Method, system and equipment based on synchronous belt following dispensing, medium and product

Abstract

The invention relates to the technical field of industrial control, and provides a synchronous belt-based follow-up dispensing method, system, equipment, medium and product, and the method comprises the following steps: obtaining real-time position information of a current workpiece to be processed on a synchronous belt after the current workpiece to be processed enters a to-be-dispensed area; after it is determined that the current to-be-machined workpiece enters the target dispensing area according to the real-time position information, in combination with the position condition of the next to-be-machined workpiece, the process sequence of dispensing and the speed of the synchronous belt of the dispensing machine are subjected to self-adaptive adjustment, and the to-be-machined workpiece is a machined workpiece after entering the target dispensing area; and the dispensing process of the workpiece is completed by self-adaptively adjusting the movement of the dispensing machine and the synchronous belt. The glue dispensing efficiency is improved by adjusting the movement of the glue dispensing machine and the synchronous belt in a self-adaptive manner.

Description

Technical Field

[0001] The present application relates to the field of industrial control technology, and in particular to methods, systems, equipment, media and products based on synchronous belt follow-up dispensing. Background Art

[0002] In the field of automated production, glue dispensers are key equipment used to accurately apply adhesives, sealants or other fluid materials to precision products such as electronic components and medical devices. Traditional glue dispensers usually dispense glue at a fixed position, that is, the workpiece needs to be clamped and fixed before dispensing, and after dispensing, it needs to be loosened and replaced, and then the next workpiece needs to be fixed and dispensed. This not only makes the equipment and dispensing process complicated, but also takes up dispensing time when changing workpieces, resulting in low dispensing efficiency. Summary of the invention

[0003] The main purpose of this application is to provide a method based on synchronous belt following dispensing, a system based on synchronous belt following dispensing, a device based on synchronous belt following dispensing, a storage medium and a computer program product, aiming to solve the technical problem of low dispensing efficiency.

[0004] To achieve the above purpose, the present application proposes a method based on synchronous belt following dispensing, the method comprising:

[0005] Acquire the real-time position information of the workpiece to be processed on the synchronous belt after the workpiece to be processed enters the area to be glued;

[0006] When it is determined according to the real-time position information that the current workpiece to be processed enters the target dispensing area, the dispensing machine is adaptively adjusted to follow the process of processing the workpiece, the dispensing process sequence and the speed of the synchronous belt in combination with the position of the next workpiece to be processed, wherein the workpiece to be processed enters the target dispensing area to be processed;

[0007] The dispensing process of the workpiece is completed by adaptively adjusting the movement of the dispensing machine and the synchronous belt.

[0008] In one embodiment, the step of adaptively adjusting the process of the glue dispensing machine following the workpiece processing, the glue dispensing process sequence and the speed of the synchronous belt includes:

[0009] If the next workpiece to be processed does not enter the area to be glued, the glue dispensing machine and the synchronous belt are controlled to continue to move according to the existing follow-up plan;

[0010] If the next workpiece to be processed enters the area to be glued, the movement of the glue dispensing machine and the synchronous belt is replanned according to the remaining follow-up time of the current workpiece and the incoming material interval time of the next workpiece to be processed.

[0011] In one embodiment, the remaining following time is the remaining time for the glue dispenser to complete the following of the current workpiece according to the existing following plan; the incoming material interval time is (the position of the next workpiece to be processed on the synchronous belt when it enters the area to be glued - the position of the current workpiece to be processed on the synchronous belt when it enters the area to be glued) / the speed of the synchronous belt at this time; the step of re-planning the movement of the glue dispenser and the synchronous belt according to the remaining following time of the current workpiece to be processed and the incoming material interval time of the next workpiece to be processed includes:

[0012] If the remaining following time is less than the material interval time, the speed of the synchronous belt is increased, and the following process of the dispensing machine or the dispensing process sequence of the next workpiece to be processed is adjusted at the same time;

[0013] If the remaining follow-up time is equal to the material interval time, the synchronous belt and the dispensing machine move according to the original plan;

[0014] If the remaining following time is greater than the incoming material interval time, classification processing is performed according to the stage at which the dispensing machine is following the currently processed workpiece.

[0015] In one embodiment, the step of classifying the workpiece according to the stage at which the dispensing machine is currently processing the workpiece includes:

[0016] If the glue dispensing of the current workpiece is not completed, the speed of the synchronous belt, the following process and the glue dispensing process sequence are adjusted according to the real-time position of the next workpiece to be processed on the synchronous belt after the glue dispensing of the current workpiece is completed;

[0017] If the glue dispensing machine has completed the synchronous glue dispensing of the current workpiece, the speed of the synchronous belt, the glue dispensing machine following process and the glue dispensing process sequence of the next workpiece to be processed are adjusted according to the position of the next workpiece to be processed on the synchronous belt and the speed of the current glue dispensing machine and the synchronous belt.

