Dispensing control method and five-axis curved surface dispensing machine

Abstract

The present application relates to dispensing machine equipment technical field, provide a kind of dispensing control method and five-axis curved surface dispensing machine.The dispensing control method includes obtaining the three-dimensional graphics of workpiece to be dispensed and dispensing graphics, projecting dispensing graphics on three-dimensional graphics to obtain dispensing path;Extract all feature points on dispensing path, obtain the final normal of each feature point;Rotating dispensing head of dispensing machine or workpiece to be dispensed, the final normal of feature point on workpiece to be dispensed contacted by dispensing head of dispensing machine is always coincident with it.Five-axis curved surface dispensing machine uses this dispensing control method.The dispensing control method and five-axis curved surface dispensing machine of the present application, by obtaining the final normal of each feature point on dispensing path, rotating dispensing head or workpiece to be dispensed when dispensing head moves, so that the final normal of feature point contacted by dispensing head is always coincident with it, for complex workpiece such as curved surface, special-shaped etc., can accurately control the dispensing precision of dispensing head, improve dispensing effect, expand the application range of dispensing machine.

Description

Technical Field

[0001] This invention relates to the field of dispensing machine equipment technology, and further to a dispensing control method and a five-axis curved surface dispensing machine. Background Technology

[0002] Currently, most dispensing machines can only obtain the dispensing path and are commonly used for dispensing flat or simple regular shapes. However, for complex workpieces with irregular shapes such as curved surfaces and irregular shapes, existing dispensing machines cannot accurately control the dispensing direction of the dispensing head, resulting in poor dispensing effect and low dispensing positioning accuracy, which cannot meet the dispensing requirements of complex workpieces. Summary of the Invention

[0003] To address the aforementioned technical problems, the present invention aims to provide a dispensing control method and a five-axis surface dispensing machine. By obtaining the final normals of each feature point on the dispensing path, the dispensing head or the workpiece to be dispensed is rotated during the movement of the dispensing head, ensuring that the dispensing head of the dispensing machine always coincides with the final normals of the feature points it contacts. For complex workpieces such as curved surfaces and irregular shapes, this dispensing machine can still accurately control the dispensing precision of the dispensing head, improve the dispensing effect, and expand the application range of the dispensing machine.

[0004] To achieve the above objectives, the present invention provides a dispensing control method, comprising: obtaining a three-dimensional graphic of a workpiece to be dispensed and a dispensing graphic, and projecting the dispensing graphic onto the three-dimensional graphic to obtain a dispensing path;

[0005] Extract all feature points along the dispensing path and obtain the final normal of each feature point;

[0006] The dispensing head of the rotating dispensing machine or the workpiece to be dispensed is always aligned with the final normal of the feature point it contacts.

[0007] In some embodiments, rotating the dispensing head of the dispensing machine or the workpiece to be dispensed, so that the final normal of the feature point on the dispensing path that the dispensing head of the dispensing machine always contacts coincides with the final normal of the feature point, specifically includes:

[0008] Establish a coordinate system and obtain the coordinates of the feature points;

[0009] Obtain the angles between the final normal and the X-axis, Y-axis, and Z-axis of the coordinate system;

[0010] The rotational motion of the dispensing head along the a-axis and b-axis is calculated based on the angle between the final normal and the coordinate system.

[0011] During the dispensing process, the dispensing head is driven to rotate along the a-axis and b-axis, so that the dispensing head always coincides with the final normal.

[0012] In some embodiments, rotating the dispensing head of the dispensing machine or the workpiece to be dispensed, so that the final normal of the feature point that the dispensing head of the dispensing machine always contacts coincides with the final normal of the feature point, specifically includes:

[0013] Establish a coordinate system and obtain the coordinates of the feature points;

[0014] Based on the coordinates of the feature points, obtain the angle between the final normal and the X-axis, Y-axis, and Z-axis of the coordinate system;

[0015] The rotational motion of the workpiece to be glued on the base along the a-axis and b-axis is calculated based on the angle between the final normal and the coordinate system.

