first film-applying platform has a longer waiting time. Conversely, the second robotic arm has a longer running time, while the second film-applying platform has a shorter waiting time. However, based on the specific time values ​​and the calculated β, it is clear that the first robotic arm has a higher overall film-applying efficiency. Therefore, considering all factors, it is preferable to place the workpiece to be applied at the first film-applying station. This achieves a good balance between the waiting time T and other factors. 等待 and running time T 运行 This improves the efficiency of screen protector application.

[0097] An automatic film-applying device includes a memory, a processor, and a scheduling program for the automatic film-applying device stored in the memory and executable on the processor. When executed by the processor, the scheduling program implements the steps of the scheduling method for the automatic film-applying device as described above. Furthermore, the robotic arm 1 also includes a mounting bracket 15 for mounting a roller 14 disposed at the end of the robotic arm body 11.

[0098] The roller 14 includes a connecting portion 141 extending downward from the bottom of the mounting frame and a roller body 142 disposed on the connecting portion. The angle formed between the connecting portion 141 and the bottom of the mounting frame 15 is 90° to 100° to improve the film application effect of the roller 14.

[0099] Compared to existing technologies, the scheduling method and automatic film-applying equipment provided by this invention take into account both running time and waiting time. Based on the estimated waiting time and estimated running time, the feeding priority coefficient of each film-applying platform is calculated. This fully considers the waiting time of each film-applying platform and the film-applying efficiency of the robotic arms, effectively balancing the waiting time and running time. It also ensures that the longer the waiting time of a certain film-applying platform, the greater the probability of it being fed, thus improving the film-applying efficiency. At the same time, the working status of each robotic arm 1 can be determined based on its film-applying efficiency. This invention has the advantages of high film-applying efficiency, good film-applying effect, high degree of automation, and easy fine control.

[0100] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance, unless otherwise expressly specified and limited. The terms "installation," "connection," and "joining" should be interpreted broadly; for example, "joining" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of the present invention.

Claims

1. A scheduling method for an automatic film applicator, the automatic film applicator comprising an applicator mechanism, characterized in that, The film application mechanism includes at least two film application platforms and corresponding robotic arms, and the scheduling method includes: The set of historical waiting times formed by multiple waiting times before each film application platform is obtained, wherein the waiting time is the time between the unloading time of the workpiece after film application is completed on the film application platform and the loading time of the workpiece to be filmed onto the film application platform. The average of all historical waiting times in the set is used as the estimated waiting time for each screen protector application platform. Obtain the estimated running time for each of the robotic arms to complete one film application operation; Based on the estimated waiting time of each of the film-applying platforms and the estimated running time of each of the robotic arms, a priority coefficient for each film-applying platform to complete the film-applying schedule is calculated, wherein the priority coefficient is positively correlated with the estimated waiting time and negatively correlated with the estimated running time. The feeding priority is determined according to the priority coefficient corresponding to each of the film application platforms, and the feeding end of the film application mechanism is scheduled to feed the film application platforms and complete the film application operation in order of priority.

2. The scheduling method for the automatic film applicator according to claim 1, characterized in that, Obtain the estimated running time for each of the robotic arms to complete one film-applying action, including: Obtain the set of historical running times formed by the previous running times of each of the aforementioned robotic arms; After obtaining the set of historical running times, the average value of all historical running times in the set is calculated as the estimated running time for one film-applying action of each of the robotic arms.

3. The scheduling method for the automatic film applicator according to claim 1, characterized in that, The unloading process includes the unloading arm, located downstream of the film-applying mechanism, removing the film-applying workpiece from the film-applying platform.

4. The scheduling method for the automatic film-applying equipment according to claim 1, characterized in that, It also includes a loading arm located upstream of the film application mechanism. After determining the loading priority according to the priority coefficient corresponding to each film application platform, the loading arm moves the workpiece to be filmed to the corresponding film application platform.

5. The scheduling method for the automatic film applicator according to claim 4, characterized in that, The automatic film application equipment also includes a second positioning camera positioned adjacent to the film application platform; The loading process includes the loading arm conveying the workpiece to be coated to the second positioning camera, and the second positioning camera taking pictures and positioning the workpiece to be coated.

6. The scheduling method for the automatic film applicator according to claim 1, characterized in that, It also includes a film supply mechanism located at least on one side of the film application mechanism, and a first positioning camera located adjacent to the film application mechanism; The screen protector application process includes the following steps: The robotic arm moves from the film application station on the film application platform to the film supply mechanism and completes the film retrieval operation; After the robotic arm completes the film retrieval, it moves the film from the film supply mechanism to the first positioning camera, which then takes a picture of the film and positions it. After the first positioning camera completes the film imaging and positioning, the robotic arm moves the film from the first positioning camera to the film application station, and then applies the film to the surface of the workpiece to be filmed.

7. The scheduling method for the automatic film applicator according to claim 6, characterized in that: The robotic arm includes a robotic arm body and a film application unit disposed at the end of the robotic arm body; The film application unit includes a lifting cylinder disposed at the end of the robot body, a processing block connected to the end of the output shaft of the lifting cylinder, and a vacuum unit for sucking or blowing air into the ventilation hole of the processing block. The processing block is used to suck up or release the film. The membrane removal operation includes the following steps. After the robotic arm moves from the film application station to the film supply mechanism, the lifting cylinder descends to the film picking position. After the lifting cylinder descends to the film-taking position, the vacuum unit draws air into the vent of the processing block to pick up the film.

8. The scheduling method for the automatic film applicator according to claim 7, characterized in that: The film application unit includes a roller disposed at the end of the robotic arm body, and the roller is spaced apart from the lifting cylinder; The robotic arm applies the film to the surface of the workpiece to be covered, including the following steps: The robotic arm moves to the film application station, and the vacuum unit blows air into the air vent of the processing block to release the film; After the film is released, the lifting cylinder rises from the film-receiving position to a position higher than the roller. After the lifting cylinder moves upward, the rollers reciprocate to squeeze out the air bubbles in the membrane.

9. An automatic film application device, characterized in that, The automatic film application device includes a memory, a processor, and a scheduler program for the automatic film application device stored in the memory and executable on the processor. When the scheduler program for the automatic film application device is executed by the processor, it implements the steps of the scheduling method for the automatic film application device as described in any one of claims 1-8.

Images