Dispensing control system applying four-axis interpolation function of motion controller

Abstract

The invention belongs to the technical field of dispensing control, and particularly relates to a dispensing control system applying a four-axis interpolation function of a motion controller, the dispensing control system comprises an operation table, a support is arranged on the operation table, an inward concave placing groove is formed in the operation table, and a frame is arranged on the surface of the support; the frame is of a rectangular structure formed by assembling a first fixing strip and a second fixing strip, tooth grooves are formed in the inner wall of the first fixing strip and the inner wall of the second fixing strip, a first rail is arranged on the first fixing strip in a sliding mode, a second rail is arranged on the second fixing strip in a sliding mode, and the second rail is erected above the first rail. The control card can analyze a command, convert the command into a driving signal and output the driving signal to each moving part of the device, so that the device moves to a specified position, and the four-axis interpolation motion control card not only can control the position and the speed of the device, but also can control the acceleration and the deceleration of the device so as to achieve the purpose of accurate control.

Description

Technical Field

[0001] The invention belongs to the technical field of glue dispensing control, and in particular relates to a glue dispensing control system using a four-axis interpolation function of a motion controller. Background Art

[0002] The glue dispensing machine can drip and apply fluid on the surface or inside of the product, and can achieve three-dimensional and four-dimensional path dispensing, precise positioning, precise glue control, no drawing, no glue leakage, and no glue dripping. The glue dispensing machine is mainly used for the precise dotting, injection, coating, and dripping of glue, paint, and other liquids in the product process to the precise position of each product, and can be used to achieve dotting, drawing lines, circles or arcs.

[0003] At present, the dispensing control trigger is mostly IO point output control. When the motion system is in place, position comparison is performed for point trigger control, or encoder feedback is used to reach the target position and then point output control is performed. There is a deviation between the actual position and the dispensing path position. If it is used in high-speed or high-precision dispensing process, the dispensing position cannot meet the requirements, and the maximum frequency of the IO point output method is only 1KHz. Summary of the invention

[0004] Based on the technical problems existing in the background technology, the present invention proposes a dispensing control system using a four-axis interpolation function of a motion controller.

[0005] The present invention proposes a dispensing control system using a motion controller with a four-axis interpolation function, comprising an operating table, a bracket is arranged on the operating table, an inwardly recessed placement groove is arranged in the operating table, a frame is arranged on the surface of the bracket, the frame is a rectangular structure assembled from a first fixing bar and a second fixing bar, tooth grooves are arranged on the inner walls of the first fixing bar and the second fixing bar, a first track is slidably arranged on the first fixing bar, a second track is slidably arranged on the second fixing bar, and the second track is mounted above the first track;

[0006] A first driving mechanism is disposed at both ends of the first track, and a second driving mechanism is disposed at both ends of the second track;

[0007] A slide groove is provided in each of the first track and the second track, a support column is clamped between the two slide grooves, a control column is fixedly connected below the support column, and a first rubber head is provided at the lower end of the control column;

[0008] A threaded rod is rotatably mounted on one side of the control column, a moving block is slidably mounted on the surface of the control column, the threaded rod is threaded through the moving block, a temporary storage cavity is fixedly mounted on the moving block, a third rubber head is disposed on one side of the temporary storage cavity, and a second rubber head is disposed at the lower end;

[0009] It also includes a four-axis interpolation motion control card, a pulse signal converter, a glue valve controller, and a glue valve. The four-axis interpolation motion control card transmits information to the pulse signal converter, the pulse signal converter transmits information to the glue valve controller, and the glue valve controller controls the glue valve.

[0010] Preferably, a gap is formed at the intersecting positions of the upper and lower slide grooves, the support column is inserted in the gap, and a card body is also sleeved on the surface of the support column. The card body is slidably clamped on the outer surfaces of the second rail and the first rail. At the same time, the card body is arranged at the position of the gap, and a movable opening for the support column to pass through is opened on the card body. A fine-tuning mechanism is provided on the card body, and the fine-tuning mechanism is used to realize the movement of the support column within the range of the movable opening.

[0011] Preferably, the fine-tuning mechanism includes a fourth motor and a threaded shaft, the driving end of the fourth motor is fixedly connected to the threaded shaft, a plurality of limit blocks are fixedly connected and surrounded on the surface of the support column, the threaded shaft threads through one of the limit blocks, and the limit block is slidably set on the surface of the card body.

