Multi-pen trajectory underfill calculation method

Abstract

This invention discloses a method for calculating bottom filling of multiple dispensing trajectories, comprising the following steps: Step 1: Setting process parameters for a dispensing trajectory: The dispensing trajectory requires a total of N dispensing operations, where N∈[2,∞) and N is a positive integer; According to the process, the preset trajectory adhesive amount for the first dispensing operation is WP1mg, and the preset trajectory adhesive amount for the nth dispensing operation is WP n mg, where n∈[2,N] and n is a positive integer; the current flow rate of the piezoelectric dispensing valve is F mg / dot; Step 2: Calculate the number of dispensing pulses required for the first dispensing; Step 3: Calculate the number of dispensing pulses required for the nth dispensing, and optimize the calculated number of dispensing pulses according to the calculation method of this invention; Step 4: Repeat Step 3 until the dispensing pulse data required for all dispensing trajectories have been calculated. This multi-trajectory bottom filling calculation method ensures that the amount of dispensing adhesive calculated each time is optimal.

Description

Technical Field

[0001] This invention relates to the technical field of dispensing methods, and in particular to a method for calculating bottom filling of multiple trajectory lines. Background Technology

[0002] When using a piezoelectric dispensing valve for bottom filling of the product's dispensing area, decimal calculations and rounding are involved, leading to discrepancies between the final dispensing volume and the volume required by the process parameters (the industry generally allows for an error within 3%). During dispensing, a piezoelectric dispensing valve triggers one dispensing dot with one pulse; multiple consecutive pulses form a complete dispensing trajectory. When the same dispensing trajectory needs to be repeated multiple times, this error in dispensing volume accumulates and amplifies, resulting in a significant difference between the final total dispensing volume and the total dispensing volume set in the process (typically exceeding 5%).

[0003] For example, if a dispensing trajectory requires 3mg of adhesive, and each adhesive dot is calibrated to weigh 0.026mg, then this dispensing trajectory requires 115.385 pulses (3 ÷ 0.026 = 115.385). Because the number of pulses is an integer, the data 115.385 needs to be rounded, resulting in 115 pulses for actual dispensing. When this dispensing trajectory requires multiple repetitions due to process settings, the error of 0.385 pulses will accumulate. The more repetitions, the greater the error in the total adhesive volume. Furthermore, the smaller the amount of adhesive per stroke, the larger the proportion of this error. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To address this, the present invention proposes a multi-trajectory bottom filling calculation method, which ensures that the amount of adhesive applied in each calculation is optimal.

[0006] The multi-trajectory bottom filling calculation method according to an embodiment of the present invention includes the following steps:

[0007] Step 1: Set the process parameters for a dispensing trajectory: This dispensing trajectory requires a total of N dispensing operations, where N ∈ [2, ∞) and N is a positive integer; according to the process, the preset dispensing amount for the first dispensing operation is WP1mg, and the preset dispensing amount for the nth dispensing operation is WP n mg, where n∈[2,N] and n is a positive integer; the current flow rate of the piezoelectric dispensing valve is F mg / dot;

[0008] Step 2: Calculate the number of dispensing pulses required for the first dispensing: When the current piezoelectric dispensing valve is used to perform the first dispensing on the dispensing trajectory, the normal rounding method is used to obtain the actual number of dispensing pulses as M1. The actual number of dispensing pulses M1 is the rounded value of WP1 divided by F, and M1 is the number of dispensing pulses required for the first dispensing.