[0016] During the dispensing process, the workpiece to be dispensed on the base is driven to rotate along the a-axis and the b-axis, so that the final normal of the feature point coincides with the dispensing head.

[0017] In some implementations, extracting all feature points along the dispensing path and obtaining the final normal of each feature point specifically includes:

[0018] Extract all feature points along the dispensing path;

[0019] Several auxiliary points are obtained near each feature point, and several feature planes are obtained based on the feature point and its corresponding auxiliary points.

[0020] Based on several feature planes, several feature normals of the feature points are obtained, and all the feature normals corresponding to each feature point are fitted into the final normal.

[0021] In some embodiments, a plurality of the auxiliary points form an auxiliary circle, and the feature point is located at the center of the auxiliary circle;

[0022] The feature point and two adjacent auxiliary points form the feature plane;

[0023] The starting point of each feature normal is the feature point, and several feature normals are combined to form the final normal according to the principle of vector synthesis.

[0024] In some embodiments, obtaining a three-dimensional graphic of the workpiece to be glued and a glue dispensing graphic, and projecting the glue dispensing graphic onto the three-dimensional graphic to obtain a glue dispensing path specifically includes:

[0025] Point cloud data is generated by scanning the workpiece to be glued using a scanning device.

[0026] Optimize the point cloud data to obtain a 3D graphic;

[0027] Obtain the dispensing pattern and project it onto the three-dimensional graphic to obtain the dispensing path.

[0028] According to another aspect of this application, a five-axis curved surface dispensing machine is further provided. The five-axis curved surface dispensing machine includes a dispensing head, a moving mechanism, and a rotating mechanism. A base is provided below the dispensing head. The moving mechanism is used to drive the dispensing head to move relative to the base along the X-axis, Y-axis, and Z-axis directions. The rotating mechanism is used to drive the dispensing head or the base to rotate around the a-axis and b-axis, so that the dispensing head always coincides with the final normal line on the dispensing path. The dispensing head, the moving mechanism, and the rotating mechanism are controlled using any of the dispensing control methods of the above preferred embodiments.

[0029] In some embodiments, a frame is also included, the frame comprising an upper frame and a lower frame, the dispensing head being movably mounted on the upper frame and the base being movably mounted on the lower frame;

[0030] The moving mechanism includes a first moving mechanism, a second moving mechanism, and a third moving mechanism. The first moving mechanism is mounted on the second moving mechanism and is used to drive the dispensing head to move along the Z-axis direction. The second moving mechanism is mounted on the upper frame and drives the first moving mechanism to move along the X-axis direction.

[0031] The third moving mechanism is mounted on the lower frame and is used to drive the base to move along the Y-axis.

[0032] In some embodiments, the rotating mechanism includes a first rotating mechanism and a second rotating mechanism, the second rotating mechanism being mounted on the first moving mechanism, the first rotating mechanism being mounted on the second rotating mechanism, and the second rotating mechanism driving the first rotating mechanism to rotate about axis a, the axis a being along the axial direction of the dispensing head;

[0033] The first rotating mechanism is equipped with the dispensing head and drives the dispensing head to rotate around axis b, which is along the radial direction of the dispensing head.

[0034] In some embodiments, the rotating mechanism includes a first rotating mechanism and a second rotating mechanism, the second rotating mechanism being mounted on the third moving mechanism, the first rotating mechanism being mounted on the second rotating mechanism, and the second rotating mechanism driving the first rotating mechanism to rotate about axis a, the axis a being along the radial direction of the dispensing head;

[0035] The first rotating mechanism is provided with the base and drives the base to rotate around the b-axis, which is along the height direction of the base.

[0036] Compared with the prior art, the dispensing control method and five-axis curved surface dispensing machine provided by the present invention have at least one of the following beneficial effects:

[0037] 1. By obtaining the final normal of each feature point on the dispensing path, the dispensing head or the workpiece to be dispensed is rotated when the dispensing head moves, so that the dispensing head of the dispensing machine always coincides with the final normal of the feature point it contacts. For complex workpieces such as curved surfaces and irregular shapes, this dispensing machine can still accurately control the dispensing accuracy of the dispensing head, improve the dispensing effect, and expand the application range of the dispensing machine.