[0012] Preferably, a third motor is provided in the control column at the upper end of the threaded rod, the driving end of the third motor is fixedly connected to the upper end of the threaded rod, the upper end of the temporary storage cavity is connected to the second delivery pipe, and the upper end of the support column is connected to the first delivery pipe.

[0013] Preferably, the first driving mechanism includes two first gears and a linkage shaft, a first motor used in conjunction with the first driving mechanism is fixedly mounted on the end of the first track, a driving end of the first motor is fixedly connected to a first rotating round block, one side of the first rotating round block is rotatably connected to the linkage shaft through a connecting piece, the two first gears are respectively arranged on both sides of the first track, and are both meshed with the teeth on the first fixed bar, one side of the two first gears are fixedly connected to a second rotating round block, the two ends of the linkage shaft are respectively rotatably connected to the edges of the two second rotating round blocks, and the angular distances of the rotationally connected positions relative to the center of the first gear are the same, and the ends of the two first gears away from the second rotating round blocks are rotatably connected to the two sides of the first track.

[0014] Preferably, the second driving mechanism includes two second gears rotatably installed under the second track, a second motor used in conjunction with the second driving mechanism is fixedly installed at the end of the second track, the driving end of the second motor is fixedly connected to the first rotating shaft, the end of the first rotating shaft away from the second motor is rotatably connected to the first fixed shaft, the lower end of the first fixed shaft is fixedly connected to the second fixed shaft, one side of the two second gears is fixedly connected to the second rotating shaft, and the two ends of the two second fixed shafts are respectively rotatably connected to the ends of the two second rotating shafts away from the second gears.

[0015] Preferably, the first fixed shaft passes through the slide groove on the second track, the two second rotating shafts are installed at the same position on the two second gears, and the lower end of the first fixed shaft is fixedly connected to the middle position of the second fixed shaft.

[0016] Preferably, the glue valve is arranged on the first glue head, the third glue head and the second glue head, and the first delivery pipe and the second delivery pipe are both connected to a storage box, and the storage box is filled with glue.

[0017] Preferably, the four-axis interpolation motion control card issues control commands to the second motor, the first motor, the third motor and the fourth motor.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The four-axis interpolation motion control card controls the movement of the device by sending commands. The control card will analyze the commands and convert them into drive signals and output them to the various moving parts of the device to make the device move to the specified position. The four-axis interpolation motion control card can not only control the position and speed of the device, but also control the acceleration and deceleration of the device to achieve the purpose of precise control.

[0020] 2. Place the circuit board and other equipment that need to be glued on the placement slot. According to the glue dispensing position, the four-axis interpolation motion control card controls the first drive mechanism, the second drive mechanism, the adjustment mechanism and the corresponding glue valve. The first drive mechanism controls the first track to move back and forth on the first fixed bar, and the second drive mechanism controls the second track to move back and forth on the second fixed bar, changing the position of the gap at the intersection of the first track and the second track, thereby changing the position of the tooth groove and the control column, and then the first glue head can perform glue dispensing operations on the horizontal plane. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural schematic diagram of a dispensing control system using a four-axis interpolation function of a motion controller proposed in the present invention;

[0022] Figure 2 This is a schematic diagram of the top view of the dispensing control system using the four-axis interpolation function of the motion controller proposed by the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the dispensing control system using the four-axis interpolation function of the motion controller proposed by the present invention;

[0024] Figure 4 It is a schematic diagram of the top plan structure of the present invention;

[0025] Figure 5 is a structural schematic diagram of a first driving mechanism;

[0026] Figure 6 is a structural schematic diagram of a second driving mechanism;

[0027] Figure 7 This is a schematic diagram of the installation structure of the control column;

[0028] Figure 8 This is the control flow chart of the four-axis interpolation motion control card.