[0009] Step 3: Calculate the number of dispensing pulses required for the nth dispensing operation. The specific steps are as follows:

[0010] Step 31: Calculate the theoretical number of dispensing pulses Kn;

[0011] Step 32: Obtain the first theoretical dispensing pulse number M′ based on the theoretical dispensing pulse number Kn. n Second theoretical dispensing pulse number M″ n ;

[0012] Step 33: Calculate the first theoretical amount of adhesive WP′. n Second theoretical dispensing amount WP″ n ;

[0013] Step 34: Calculate W′ separately. n and W″ n , where W′ n It is the amount of adhesive applied from the first to the (n-1)th application, and the theoretical amount of adhesive applied in the first application, WP′. n The sum of; W″ n It is the amount of adhesive applied from the first to the (n-1)th application and the second theoretical amount of adhesive applied, WP″. n sum;

[0014] Step 35: Calculate the sum of adhesive amounts for the trajectory from the 1st to the nth time (WP). 1-n ;

[0015] Step 36: Calculate AH′ respectively. n and AH″ n , where AH′ n It is W′ n With WP 1-n The absolute value of the difference, AH″ n It is W″ n With WP 1-n The absolute value of the difference;

[0016] Step 37: Compare AH′ n and AH″ n The size of M is chosen such that its absolute value is minimized. n M n This is the number of dispensing pulses required for the Nth dispensing operation;

[0017] Step 4: Repeat step 3 until all dispensing pulse data required for all dispensing trajectories have been calculated.

[0018] The beneficial effect of this invention is that when the same dispensing trajectory needs to be repeated multiple times, and the calculation of the amount of glue for each dispensing requires rounding the decimal, the difference between the total amount of glue currently dispensed and the set amount of glue is comprehensively considered. The traditional rounding method is abandoned, and the rounding-off method or the rounding-up method is reasonably used to ensure that the amount of glue for each dispensing is as close as possible to the set amount of glue in the process. In this way, it can be ensured that the error between the actual total amount of glue dispensed on the dispensing trajectory and the total amount of glue set in the process parameters is within the allowable error of 3%.

[0019] According to one embodiment of the present invention, in step 31, the current piezoelectric dispensing valve is used to perform the nth dispensing of the dispensing trajectory, with a theoretical dispensing pulse count K. n It's a WP n The quotient obtained by dividing by F.

[0020] According to one embodiment of the present invention, in step 32, the theoretical dispensing pulse number K is... n The first theoretical dispensing pulse number M′ is obtained by rounding up. n For the theoretical dispensing pulse number K n The second theoretical dispensing pulse number M″ is obtained by rounding down using the tail-removal method. n , where M′ n -M″ n =1.

[0021] According to one embodiment of the present invention, in the 33rd step, the first theoretical dispensing amount WP′ n The first theoretical dispensing pulse number M′ n The product of F and the second theoretical dispensing amount WP″ n The second theoretical dispensing pulse number M″ n The product of F and F.

[0022] According to one embodiment of the present invention, in step 34, the amount of adhesive applied for the first to the (n-1)th dispensing is (M1+M2+M3+…M… n-1 The product of M2 and F, where M2 is the number of dispensing pulses required for the second dispensing, M3 is the number of dispensing pulses required for the third dispensing, and M... n-1 It is the number of dispensing pulses required for the (n-1)th dispensing.

[0023] According to one embodiment of the present invention, in step 35, WP 1-n =WP1+WP2+WP3+…+WP n Where WP1 is the preset glue amount for the first dispensing trajectory, WP2 is the preset glue amount for the second dispensing trajectory, and WP3 is the preset glue amount for the third dispensing trajectory.n It is the preset trajectory and amount of adhesive for the nth dispensing.

[0024] According to one embodiment of the present invention, when n=2, the calculation steps for the number of dispensing pulses required for the second dispensing are as follows:

[0025] Step 1: Calculate the theoretical number of dispensing pulses K2, K2 = WP2 / F, where WP2 and F are known data;

[0026] Step 2: Round up the theoretical dispensing pulse number K2 to obtain the first theoretical dispensing pulse number M′2, and round down the theoretical dispensing pulse number K2 to obtain the second theoretical dispensing pulse number M″2, where M′2-M″2=1;

[0027] Step ③: Calculate the first theoretical glue amount WP′2 and the second theoretical glue amount WP″2 respectively. WP′2=M′2×F, WP″2=M″2×F;

[0028] Step 4: Calculate W′2 and W″2 respectively, where W′2=M1×F+WP′2, W″2=M1×F+WP″2;

[0029] Step 5: Calculate the sum of adhesive amounts for the trajectory from the first to the second stroke (WP). 1-2 WP 1-2 =WP1+WP2, where WP1 and WP2 are both known data;

[0030] Step 6: Calculate AH′2 and AH″2 respectively.