[0038] 2. The final normal is the required normal of the feature point. When the dispensing head is used to dispense glue to the feature point on the dispensing path along the final normal, the dispensing accuracy and completion are higher.

[0039] 3. Several auxiliary points form an auxiliary circle, with the feature point located at the center of the auxiliary circle, so that the auxiliary points have certain commonalities. This also ensures the uniformity of the distance between the auxiliary points and the feature point. The feature point and two adjacent auxiliary points form a feature plane. The feature planes are adjacent and both are common points of all feature planes with the feature point. This makes it convenient to use the feature point as the starting point of the feature normal of the feature plane, and also makes it convenient to fit all feature normals in the future.

[0040] 4. The dispensing head of the dispensing machine or the workpiece to be dispensed rotates around axis a and axis b, so that the dispensing head always follows the final normal direction of the feature points on the dispensing path. This can optimize the details of the dispensing plan, so as to save time and materials as much as possible, and achieve higher precision and quality. Attached Figure Description

[0041] The preferred embodiments will now be described in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of the present invention.

[0042] Figure 1 This is a flowchart of a dispensing control method;

[0043] Figure 2 This is a diagram showing the feature points along the dispensing path;

[0044] Figure 3 This is a diagram showing the auxiliary points;

[0045] Figure 4 This is the diagram showing the final normal vector.

[0046] Figure 5 This is an overall diagram of a five-axis curved surface dispensing machine;

[0047] Figure 6 This is a structural diagram of the moving mechanism;

[0048] Figure 7 This is a structural diagram of the rotating mechanism;

[0049] Figure 8 This is a rotating view of the base in another embodiment.

[0050] Explanation of icon numbers:

[0051] Dispensing head 1, base 2, frame 3, moving mechanism 31, first moving mechanism 311, Z-axis 3111, second moving mechanism 312, X-axis 3121, third moving mechanism 313, Y-axis 3131, rotating mechanism 32, second rotating mechanism 321, a-axis 3211, first rotating mechanism 322, b-axis 3221, dispensing path 4, feature point 41, auxiliary point 42, feature plane 43, feature normal 44, final normal 45. Detailed Implementation

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0053] To keep the drawings concise, each figure only schematically shows the parts relevant to the invention, and these do not represent the actual structure of the product. Furthermore, to facilitate understanding, in some figures, only one of components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0054] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0055] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] Furthermore, in the description of this application, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0057] refer to Figures 1 to 4 This invention provides a dispensing control method for dynamically controlling a five-axis curved surface dispensing machine to dispense adhesive onto irregular workpieces. The five-axis curved surface dispensing machine can construct any point in space through the coordinated movement of its five axes. In this embodiment, by obtaining the final normal 45 of each feature point 41 on the dispensing path 4, the dispensing head 1 or the workpiece to be dispensed is rotated while the dispensing head 1 moves, ensuring that the dispensing head 1 always coincides with the final normal 45 of the feature point 41 it contacts. For complex workpieces such as curved surfaces and irregular shapes, this dispensing machine can still accurately control the dispensing precision of the dispensing head 1, improving the dispensing effect and expanding the applicability of the dispensing machine.

[0058] A dispensing control method specifically includes:

[0059] S100 obtains a 3D graphic of the workpiece to be glued and a glue dispensing graphic, and projects the glue dispensing graphic onto the 3D graphic to obtain a glue dispensing path 4. In this embodiment, the glue dispensing path 4 is the movement path of the glue dispensing head 1 on the workpiece to be glued, and through subsequent corresponding steps, the corresponding glue dispensing requirements can be achieved.