[0018] In one embodiment, the step of adaptively adjusting the process of the glue dispensing machine following the workpiece processing, the glue dispensing process sequence and the speed of the synchronous belt includes:

[0019] The initial process sequence of dispensing and the initial speed of the synchronous belt are set to the process sequence and the speed of the synchronous belt calculated by the prediction model, and the dispensing sequence and the speed of the synchronous belt are adjusted during the actual dispensing process of the dispensing machine;

[0020] The prediction model is trained based on historical workpiece material cycles, workpiece dispensing process trajectories and set dispensing speeds, and the initial process sequence of dispensing and the initial speed of the synchronous belt are calculated based on the mean of the historical workpiece material cycles.

[0021] In one embodiment, the method further comprises:

[0022] The synchronous belt speed calculated in the prediction model is used as the default initial speed;

[0023] On the basis of maintaining the synchronous belt speed, the follow-up dispensing process is performed according to the method described above.

[0024] In addition, to achieve the above-mentioned purpose, the present application also proposes a system based on synchronous belt following dispensing, the system comprising: a workpiece detection module, a motion module, a dispensing module, and a control module, and each module of the system is configured to implement the steps of the method based on synchronous belt following dispensing as described above.

[0025] In addition, to achieve the above-mentioned purpose, the present application also proposes a device based on synchronous belt following dispensing, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the method based on synchronous belt following dispensing as described above.

[0026] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the method based on synchronous belt following dispensing as described above are implemented.

[0027] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the method based on synchronous belt following dispensing as described above are implemented.

[0028] Compared with traditional fixed-installed dispensing machines, it is difficult to perform assembly-line dispensing, and the workpiece needs to be replaced, which takes up dispensing time and results in low dispensing efficiency. The present application obtains the real-time position information of the synchronous belt where the current workpiece to be processed is located and dynamically adjusts the process of the dispensing machine to follow the processing of the workpiece, the dispensing process sequence and the speed of the synchronous belt according to the position of the next workpiece to be processed. This can effectively perform assembly-line dispensing, shorten the waiting time for the workpiece, and improve the dispensing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A schematic flow chart of the first embodiment of the method for dispensing with synchronous belts provided in the present application;

[0032] Figure 2 A flow chart of the second embodiment of the method for dispensing with synchronous belts provided in the present application;

[0033] Figure 3 This is a brief flow chart of the fixed speed mode of the method based on synchronous belt following dispensing in this application;

[0034] Figure 4 A schematic diagram provided for the method of dispensing based on synchronous belts in this application;

[0035] Figure 5 This is a schematic diagram of the module structure of the system based on synchronous belt following dispensing in this application;

[0036] Figure 6 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the method of synchronous belt following dispensing in this application.

[0037] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0038] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0039] It should be noted that the execution subject of this embodiment can be a system for following dispensing (hereinafter referred to as the system), or a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a processor, etc. that can realize the above functions. The system is taken as an example to illustrate this embodiment and the following embodiments.

[0040] Based on this, the embodiment of the present application provides a method based on synchronous belt following dispensing, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the method for synchronous belt-based dispensing in the present application.

[0041] In this embodiment, the method based on synchronous belt following dispensing includes steps S10 to S30:

[0042] Step S10, obtaining the real-time position information of the workpiece to be processed on the synchronous belt after the workpiece to be processed enters the glue dispensing area;

[0043] It should be noted that in the production process, the workpiece to be processed refers to the parts or components that are about to be glued. The area to be glued is a specific area on the production line where the workpiece will be processed by the glue dispensing process. This area is usually equipped with detection equipment such as sensors and cameras to monitor the position and status of the workpiece to ensure the accuracy and timeliness of glue dispensing. The synchronous belt is a device used to continuously move workpieces in an automated production line. It is driven by a motor and can run at a constant or adjustable speed to transport the workpiece from the area to be glued to the target glue dispensing area. During the glue dispensing process, the synchronous belt ensures that the workpiece passes through the target glue dispensing area stably and continuously.

[0044] Real-time position information refers to the specific position of the workpiece on the timing belt at the current time. In an automated production environment, real-time monitoring of the workpiece position through sensors is essential for dispensing. The real-time position information is used to adjust the dispensing machine to follow the process of processing the workpiece, the dispensing process sequence, and the speed of the timing belt.