[0031] AH′2=|W′2-WP 1-2 |=|(M1×F+WP′2)-(WP1+WP2)|

[0032] =|(M1×F+M′2×F)-(WP1+WP2)|

[0033] =|(M1+M′2)×F-(WP1+WP2)|

[0034] Among them, M1, M′2, F, WP1 and WP2 are all known data;

[0035] AH″2=|W″2-WP 1-2 |=|(M1×F+WP″2)-(WP1+WP2)|

[0036] =|(M1×F+M″2×F)-(WP1+WP2)|

[0037] =|(M1+M″2)×F-(WP1+WP2)|

[0038] Among them, M1, M″2, F, WP1 and WP2 are all known data;

[0039] Step 7: Obtain the number of dispensing pulses M2 required for the second dispensing:

[0040] When AH′2>AH″2, then M2=M″2.

[0041] When AH′2<AH″2, then M2=M′2.

[0042] According to one embodiment of the present invention, when n=3, the calculation steps for the number of dispensing pulses required for the third dispensing are as follows:

[0043] Step 1: Calculate the theoretical number of dispensing pulses K3, K3 = WP3 / F, where WP3 and F are known data;

[0044] Step 2: Round up the theoretical dispensing pulse number K3 to obtain the first theoretical dispensing pulse number M′3, and round down the theoretical dispensing pulse number K3 to obtain the second theoretical dispensing pulse number M″3, where M′3-M″3=1;

[0045] Step ③: Calculate the first theoretical glue amount WP′3 and the second theoretical glue amount WP″3 respectively. WP′3=M′3×F, WP″3=M″3×F;

[0046] Step 4: Calculate W′3 and W″3 respectively, where W′3=(M1+M2)×F+WP′3, W″3=(M1+M2)×F+WP″3;

[0047] Step 5: Calculate the sum of adhesive amounts for the trajectory from the 1st to the 3rd time (WP). 1-3 WP 1-3 =WP1+WP2+WP3, where WP1, WP2, and WP3 are all known data;

[0048] Step 6: Calculate AH′3 and AH″3 respectively.

[0049] AH′3=|W′3-WP 1-3 |=|[(M1+M2)×F+WP′3]-(WP1+WP2+WP3)|

[0050] =|[(M1+M2)×F+(M′3×F)]-(WP1+WP2+WP3)|

[0051] =|(M1+M2+M′3)×F-(WP1+WP2+WP3)|

[0052] Among them, M1, M2, M′3, F, WP1, WP2 and WP3 are all known data;

[0053] AH″3=|W″3-WP 1-3 |=|[(M1+M2)×F+WP″3]-(WP1+WP2+WP3)|

[0054] =|[(M1+M2)×F+M″3×F]-(WP1+WP2+WP3)|

[0055] =|(M1+M2+M″3)×F-(WP1+WP2+WP3)|

[0056] Among them, M1, M2, M″3, F, WP1, WP2 and WP3 are all known data;

[0057] Step 7: Obtain the number of dispensing pulses M3 required for the 3rd dispensing:

[0058] When AH′3>AH″3, then M3=M″3.

[0059] When AH′3 < AH″3, then M3 = M′3.