[0060] Obtain the 3D graphic of the workpiece to be glued and the glue dispensing graphic, and project the glue dispensing graphic onto the 3D graphic to obtain the glue dispensing path. Specifically, this includes:

[0061] The S200 generates point cloud data by scanning the workpiece to be glued using a scanning device. The scanning device performs a 360° scan of the workpiece and constructs its three-dimensional structure. The scanning device includes both visual imaging and laser imaging equipment. Because visual imaging equipment has limitations, it produces poor imaging results for dark objects; however, laser imaging equipment can effectively compensate for these shortcomings.

[0062] S201 optimizes point cloud data to obtain 3D graphics. Laser imaging equipment is easily affected by external environmental interference during scanning, which can impact the quality and accuracy of point cloud data. Incorrect data or data exceeding acceptable error ranges are meaningless to surveyors; therefore, only by acquiring useful point cloud data can an accurate 3D solid model be built. During scanning, point cloud data acquisition is often affected by factors such as object occlusion and uneven lighting, easily creating blind spots and holes in areas of complex shapes. Furthermore, due to the limited scanning range, large objects or large scenes cannot be completely measured in one go; multiple scans are necessary. Therefore, the scan results are often multiple point cloud data points with different coordinate systems and containing noise, which cannot fully meet the requirements for the realism and real-time performance of digital models. Thus, preprocessing such as denoising, simplification, registration, and hole filling is required for the 3D point cloud data.

[0063] S202 acquires the dispensing pattern and projects it onto the 3D graphic to obtain the dispensing path 4. The dispensing pattern is drawn according to the required dispensing position on the workpiece to be dispensed.

[0064] The S203 control dispensing machine is used for pilot testing. When adjusting and optimizing dispensing path 4, pilot testing can be conducted by manually controlling dispensing head 1 to observe the dispensing effect and adjust parameters for further refinement. During the debugging process, meticulous attention and patience are required, observing factors such as glue uniformity, smoothness, and penetration. Lessons learned should be recorded and summarized promptly during actual production. For example, dispensing head 1 pre-processes the Z-axis 3111 of dispensing path 4; that is, dispensing head 1 moves according to the Z-axis 3111 of dispensing path 4 to obtain a precise Z-axis 3111 value, making dispensing more accurate. After pre-processing dispensing path 4, formal dispensing can then proceed.

[0065] S101 extracts all feature points 41 along the dispensing path 4 and obtains the final normal 45 of each feature point 41. In this embodiment, reference... Figure 2 The final normal 45 is the required normal of feature point 41. When the dispensing head 1 dispenses glue to feature point 41 on dispensing path 4 along the final normal 45, the dispensing accuracy and completion are higher.

[0066] Specifically, extracting all feature points 41 along the dispensing path 4 and obtaining the final normal 45 for each feature point 41 includes:

[0067] The S300 extracts all feature points 41 along the dispensing path 4. The number of feature points 41 is selected as much as possible based on the scanning accuracy of the scanning device. It is worth noting that the more feature points 41 there are, the more accurate the dispensing process will be.

[0068] S301 acquires several auxiliary points 42 near each feature point 41, and obtains several feature planes 43 based on the feature point 41 and its corresponding auxiliary points 42. (Reference) Figure 3 The auxiliary points 42 also vary according to the scanning accuracy of the scanning equipment; the higher the scanning accuracy, the more closely they match the contour of the actual workpiece to be glued. Several auxiliary points 42 form an auxiliary circle, with the feature point 41 located at the center of the auxiliary circle, giving the auxiliary points 42 a certain commonality. This also ensures the uniformity of the distance between the auxiliary points 42 and the feature point 41. The feature point 41 and two adjacent auxiliary points 42 form a feature plane 43. The feature planes 43 are adjacent and all share a common point with the feature point 41, which facilitates the subsequent setting of the feature normal 44 of the feature plane 43 to feature point 41 as the starting point, and also facilitates the subsequent fitting of all feature normals 44.

[0069] S302 obtains several feature normals 44 of feature points 41 based on several feature planes 43, and fits all feature normals 44 corresponding to each feature point 41 into a final normal 45. Specifically, refer to Figure 4 The starting point of each feature normal 44 is feature point 41, and several feature normals 44 are combined to form the final normal 45 according to the principle of vector composition.