[0029] In the figure: 1 operating table, 2 placement slot, 3 bracket, 4 first fixing bar, 5 second fixing bar, 6 support column, 7 first track, 8 tooth groove, 9 third motor, 10 second track, 11 first rubber head, 12 second rotating round block, 13 third rubber head, 14 second rubber head, 15 threaded rod, 16 moving block, 17 control column, 18 card body, 19 first conveying pipe, 20 second conveying pipe, 21 limit block, 22 threaded shaft, 23 fourth motor, 24 temporary storage cavity, 25 second motor, 26 first rotating shaft, 27 first fixed shaft, 28 second gear, 29 second rotating shaft, 30 second fixed shaft, 31 first motor, 32 first rotating round block, 33 linkage shaft, 34 first gear. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] Reference Figure 1-Figure 8 , a dispensing control system with a four-axis interpolation function of a motion controller is applied, comprising an operating table 1, a bracket 3 is arranged on the operating table 1, an inwardly recessed placement groove 2 is arranged in the operating table 1, a frame is arranged on the surface of the bracket 3, the frame is a rectangular structure assembled from a first fixing bar 4 and a second fixing bar 5, tooth grooves 8 are arranged on the inner walls of the first fixing bar 4 and the second fixing bar 5, a first track 7 is slidably arranged on the first fixing bar 4, a second track 10 is slidably arranged on the second fixing bar 5, and the second track 10 is mounted above the first track 7; first driving mechanisms are arranged at both ends of the first track 7, and second driving mechanisms are arranged at both ends of the second track 10;

[0032] A slide groove is provided in each of the first track 7 and the second track 10, a support column 6 is clamped between the two slide grooves, a control column 17 is fixedly connected below the support column 6, and a first rubber head 11 is provided at the lower end of the control column 17; a threaded rod 15 is rotatably installed on one side of the control column 17, a moving block 16 is slidably provided on the surface of the control column 17, the threaded rod 15 is threaded through the moving block 16, a temporary storage cavity 24 is fixedly installed on the moving block 16, a third rubber head 13 is provided on one side of the temporary storage cavity 24, and a second rubber head 14 is provided at the lower end;

[0033] It also includes a four-axis interpolation motion control card, a pulse signal converter, a glue valve controller, and a glue valve. The four-axis interpolation motion control card transmits information to the pulse signal converter, the pulse signal converter transmits information to the glue valve controller, and the glue valve controller controls the glue valve.

[0034] The glue valves are arranged on the first glue head 11, the third glue head 13 and the second glue head 14. The first delivery pipe 19 and the second delivery pipe 20 are both connected to storage boxes filled with glue. The four-axis interpolation motion control card issues control commands to the second motor 25, the first motor 31, the third motor 9 and the fourth motor 23.

[0035] A gap is formed at the intersecting position of the upper and lower slide grooves, and the support column 6 is inserted in the gap, and a card body 18 is also sleeved on the surface of the support column 6. The card body 18 is slidably clamped on the outer surfaces of the second rail 10 and the first rail 7. At the same time, the card body 18 is arranged at the position of the gap, and a movable opening for the support column 6 to pass through is opened on the card body 18. A fine-tuning mechanism is arranged on the card body 18. The fine-tuning mechanism is used to realize the movement of the support column 6 within the range of the movable opening. When the first rail 7 and the second rail 10 move respectively under the action of the first driving mechanism and the second driving mechanism, the positions where the two slide grooves overlap each other will change, thereby realizing the change of the position of the support column 6. The support column 6 is installed in the card body 18, and a fine-tuning mechanism is also arranged on the card body 18. The positions of the second rail 10 and the first rail 7 control the approximate position of the support column 6. The specific position of the support column 6 is adjusted by the fine-tuning mechanism, thereby effectively improving the accuracy.

[0036] The fine-tuning mechanism includes a fourth motor 23 and a threaded shaft 22. The driving end of the fourth motor 23 is fixedly connected to the threaded shaft 22. A plurality of limit blocks 21 are fixedly connected and surrounded on the surface of the support column 6. The threaded shaft 22 threads through one of the limit blocks 21. The limit block 21 is slidably set on the surface of the card body 18. When it is necessary to adjust the position of the support column 6 in the movable opening, the fourth motor 23 drives the threaded shaft 22 to rotate through the driving end. As the threaded shaft 22 rotates, the position of the limit block 21 can be moved, thereby driving the position of the support column 6 to move, thereby achieving the effect of fine-tuning.