[0045] Step S20, when it is determined according to the real-time position information that the current workpiece to be processed enters the target dispensing area, the dispensing machine is adaptively adjusted to follow the process of processing the workpiece, the dispensing process sequence and the speed of the synchronous belt in combination with the position of the next workpiece to be processed, wherein the workpiece to be processed is processed after entering the target dispensing area;

[0046] It should be noted that the dispensing machine is an automated equipment used to accurately apply adhesives, sealants, coatings, etc. on workpieces. The position here refers to the relative position of the synchronous belt relative to the workpiece, and the initial speed refers to the speed setting of the synchronous belt before the adaptive adjustment begins. When it is detected that the current workpiece to be processed has reached the target dispensing area, the operating parameters of the dispensing machine are automatically adjusted according to the position information of the next workpiece to be processed to adapt to the production rhythm. Adjusting the process of the dispensing machine to follow the processed workpiece means that the following action of the dispensing machine will change in real time according to the position change of the workpiece to ensure the completion of the dispensing. Adjusting the process sequence of dispensing means adjusting the order of dispensing according to the actual situation to optimize the overall production efficiency. Adjusting the speed of the synchronous belt means that according to the actual situation of the workpiece processing, the system will automatically adjust the speed of the synchronous belt to match the operating rhythm of the dispensing machine.

[0047] After the workpiece to be processed enters the target dispensing area, it becomes the processed workpiece. At this time, the dispensing machine has already dispensed glue on the workpiece to be processed.

[0048] Step S30, completing the glue dispensing process of the workpiece by adaptively adjusting the movement of the glue dispensing machine and the synchronous belt.

[0049] It should be noted that step S30 optimizes the process of workpiece dispensing by dynamically adjusting the motion parameters of the dispensing machine and the synchronous belt. According to the position of the workpiece, the motion trajectory, speed, dispensing amount and other parameters of the dispensing machine are adjusted in real time to ensure that the glue can be accurately applied to the specified position of the workpiece, improving the accuracy and consistency of dispensing. The synchronous belt is responsible for transporting the workpiece to the target dispensing area, and the speed of the synchronous belt is adjusted to ensure that the workpiece can reach the dispensing area stably and on time, reducing the long waiting time for workpiece processing caused by speed mismatch.

[0050] In this embodiment, the synchronous belt is used as one of the axes of the dispensing system to control the movement, eliminating the external encoder of the traditional following system, which not only saves costs but also improves the control accuracy; the dispensing machine can automatically adjust the dispensing operation according to the real-time position information of the workpiece on the synchronous belt to adapt to the dynamic changes of the workpiece on the production line. The dispensing machine and synchronous belt after adaptive adjustment can more flexibly and accurately dispense glue to the processed workpiece. Through this adaptive adjustment mechanism, efficient and accurate operation of the dispensing process can be achieved, and it can also adapt to the dispensing needs of different workpieces, thereby improving dispensing efficiency and product quality.

[0051] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the first embodiment can refer to the above introduction, and will not be repeated in the following. Figure 2 , step S20, the method based on synchronous belt following dispensing includes steps A10 to A20:

[0052] Step A10: If the next workpiece to be processed does not enter the area to be glued, the glue dispensing machine and the synchronous belt are controlled to move according to the existing follow-up plan;

[0053] It should be noted that when the equipment is officially put into production and operation, the first workpiece to be processed enters the dispensing area, and the synchronous belt moves at the initial speed; when the dispensing machine and the workpiece are synchronized, the dispensing machine performs the dispensing action according to the initial process sequence. The initial speed here refers to the target speed that the synchronous belt needs to reach for the first time after the equipment is officially put into production and operation, and the initial speed is calculated based on the prediction model combined with the historical workpiece material cycle average.

[0054] Step A20: if the next workpiece to be processed enters the glue dispensing area, the movement of the glue dispensing machine and the synchronous belt is replanned according to the remaining follow-up time of the current workpiece to be processed and the material interval time of the next workpiece to be processed.

[0055] It should be noted that the material interval time refers to (the position of the next workpiece to be processed on the synchronous belt when it enters the dispensing area - the position of the current workpiece to be processed on the synchronous belt when it enters the dispensing area) / the speed of the synchronous belt at this time. This time interval can affect the running speed and position adjustment of the dispensing machine and the synchronous belt. Position adjustment refers to adjusting the position of the dispensing machine according to real-time production needs to ensure the accuracy and continuity of the dispensing operation; running speed adjustment refers to adjusting the speed of the dispensing machine and the synchronous belt according to the dispensing situation of the current workpiece to be processed and the position of the next workpiece to be processed.