[0070] The dispensing head 1 of the S102 rotary dispensing machine or the workpiece to be dispensed is always aligned with the final normal 45 of the feature point 41 on the dispensing path 4 it contacts.

[0071] In this embodiment, reference Figure 7 and Figure 8 The dispensing head 1 of the dispensing machine or the workpiece to be dispensed rotates around axis a 3211 and axis b 3221, so that the dispensing head 1 always follows the direction of the final normal 45 of the feature point 41 on the dispensing path 4. In this embodiment, the dispensing head 1 always follows the direction of the final normal 45 of the feature point 41 on the dispensing path 4, which can optimize the dispensing planning details, so as to save time and materials as much as possible, and achieve higher accuracy and quality.

[0072] Specifically, the dispensing head 1 of the rotary dispensing machine or the workpiece to be dispensed, aligning the final normal 45 of the feature point 41 that the dispensing head 1 of the dispensing machine is always in contact with, specifically includes:

[0073] S400 establishes a coordinate system and obtains the coordinates of feature point 41.

[0074] S401 obtains the angle between the X-axis (3121), Y-axis (3131), and Z-axis (3111) of the final normal 45 coordinate system.

[0075] S402 calculates the rotational motion of the dispensing head 1 along the a-axis 3211 and b-axis 3221 based on the angle between the final normal 45 and the coordinate system.

[0076] During the dispensing process of S403, the dispensing head 1 is driven to rotate along the a-axis 3211 and the b-axis 3221, so that the dispensing head 1 always coincides with the final normal 45.

[0077] In another embodiment, the final normal 45 of the feature point 41 that the dispensing head 1 of the rotary dispensing machine is always in contact with the workpiece to be dispensed specifically includes:

[0078] Establish a coordinate system using S400 to obtain the coordinates of feature point 41;

[0079] S401 obtains the angle between the final normal 45 and the coordinate system X-axis 3121, Y-axis 3131, and Z-axis 3111 based on the coordinates of feature point 41;

[0080] S402 calculates the rotational motion of the workpiece to be glued on the base 2 along the a-axis 3211 and b-axis 3221 based on the angle between the final normal 45 and the coordinate system.

[0081] During the dispensing process of S403, the workpiece to be dispensed on the drive base 2 rotates along the a-axis 3211 and the b-axis 3221, so that the final normal 45 of this feature point 41 coincides with the dispensing head 1.

[0082] It is worth noting that, in another modified embodiment, the coordinate points of the two ends of the dispensing head 1 can also be extracted. The line connecting the two coordinate points is the dispensing direction of the dispensing head 1. The angle of the dispensing direction in the coordinate system is calculated in real time using the coordinate points of the two ends, so that the dispensing direction of the dispensing head 1 always coincides with the normal of the feature point 41. Preferably, the first coordinate point coincides with the feature point 41 it contacts and changes in real time with the movement of the dispensing head 1. Then, by changing the coordinate position of the other coordinate point of the dispensing head 1, the dispensing direction of the dispensing head 1 is always coincided with the normal of the feature point 41.

[0083] Furthermore, the present invention provides a five-axis curved surface dispensing machine, controlled using one of the dispensing control methods described in any of the above embodiments, with reference to... Figures 5 to 8 The five-axis curved surface dispensing machine includes a dispensing head 1, a moving mechanism 31, and a rotating mechanism 32. A base 2 is provided below the dispensing head 1. The moving mechanism 31 is used to drive the dispensing head 1 to move relative to the base 2 along the X-axis 3121, Y-axis 3131, and Z-axis 3111. The rotating mechanism 32 is used to drive the dispensing head 1 or the base 2 to rotate around the a-axis 3211 and the b-axis 3221, so that the dispensing head 1 always coincides with the final normal 45 on the dispensing path 4.