[0037] A third motor 9 is provided at a position located at the upper end of the threaded rod 15 in the control column 17, and a driving end of the third motor 9 is fixedly connected to the upper end of the threaded rod 15, a second delivery pipe 20 is connected to the upper end of the temporary storage cavity 24, and a first delivery pipe 19 is connected to the upper end of the support column 6. The third motor 9 drives the threaded rod 15 to rotate through the driving end, so that the moving block 16 sleeved on the surface of the control column 17 can be moved up and down, and then the upper and lower positions of the temporary storage cavity 24 are changed, so that the third glue head 13 and the second glue head 14 can be dispensed at different heights to realize the four-axis interpolation function.

[0038] The first driving mechanism includes two first gears 34 and a linkage shaft 33. A first motor 31 used in conjunction with the first driving mechanism is fixedly installed at the end of the first track 7. The driving end of the first motor 31 is fixedly connected to the first rotating round block 32. One side of the first rotating round block 32 is rotatably connected to the linkage shaft 33 through a connecting piece. The two first gears 34 are respectively arranged on both sides of the first track 7 and are meshed with the tooth grooves 8 on the first fixed bar 4. One side of the two first gears 34 is fixedly connected to the second rotating round block 12. The two ends of the linkage shaft 33 are respectively rotatably connected to the edges of the two second rotating round blocks 12, and the position of the rotatable connection is relative to the first gear. The angular distance between the centers of the two first gears 34 is the same. One end of the two first gears 34 away from the second rotating block 12 is rotatably connected to the two sides of the first track 7. The driving end of the first motor 31 drives the first rotating block 32 to rotate, and the first rotating block 32 drives the linkage shaft 33 to move. When the linkage shaft 33 moves, it can drive the second rotating block 12 to rotate relative to the center of the first gear 34, and the two first gears 34 rotate in the same direction, and then the position of the first track 7 is changed by the first gear 34. The two first gears 34 are rotatably installed on both sides of the first track 7 for limiting. When the second rotating block 12 rotates, it can drive the first gear 34 to rotate.

[0039] The second driving mechanism includes two second gears 28 rotatably mounted below the second track 10, a second motor 25 used in conjunction with the second driving mechanism is fixedly mounted at the end of the second track 10, a driving end of the second motor 25 is fixedly connected to a first rotating shaft 26, an end of the first rotating shaft 26 away from the second motor 25 is rotatably connected to a first fixed shaft 27, a lower end of the first fixed shaft 27 is fixedly connected to a second fixed shaft 30, one side of the two second gears 28 is fixedly connected to a second rotating shaft 29, and both ends of the two second fixed shafts 30 are respectively connected to the second rotating shafts 29 away from the second motor 25. One end of the second gear 28 is rotatably connected. When the position of the second track 10 needs to be changed, the second motor 25 drives the first rotating shaft 26 to deflect through the driving end. When the first rotating shaft 26 deflects, it will drive the first fixed shaft 27 and the second fixed shaft 30 to move. As the second fixed shaft 30 moves, the second gear 28 will be driven to rotate through the second rotating shaft 29, and the two second gears 28 will rotate in the same direction, and then the position of the second track 10 is changed through the two second gears 28, thereby realizing the movement effect of the second track 10 on the second fixed bar 5.

[0040] The first fixed shaft 27 passes through the slide groove on the second track 10, and the two second rotating shafts 29 are installed at the same position on the two second gears 28, and the lower end of the first fixed shaft 27 is fixedly connected to the middle position of the second fixed shaft 30. The two second rotating shafts 29 are installed at the same angular position on the second gear 28, so that the two second gears 28 can rotate in the same direction.

[0041] In the embodiment of the applied technical solution, the circuit board and other equipment that need to be glued are placed on the placement slot 2. According to the position of the glue, the four-axis interpolation motion control card controls the first drive mechanism, the second drive mechanism, the adjustment mechanism and the corresponding glue valve. The first drive mechanism controls the first track 7 to move back and forth on the first fixed bar 4, and the second drive mechanism controls the second track 10 to move back and forth on the second fixed bar 5, changing the position of the gap at the intersection of the first track 7 and the second track 10, thereby changing the position of the tooth groove 8 and the control column 17, and then the first glue head 11 can perform glue dispensing operations on the horizontal plane.