[0060] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0061] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] The method for calculating the bottom filling of multiple trajectories according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0066] The multi-trajectory bottom filling calculation method of the present invention includes the following steps:

[0067] A method for calculating bottom filling of multiple trajectories, characterized by the following steps:

[0068] Step 1: Set the process parameters for a dispensing trajectory: This dispensing trajectory requires a total of N dispensing operations, where N ∈ [2, ∞) and N is a positive integer; according to the process, the preset dispensing amount for the first dispensing operation is WP1mg, and the preset dispensing amount for the nth dispensing operation is WP n mg, where n∈[2,N] and n is a positive integer; the current flow rate of the piezoelectric dispensing valve is F mg / dot (single-point glue weight, i.e., the average glue weight excited by one pulse of the piezoelectric valve);

[0069] Step 2: Calculate the number of dispensing pulses required for the first dispensing: When using the current piezoelectric dispensing valve to perform the first dispensing on the dispensing trajectory, the normal rounding method is used to obtain the actual number of dispensing pulses as M1. The actual number of dispensing pulses M1 is the rounded value of WP1 divided by F, and M1 is the number of dispensing pulses required for the first dispensing. The calculation of M1 is shown in formula (1):

[0070]

[0071] Step 3: Calculate the number of dispensing pulses required for the nth dispensing operation. The specific steps are as follows:

[0072] Step 31: Calculate the theoretical number of dispensing pulses K n Using the current piezoelectric dispensing valve to perform the nth dispensing on the dispensing trajectory, the theoretical dispensing pulse count K is... n It's a WP n The quotient obtained by dividing by F; K n The calculation is shown in formula (2):

[0073]

[0074] Step 32: Based on the theoretical dispensing pulse count K nObtain the first theoretical dispensing pulse number M′ n Second theoretical dispensing pulse number M″ n For the theoretical dispensing pulse number K n The first theoretical dispensing pulse number M′ is obtained by rounding up. n For the theoretical dispensing pulse number K n The second theoretical dispensing pulse number M″ is obtained by rounding down using the tail-removal method. n , where M′ n -M″ n =1;

[0075] M′ n The calculation is shown in formula (3):

[0076]

[0077] M″ n The calculation is shown in formula (4):

[0078]

[0079] Step 33: Calculate the first theoretical amount of adhesive WP′. n Second theoretical dispensing amount WP″ n The first theoretical amount of adhesive WP′ n The first theoretical dispensing pulse number M′ n The product of F and the second theoretical dispensing amount WP″ n The second theoretical dispensing pulse number M″ n The product of F;

[0080] WP′ n The calculation is shown in formula (5):

[0081] WP′ n =M′ n ×F (5)

[0082] WP″ n The calculation is shown in formula (6):

[0083] WP″ n =M″ n ×F (6)

[0084] Step 34: Calculate W′ separately. n and W″ n , where W′ n It is the amount of adhesive applied from the first to the (n-1)th application, and the theoretical amount of adhesive applied in the first application, WP′. n The sum of; W″ n It is the amount of adhesive applied from the first to the (n-1)th application and the second theoretical amount of adhesive applied, WP″. nThe sum of the amounts of adhesive applied from the first to the (n-1)th application is (M1 + M2 + M3 + ... + M... n-1 The product of M2 and F, where M2 is the number of dispensing pulses required for the second dispensing, M3 is the number of dispensing pulses required for the third dispensing, and M... n-1 It is the number of dispensing pulses required for the (n-1)th dispensing operation;

[0085] W′ n The calculation is shown in formula (7):

[0086] W′ n = (M1+M2+M3+…M n-1 )×F+WP′ n = (M1+M2+M3+…M n-1 )×F+M′ n ×F=(M1+M2+M3+…M n-1 +M′ n )×F (7)

[0087] W″ n The calculation is shown in formula (8):

[0088] W″ n = (M1+M2+M3+…M n-1 )×F+WP″ n = (M1+M2+M3+…M n-1 )×F+M″ n ×F=(M1+M2+M3+…M n-1 +M″ n )×F (8)

[0089] Step 35: Calculate the sum of adhesive amounts for the trajectory from the 1st to the nth time (WP). 1-n WP 1-n The calculation is shown in formula (9):

[0090] WP 1-n =WP1+WP2+WP3+…+WP n (9)

[0091] Wherein, WP1 is the preset glue amount for the first dispensing trajectory, WP2 is the preset glue amount for the second dispensing trajectory, and WP3 is the preset glue amount for the third dispensing trajectory. n It is the preset trajectory and amount of adhesive for the nth dispensing;