[0084] In this embodiment, the five-axis curved surface dispensing machine has five degrees of freedom in five axes. Through the coordinated movement of the five axes, any point in space can be constructed. The moving mechanism 31 enables the dispensing head 1 to move relative to the base 2 along the X-axis 3121, Y-axis 3131, and Z-axis 3111, so that the dispensing head 1 moves along the dispensing path 4 on the object to be dispensed. The rotating mechanism 32 drives the dispensing head 1 or the base 2 to rotate around the a-axis 3211 and the b-axis 3221, so that the dispensing head 1 always coincides with the final normal 45 on the dispensing path 4, thereby achieving precise dispensing by the dispensing machine.

[0085] Specifically, refer to Figure 5 and Figure 6 The five-axis curved surface dispensing machine also includes a frame 3 and a scanning device. The frame 3 includes an upper frame and a lower frame. The dispensing head 1 is movably mounted on the upper frame, the scanning device is mounted on the dispensing head 1, and the base 2 is movably mounted on the lower frame. The moving mechanism 31 includes a first moving mechanism 311, a second moving mechanism 312, and a third moving mechanism 313. The first moving mechanism 311 is mounted on the second moving mechanism 312 and is used to drive the dispensing head 1 to move along the Z-axis 3111 direction. The second moving mechanism 312 is mounted on the upper frame and drives the first moving mechanism 311 to move along the X-axis 3121 direction. The third moving mechanism 313 is mounted on the lower frame and is used to drive the base 2 to move along the Y-axis 3131 direction. It is worth noting that the specific structural forms of the moving mechanism 31 and the rotating mechanism 32 are not further described in this application, as these can be easily replaced by those skilled in the art.

[0086] Further, refer to Figure 7The rotating mechanism 32 includes a first rotating mechanism 322 and a second rotating mechanism 321. The second rotating mechanism 321 is mounted on the first moving mechanism 311, and the first rotating mechanism 322 is mounted on the second rotating mechanism 321. The second rotating mechanism 321 drives the first rotating mechanism 322 to rotate around axis a 3211, which is along the axial direction of the dispensing head 1. The first rotating mechanism 322 is provided with the dispensing head 1 and drives the dispensing head 1 to rotate around axis b 3221, which is along the radial direction of the dispensing head 1. In this embodiment, by rotating the dispensing head 1, the dispensing head 1 is always along the final normal 45 direction of the dispensing path 4. Specifically, in the initial state, axis a3211 is parallel to axis Z3111, and axis b3221 is parallel to axis Y3131. However, after the rotating mechanism 32 drives the dispensing head 1 to rotate, axis a3211 and axis b3221 move, leaving specific angles between axis a3211 and axis b3221 and axis Z3111 and axis Y3131 respectively. This results in the dispensing head 1 having specific angles on axis Z3111, axis Y3131, and axis X3121 that coincide with the final normal 45 direction. The dispensing head 1 can rotate 360° around axis a3211, and the rotatable angle of the dispensing head 1 around axis b3221 can be adjusted according to the scenario requirements. Preferably, the dispensing head 1 swings within a certain angle around axis b3221. This application does not impose further limitations. Specifically, before dispensing, the dispensing head 1 is positioned with the first feature point 41 of the dispensing path 4 by the moving mechanism 31. Then, the dispensing head 1 is rotated around the a-axis 3211 by the required amount of movement, and then around the b-axis 3221 by the required amount of movement, so that the final normal 45 of the dispensing head 1 coincides with that of the first feature point 41. During dispensing, the moving mechanism 31 drives the dispensing head 1 to move along the dispensing path 4, and the rotating mechanism 32 rotates in real time, so that the final normal 45 of the dispensing head 1 and the feature point 41 it contacts coincides, thus meeting the dispensing requirements of the dispensing path 4. It is worth noting that the b-axis 3221 can also be along the X-axis 3121 or other radial directions. These are all installation orientation changes that are easily conceived by those skilled in the art and are all within the scope of protection of this application.