[0042] The four-axis interpolation motion control card also controls the third motor 9 to realize the up and down movement of the moving block 16 on the control column 17, so that the control column 17 dispenses glue at different height positions from a horizontal angle, and the third glue head 13 dispenses glue at different height positions from a vertical angle, thereby realizing the four-axis interpolation dispensing effect.

[0043] The first motor 31 of the first driving mechanism drives the first rotating block 32 to rotate through the driving end, and the first rotating block 32 drives the linkage shaft 33 to move. The two ends of the linkage shaft 33 will move, and the second rotating block 12 is driven to rotate through the linkage shaft 33. With the rotation of the second rotating block 12, the connected first gear 34 can be rotated, and the first gear 34 is meshed with the corresponding tooth groove 8. With the rotation of the first gear 34, the movement effect of the first track 7 on the first fixed bar 4 can be achieved.

[0044] The second motor 25 of the second driving mechanism drives the first rotating shaft 26 to rotate through the driving end. As the first rotating shaft 26 rotates, the first fixed shaft 27 and the second fixed shaft 30 are moved. The change in the positions of the two end points of the second fixed shaft 30 will realize the rotation of the second rotating shaft 29, thereby driving the second gear 28 to rotate through the second rotating shaft 29, and driving the second track 10 to move back and forth on the second fixed bar 5 through the second gear 28.

[0045] After the control column 17 moves to a determined position, its position can also be fine-tuned. The fourth motor 23 drives the threaded shaft 22 to rotate through the driving end. As the threaded shaft 22 rotates, the support column 6 can be moved within the range of the movable opening through the limit block 21 to achieve a fine-tuning effect and precise glue dispensing. The first delivery pipe 19 delivers the glue to the first glue head 11, and the second delivery pipe 20 delivers the glue to the third glue head 13 and the second glue head 14.

[0046] The four-axis interpolation motion control card controls the movement of the device by sending commands. The control card will analyze the commands and convert them into drive signals to output to the various moving parts of the device, so that the device moves to the specified position. The four-axis interpolation motion control card can not only control the position and speed of the device, but also control the acceleration and deceleration of the device to achieve the purpose of precise control. Then the A-axis coordinated pulse in the four-axis interpolation function of the motion controller can use dispensing control and frequency conversion, and cooperate with the pulse converter to send the signal to the dispensing control valve. When the dispensing position is reached, the four-axis interpolation function A-axis pulse output is synchronously switched and freely switched with the set speed, so that the pulse signal frequency also switches with the set speed to achieve real-time synchronization. When the pulse converter receives the pulse signal, it converts the low-voltage pulse input into a signal output to control the dispensing valve to trigger the glue spraying, and the changing frequency of the pulse frequency is directly switched to the trigger frequency of the valve to change the glue amount and position.

[0047] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A dispensing control system with a four-axis interpolation function using a motion controller, comprising an operating table (1), characterized in that: The operating table (1) is provided with a bracket (3), the operating table (1) is provided with an inwardly recessed placement groove (2), a frame is provided on the surface of the bracket (3), the frame is a rectangular structure assembled from a first fixing bar (4) and a second fixing bar (5), the inner walls of the first fixing bar (4) and the second fixing bar (5) are both provided with tooth grooves (8), the first fixing bar (4) is slidably provided with a first track (7), the second fixing bar (5) is slidably provided with a second track (10), and the second track (10) is mounted above the first track (7); The first track (7) is provided with a first driving mechanism at both ends, and the second track (10) is provided with a second driving mechanism at both ends; The first track (7) and the second track (10) are both provided with a slide groove, a support column (6) is clamped between the two slide grooves, a control column (17) is fixedly connected below the support column (6), and a first rubber head (11) is provided at the lower end of the control column (17); A threaded rod (15) is rotatably mounted on one side of the control column (17); a moving block (16) is slidably mounted on the surface of the control column (17); the threaded rod (15) is threadedly passed through the moving block (16); a temporary storage cavity (24) is fixedly mounted on the moving block (16); a third rubber head (13) is disposed on one side of the temporary storage cavity (24), and a second rubber head (14) is disposed at the lower end; It also includes a four-axis interpolation motion control card, a pulse signal converter, a glue valve controller, and a glue valve. The four-axis interpolation motion control card transmits information to the pulse signal converter, the pulse signal converter transmits information to the glue valve controller, and the glue valve controller controls the glue valve.