[0092] Step 36: Calculate AH′ respectively. n and AH″ n , where AH′ n It is W′ n With WP 1-n The absolute value of the difference, AH″n It is W″ n With WP 1-n The absolute value of the difference;

[0093] AH′ n The calculation is shown in formula (10):

[0094] AH′ n =|W′ n -WP 1-n |=|(M1+M2+M3+…M n-1 +M′ n )×F-(WP1+WP2+WP3+…+WP n (10)

[0095] AH″ n The calculation is shown in formula (11):

[0096] AH″ n =|W″ n -WP 1-n |=|(M1+M2+M3+…M n-1 +M″ n )×F-(WP1+WP2+WP3+…+WP n (11)

[0097] Step 37: Compare AH′ n and AH″ n The size of M is chosen such that its absolute value is minimized. n M n This is the number of dispensing pulses required for the Nth dispensing operation;

[0098] Step 4: Repeat step 3 until all dispensing pulse data required for all dispensing trajectories have been calculated.

[0099] When n=2, the calculation steps for the number of dispensing pulses required for the second dispensing are as follows:

[0100] Step 1: Calculate the theoretical number of dispensing pulses K2, K2 = WP2 / F, where WP2 and F are known data;

[0101] Step 2: Round up the theoretical dispensing pulse number K2 to obtain the first theoretical dispensing pulse number M′2, and round down the theoretical dispensing pulse number K2 to obtain the second theoretical dispensing pulse number M″2, where M′2-M″2=1;

[0102] Step ③: Calculate the first theoretical glue amount WP′2 and the second theoretical glue amount WP″2 respectively. WP′2=M′2×F, WP″2=M″2×F;

[0103] Step 4: Calculate W′2 and W″2 respectively, where W′2=M1×F+WP′2, W″2=M1×F+WP″2;

[0104] Step 5: Calculate the sum of adhesive amounts for the trajectory from the first to the second stroke (WP). 1-2 WP 1-2 =WP1+WP2, where WP1 and WP2 are both known data;

[0105] Step 6: Calculate AH′2 and AH″2 respectively.

[0106] AH′2=|W′2-WP 1-2 |=|(M1×F+WP′2)-(WP1+WP2)|

[0107] =|(M1×F+M′2×F)-(WP1+WP2)|

[0108] =|(M1+M′2)×F-(WP1+WP2)|

[0109] Among them, M1, M′2, F, WP1 and WP2 are all known data;

[0110] AH″2=|W″2-WP 1-2 |=|(M1×F+WP″2)-(WP1+WP2)|

[0111] =|(M1×F+M″2×F)-(WP1+WP2)|

[0112] =|(M1+M″2)×F-(WP1+WP2)|

[0113] Among them, M1, M″2, F, WP1 and WP2 are all known data;

[0114] Step 7: Obtain the number of dispensing pulses M2 required for the second dispensing:

[0115] When AH′2>AH″2, then M2=M″2.

[0116] When AH′2<AH″2, then M2=M′2.

[0117] When n=3, the calculation steps for the number of dispensing pulses required for the 3rd dispensing are as follows:

[0118] Step 1: Calculate the theoretical number of dispensing pulses K3, K3 = WP3 / F, where WP3 and F are known data;

[0119] Step 2: Round up the theoretical dispensing pulse number K3 to obtain the first theoretical dispensing pulse number M′3, and round down the theoretical dispensing pulse number K3 to obtain the second theoretical dispensing pulse number M″3, where M′3-M″3=1;

[0120] Step ③: Calculate the first theoretical glue amount WP′3 and the second theoretical glue amount WP″3 respectively. WP′3=M′3×F, WP″3=M″3×F;

[0121] Step 4: Calculate W′3 and W″3 respectively, where W′3=(M1+M2)×F+WP′3, W″3=(M1+M2)×F+WP″3;

[0122] Step 5: Calculate the sum of adhesive amounts for the trajectory from the 1st to the 3rd time (WP). 1-3 WP 1-3 =WP1+WP2+WP3, where WP1, WP2, and WP3 are all known data;

[0123] Step 6: Calculate AH′3 and AH″3 respectively.