[0087] In another embodiment, reference Figure 8 The rotating mechanism 32 includes a first rotating mechanism 322 and a second rotating mechanism 321. The second rotating mechanism 321 is mounted on a third moving mechanism 313, and the first rotating mechanism 322 is mounted on the second rotating mechanism 321. The second rotating mechanism 321 drives the first rotating mechanism 322 to rotate around axis a 3211, which is along the radial direction of the dispensing head 1. The first rotating mechanism 322 has a base 2 and drives the base 2 to rotate around axis b 3221, which is along the height direction of the base 2. In this embodiment, by rotating the base 2, the final normal 45 direction of the workpiece to be dispensed on the base 2 coincides with the dispensing head 1.

[0088] Specifically, in this embodiment, in the initial state, the radial direction of the dispensing head 1 is the X-axis 3121 direction, which is the width direction of the base 2, and the height direction of the base 2 is the Z-axis 3111 direction, which is the axial direction of the dispensing head 1. However, after the rotating mechanism 32 drives the base 2 to rotate, the height and width directions of the base 2 have specific angles with the Z-axis 3111 and X-axis 3121 directions, respectively. This results in the irregular workpiece on the base 2 having specific angles with the Z-axis 3111, X-axis 3121, and Y-axis 3131 directions, respectively. The five-axis curved surface dispensing machine first performs a 360° scan on the irregular workpiece and constructs its three-dimensional structure. The 3D graphic to be printed is then projected onto the 3D solid structure to obtain the travel path of the five-axis surface dispensing machine, i.e., the dispensing path 4. Then, the final normal 45 of each feature point 41 on the dispensing path 4 is obtained, and the angle between the final normal 45 and the coordinate system X-axis 3121, Y-axis 3131, and Z-axis 3111 is calculated. The rotational motion of the dispensing head 1 at each feature point 41 along the a-axis 3211 and b-axis 3221 is calculated. The rotational motion of the dispensing head 1 around the a-axis 3211 and b-axis 3221 is calculated to obtain the rotational motion of the first feature point 41 along the a-axis 3211 and b-axis 3221, so that the dispensing head 1 of the dispensing machine coincides with the final normal 45 of the first feature point 41 on the dispensing path 4 it contacts. Then, the first moving mechanism 311, the second moving mechanism 312, and the third moving mechanism 313 are moved so that the dispensing head 1 reaches the position of the first feature point 41 and begins dispensing. During the dispensing process, the movement of the X-axis 3121, Y-axis 3131, and Z-axis 3111, in coordination with the rotation of the a-axis 3211 and b-axis 3221, ensures that the dispensing head 1 of the dispensing machine always coincides with the final normal 45 of the feature point 41 on the dispensing path 4 it contacts, guaranteeing the overall accuracy of the dispensing process. It is worth noting that the a-axis 3211 includes, but is not limited to, the direction along the X-axis 3121; it can also be along another radial direction of the dispensing head 1, namely the Y-axis 3131, or other radial directions, as long as it enables the irregular workpiece on the base 2 to be flipped.

[0089] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling dispensing, characterized in that, include: Obtain a 3D graphic of the workpiece to be glued and a glue dispensing graphic, and project the glue dispensing graphic onto the 3D graphic to obtain a glue dispensing path; Extract all feature points on the dispensing path, obtain several auxiliary points near each feature point, form an auxiliary circle with the feature point at the center of the auxiliary circle, form a feature plane with the feature point and two adjacent auxiliary points, and take the feature point as the starting point of the feature normal. Combine the feature normals with the vector composition principle to obtain the final normal of each feature point. The dispensing head of the rotating dispensing machine or the workpiece to be dispensed is aligned so that the dispensing head of the dispensing machine always coincides with the final normal of the feature point on the dispensing path it contacts.

2. The dispensing control method according to claim 1, characterized in that, Rotating the dispensing head of the dispensing machine or the workpiece to be dispensed, so that the final normal of the feature point that the dispensing head of the dispensing machine always contacts coincides with the dispensing head specifically includes: Establish a coordinate system and obtain the coordinates of the feature points; Obtain the angles between the final normal and the X-axis, Y-axis, and Z-axis of the coordinate system; The rotational motion of the dispensing head along the a-axis and b-axis is calculated based on the angle between the final normal and the coordinate system. During the dispensing process, the dispensing head is driven to rotate along the a-axis and b-axis, so that the dispensing head always coincides with the final normal.