2. The dispensing control system using a four-axis interpolation function of a motion controller according to claim 1 is characterized in that: A gap is formed at the interlaced position of the upper and lower slide grooves, the support column (6) is inserted in the gap, and a card body (18) is also sleeved on the surface of the support column (6), the card body (18) is slidably clamped on the outer surfaces of the second track (10) and the first track (7), and the card body (18) is arranged at the position of the gap, and a movable opening for the support column (6) to pass through is opened on the card body (18), and a fine-tuning mechanism is arranged on the card body (18), and the fine-tuning mechanism is used to realize the movement of the support column (6) within the range of the movable opening.

3. The dispensing control system using a four-axis interpolation function of a motion controller according to claim 2 is characterized in that: The fine-tuning mechanism comprises a fourth motor (23) and a threaded shaft (22); a driving end of the fourth motor (23) is fixedly connected to the threaded shaft (22); a plurality of limit blocks (21) are fixedly connected and surrounded on the surface of the support column (6); the threaded shaft (22) is threadedly passed through one of the limit blocks (21); and the limit block (21) is slidably arranged on the surface of the card body (18).

4. The dispensing control system using a four-axis interpolation function of a motion controller according to claim 1 is characterized in that: A third motor (9) is arranged in the control column (17) at a position located at the upper end of the threaded rod (15); a driving end of the third motor (9) is fixedly connected to the upper end of the threaded rod (15); a second conveying pipe (20) is connected to the upper end of the temporary storage chamber (24); and a first conveying pipe (19) is connected to the upper end of the support column (6).

5. The dispensing control system using a four-axis interpolation function of a motion controller according to claim 1 is characterized in that: The first driving mechanism comprises two first gears (34) and a linkage shaft (33); a first motor (31) for use with the first driving mechanism is fixedly mounted on the end of the first track (7); a driving end of the first motor (31) is fixedly connected to a first rotating circular block (32); one side of the first rotating circular block (32) is rotationally connected to the linkage shaft (33) through a connecting piece; the two first gears (34) are respectively arranged on both sides of the first track (7) and are both meshed and connected with the tooth grooves (8) on the first fixed bar (4); one side of the two first gears (34) is fixedly connected to a second rotating circular block (12); the two ends of the linkage shaft (33) are respectively rotationally connected to the edges of the two second rotating circular blocks (12); and the angular distances of the rotationally connected positions relative to the center of the first gear (34) are the same; and the ends of the two first gears (34) away from the second rotating circular block (12) are rotationally connected to the two sides of the first track (7).

6. The dispensing control system using a four-axis interpolation function of a motion controller according to claim 1 is characterized in that: The second driving mechanism comprises two second gears (28) rotatably mounted below the second track (10); a second motor (25) for use with the second driving mechanism is fixedly mounted at the end of the second track (10); a driving end of the second motor (25) is fixedly connected to a first rotating shaft (26); an end of the first rotating shaft (26) away from the second motor (25) is rotatably connected to a first fixed shaft (27); a lower end of the first fixed shaft (27) is fixedly connected to a second fixed shaft (30); one side of the two second gears (28) is fixedly connected to a second rotating shaft (29); and two ends of the two second fixed shafts (30) are rotatably connected to ends of the two second rotating shafts (29) away from the second gears (28), respectively.

7. The dispensing control system using a four-axis interpolation function of a motion controller according to claim 6 is characterized in that: The first fixed shaft (27) passes through a slide groove on the second track (10), the two second rotating shafts (29) are installed at the same position on the two second gears (28), and the lower end of the first fixed shaft (27) is fixedly connected to the middle position of the second fixed shaft (30).

8. The dispensing control system using a four-axis interpolation function of a motion controller according to claim 4 is characterized in that: The glue valve is arranged on the first glue head (11), the third glue head (13) and the second glue head (14); the first delivery pipe (19) and the second delivery pipe (20) are both connected to a storage box, and the storage box is filled with glue.

9. The dispensing control system using a four-axis interpolation function of a motion controller according to claim 8 is characterized in that: The four-axis interpolation motion control card issues control commands to the second motor (25), the first motor (31), the third motor (9), and the fourth motor (23).

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