[0124] AH′3=|W′3-WP 1-3 |=|[(M1+M2)×F+WP ′ 3]-(WP1+WP2+WP3)|

[0125] =|[(M1+M2)×F+(M′3×F)]-(WP1+WP2+WP3)|

[0126] =|(M1+M2+M′3)×F-(WP1+WP2+WP3)|

[0127] Among them, M1, M2, M′3, F, WP1, WP2 and WP3 are all known data;

[0128] AH″3=|W″3-WP 1-3 |=|[(M1+M2)×F+WP″3]-(WP1+WP2+WP3)|

[0129] =|[(M1+M2)×F+M″3×F]-(WP1+WP2+WP3)|

[0130] =|(M1+M2+M″3)×F-(WP1+WP2+WP3)|

[0131] Among them, M1, M2, M″3, F, WP1, WP2 and WP3 are all known data;

[0132] Step 7: Obtain the number of dispensing pulses M3 required for the 3rd dispensing:

[0133] When AH′3>AH″3, then M3=M″3.

[0134] When AH′3 < AH″3, then M3 = M′3.

[0135] And so on, when n = 4, then,

[0136] AH′4=|W′4-WP 1-4 |=|(M1+M2+M3+M′4)×F-(WP1+WP2+WP3+WP4)|, where M1, M2, M3, M′4, F, WP2, WP2, WP3 and WP4 are all known data;

[0137] AH″4=|W″4-WP 1-4 |=|(M1+M2+M3+M″4)×F-(WP1+WP2+WP3+WP4)|, where M1, M2, M3, M″4, F, WP1, WP2, WP3 and WP4 are all known data;

[0138] When AH′4>AH″4, then M4=M″4, which means the number of dispensing pulses M4 required for the 4th dispensing is obtained;

[0139] When AH′4 < AH″4, then M4 = M′4, which means the number of dispensing pulses M4 required for the 4th dispensing is obtained.

[0140] The multi-trajectory bottom filling calculation method of the present invention, when the same dispensing trajectory needs to be repeated multiple times and the calculation of the amount of glue for each stroke requires rounding the decimal, comprehensively considers the difference between the total amount of glue currently dispensed and the set amount of glue, abandons the traditional rounding method, and reasonably uses the rounding method or the rounding method to ensure that the amount of glue for each stroke is as close as possible to the set amount of glue in the process. In this way, it can ensure that the error between the actual total amount of glue dispensed for the dispensing trajectory and the total amount of glue set in the process parameters is within the allowable error of 3%.

[0141] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for calculating bottom filling of multiple trajectories, characterized in that, Includes the following steps: Step 1: Set the process parameters for a dispensing trajectory: the total amount of glue required for this dispensing trajectory. Next, of which and It is a positive integer; according to the process, the preset adhesive amount for the first dispensing trajectory is mg, the The preset trajectory and amount of adhesive for the second dispensing are: mg, of which and It is a positive integer; the current flow rate of the piezoelectric dispensing valve is mg / dot; Step 2: Calculate the number of dispensing pulses required for the first dispensing: When performing the first dispensing on the dispensing trajectory using the current piezoelectric dispensing valve, use the normal rounding method to obtain the actual number of dispensing pulses. Among them, the actual number of dispensing pulses yes Divide by The rounded value, and This is the number of dispensing pulses required for the first dispensing operation; Step 3, Calculate the... The number of dispensing pulses required for each dispensing operation, and the specific steps are as follows: Step 31: Calculate the theoretical number of dispensing pulses. : Utilize the current piezoelectric dispensing valve to perform the first step on the dispensing trajectory Second dispensing, theoretical dispensing pulse count yes Divide by The obtained quotient; Step 32: Based on the theoretical number of dispensing pulses Obtain the first theoretical dispensing pulse count Second theoretical dispensing pulse count : Theoretical dispensing pulse count The first theoretical dispensing pulse number is obtained by rounding up. Theoretical dispensing pulse count The second theoretical dispensing pulse number is obtained by rounding down using the tail-removal method. ,in, ; Step 33: Calculate the amount of adhesive applied in the first theoretical dispensing step. Second theoretical dispensing amount ; Step 34: Calculate separately and ,in, It is the amount of adhesive applied from the first to the (n-1)th application and the amount of adhesive applied according to the first theoretical application. sum; It is the amount of adhesive applied from the first to the (n-1)th application and the second theoretical amount of adhesive applied. sum; Step 35: Calculate the sum of adhesive amounts for the trajectory from the 1st to the nth time. ; Step 36: Calculate respectively and ,in, yes and The absolute value of the difference yes and The absolute value of the difference; Step 37, Comparison and The size of the is chosen such that the absolute value is minimized. , This is the number of dispensing pulses required for the Nth dispensing operation; Step 4: Repeat step 3 until all dispensing pulse data required for all dispensing trajectories have been calculated.