3. The dispensing control method according to claim 1, characterized in that, Rotating the dispensing head of the dispensing machine or the workpiece to be dispensed, so that the final normal of the feature point that the dispensing head of the dispensing machine always contacts coincides with the dispensing head specifically includes: Establish a coordinate system and obtain the coordinates of the feature points; Based on the coordinates of the feature points, obtain the angle between the final normal and the X-axis, Y-axis, and Z-axis of the coordinate system; The rotational motion of the workpiece to be glued on the base along the a-axis and b-axis is calculated based on the angle between the final normal and the coordinate system. During the dispensing process, the workpiece to be dispensed on the base is driven to rotate along the a-axis and the b-axis, so that the final normal of the feature point coincides with the dispensing head.

4. The dispensing control method according to claim 1, characterized in that, Extracting all feature points along the dispensing path and obtaining the final normal of each feature point specifically includes: Extract all feature points along the dispensing path; Several feature planes are obtained based on the feature points and their corresponding auxiliary points; Based on several feature planes, several feature normals of the feature points are obtained, and all the feature normals corresponding to each feature point are fitted into the final normal.

5. The dispensing control method according to claim 1, characterized in that, Obtaining the 3D graphic of the workpiece to be glued and the glue dispensing graphic, and projecting the glue dispensing graphic onto the 3D graphic to obtain the glue dispensing path specifically includes: Point cloud data is generated by scanning the workpiece to be glued using a scanning device. Optimize the point cloud data to obtain a 3D graphic; Obtain the dispensing pattern and project it onto the three-dimensional graphic to obtain the dispensing path.

6. A five-axis curved surface dispensing machine, characterized in that, include: A dispensing head, with a base located below it; A moving mechanism is provided to drive the dispensing head to move relative to the base along the X-axis, Y-axis, and Z-axis directions. A rotating mechanism is provided to drive the dispensing head or the base to rotate around axis a and axis b, such that the dispensing head always coincides with the final normal line on the dispensing path, and the dispensing head, the moving mechanism and the rotating mechanism are controlled by the dispensing control method according to any one of claims 1-5.

7. A five-axis curved surface dispensing machine according to claim 6, characterized in that, It also includes a frame and a scanning device. The frame includes an upper frame and a lower frame. The dispensing head is movably mounted on the upper frame, the scanning device is mounted on the dispensing head, and the base is movably mounted on the lower frame. The moving mechanism includes a first moving mechanism, a second moving mechanism, and a third moving mechanism. The first moving mechanism is mounted on the second moving mechanism and is used to drive the dispensing head to move along the Z-axis direction. The second moving mechanism is mounted on the upper frame and drives the first moving mechanism to move along the X-axis direction. The third moving mechanism is mounted on the lower frame and is used to drive the base to move along the Y-axis.

8. A five-axis curved surface dispensing machine according to claim 7, characterized in that, The rotating mechanism includes a first rotating mechanism and a second rotating mechanism. The second rotating mechanism is mounted on the first moving mechanism, and the first rotating mechanism is mounted on the second rotating mechanism. The second rotating mechanism drives the first rotating mechanism to rotate around axis a, which is along the axial direction of the dispensing head. The first rotating mechanism is equipped with the dispensing head and drives the dispensing head to rotate around axis b, which is along the radial direction of the dispensing head.

9. A five-axis curved surface dispensing machine according to claim 7, characterized in that, The rotating mechanism includes a first rotating mechanism and a second rotating mechanism. The second rotating mechanism is mounted on the third moving mechanism, and the first rotating mechanism is mounted on the second rotating mechanism. The second rotating mechanism drives the first rotating mechanism to rotate around axis a, which is along the radial direction of the dispensing head. The first rotating mechanism is provided with the base and drives the base to rotate around the b-axis, which is along the height direction of the base.

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