2. The multi-trajectory bottom filling calculation method according to claim 1, characterized in that: In step 33, the first theoretical amount of adhesive dispensing... The first theoretical dispensing pulse count and The product of the two, the second theoretical amount of adhesive applied. The second theoretical dispensing pulse number and The product of.

3. The multi-trajectory bottom filling calculation method according to claim 2, characterized in that: In step 34, the amount of adhesive applied in the first to (n-1)th applications is... and The product of, where, This is the number of dispensing pulses required for the second dispensing. This is the number of dispensing pulses required for the third dispensing operation. It is the number of dispensing pulses required for the (n-1)th dispensing.

4. The multi-trajectory bottom filling calculation method according to claim 3, characterized in that: In step 35, ,in, This is the preset glue amount for the first dispensing. This is the preset adhesive amount for the second dispensing. This is the preset adhesive amount for the third dispensing. It is the first The preset trajectory and amount of adhesive for each dispensing step.

5. The multi-trajectory bottom filling calculation method according to claim 1, characterized in that: when If so, the calculation steps for the number of dispensing pulses required for the second dispensing are as follows: Step 1: Calculate the theoretical number of dispensing pulses. , , among them and All data are known. Step 2: Calculate the theoretical dispensing pulse count. The first theoretical dispensing pulse number is obtained by rounding up. Theoretical dispensing pulse count The second theoretical dispensing pulse number is obtained by rounding down using the tail-removal method. ,in, ; Step ③: Calculate the amount of adhesive applied in the first theoretical dispensing step. Second theoretical dispensing amount , , ; Step 4: Calculate separately and ,in, , ; Step 5: Calculate the sum of the adhesive amounts for the trajectory from the first to the second time. , , among them and All data are known. Step 6: Calculate respectively and , in, , , , and All data are known. in, , , , and All data are known. Step 7: Obtain the number of dispensing pulses required for the second dispensing operation. : when At that time, , when At that time, .

6. The multi-trajectory bottom filling calculation method according to claim 5, characterized in that: when If so, the calculation steps for the number of dispensing pulses required for the third dispensing are as follows: Step 1: Calculate the theoretical number of dispensing pulses. , , among them and All data are known. Step 2: Calculate the theoretical dispensing pulse count. The first theoretical dispensing pulse number is obtained by rounding up. Theoretical dispensing pulse count The second theoretical dispensing pulse number is obtained by rounding down using the tail-removal method. ,in, ; Step ③: Calculate the amount of adhesive applied in the first theoretical dispensing step. Second theoretical dispensing amount , , ; Step 4: Calculate separately and ,in, , ; Step 5: Calculate the sum of the adhesive amounts for the trajectory from the 1st to the 3rd time. , , among them , and All data are known. Step 6: Calculate respectively and , in, , , , , , and All data are known. in, , , , , , and All data are known. Step 7: Obtain the number of dispensing pulses required for the third dispensing operation. : when At that time, , when At that time, .

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