[0056] In one embodiment, step A20, the method based on synchronous belt following dispensing includes steps B10 to B30:

[0057] The remaining following time is the remaining time for the dispensing machine to complete the following of the currently processed workpiece according to the existing following plan. The total remaining following time for the dispensing machine to complete the currently processed workpiece includes the waiting processing time of the dispensing machine in the standby position, the acceleration time for chasing the movement of the currently processed workpiece, the remaining dispensing time for the currently processed workpiece, the deceleration time after the dispensing machine follows the dispensing, and the time for the dispensing machine to return to the standby position.

[0058] Step B10, if the remaining following time is less than the material interval time, the speed of the synchronous belt is increased, and the following process of the dispensing machine or the dispensing process sequence of the next workpiece to be processed is adjusted at the same time;

[0059] It should be noted that the incoming material interval of a workpiece to be processed is recorded as T i , the remaining follow-up time of the current workpiece is T remain .

[0060] If the remaining follow-up time is less than the incoming material interval time, that is, T remain <T i When , it means that the glue dispenser has extra time margin under the current working rhythm. In order to improve production efficiency, the speed of the synchronous belt can be increased to shorten the time of the workpiece in the conveying process, so that the workpiece can be conveyed to the target glue dispensing area faster; the waiting time can be reduced by adjusting the following process of the glue dispenser; the glue dispensing process sequence of the next workpiece to be processed can be adjusted to advance the end glue dispensing position of the next workpiece to be processed, so that the subsequent workpiece to be processed can complete the glue dispensing operation in the front area of ​​the glue dispensing area.

[0061] Through these adjustments, the production line can be ensured to run more compactly and efficiently, and it can be helped to adjust the production line more flexibly when faced with changes in production demand to adapt to different production rhythms.

[0062] Step B20, if the remaining follow-up time is equal to the material incoming interval time, the synchronous belt and the dispensing machine move according to the original plan;

[0063] It should be noted that if T remain =T i , indicating that the incoming material rhythm matches the running speed of the dispensing machine and the synchronous belt. In this case, the synchronous belt and the dispensing machine do not need to adjust their motion planning strategies and continue to run according to the existing follow-up plan. This shows that the current operating state of the dispensing machine can seamlessly handle the continuously arriving workpieces without additional follow-up process and process sequence adjustment.

[0064] Step B30: If the remaining following time is greater than the incoming material interval time, classification processing is performed according to the stage at which the dispensing machine is following the currently processed workpiece.

[0065] It should be noted that if T remain >T i , and classify and process the workpiece according to the stage it is in, that is, determine whether the glue dispensing work of the workpiece is completed.

[0066] In another embodiment, step B30, the method based on synchronous belt following dispensing includes steps C10 to C20:

[0067] Step C10: If the glue dispensing of the current workpiece has not been completed, after the glue dispensing of the current workpiece is completed, the speed of the synchronous belt, the following process and the glue dispensing process sequence are adjusted according to the real-time position of the next workpiece to be processed on the synchronous belt:

[0068] It should be noted that if the current workpiece to be processed has not completed the dispensing, the speed of the synchronous belt will be based on the initial speed set for the previous workpiece to perform the dispensing action. Then, according to the real-time position of the next workpiece to be processed on the synchronous belt, the speed of the synchronous belt, the following process and the dispensing process sequence will be adjusted.

[0069] Step C20, if the glue dispensing machine has completed the synchronous glue dispensing of the current workpiece, then adjust the speed of the synchronous belt, the glue dispensing machine following process and the glue dispensing process sequence of the next workpiece to be processed according to the position of the next workpiece to be processed on the synchronous belt and the speed of the current glue dispensing machine and the synchronous belt.

[0070] It should be noted that if the dispensing of the current workpiece to be processed is completed, the dispensing machine's following process and the dispensing process sequence of the next workpiece to be processed are adjusted according to the real-time position of the next workpiece to be processed on the synchronous belt and the current speed of the synchronous belt. The dispensing machine moves to the dispensing starting point of the next workpiece to be processed, and performs dispensing after executing the synchronous movement.

[0071] In this embodiment, if the glue dispensing of the current workpiece to be processed has not been completed, the integrity and quality of the glue dispensing operation are first ensured. After the glue dispensing is completed, the speed is adjusted according to the real-time position of the next workpiece on the synchronous belt to ensure that the glue dispensing machine can accurately align with the next workpiece and reduce the glue dispensing deviation. By adjusting the speed of the synchronous belt, the glue dispensing machine following process and the glue dispensing process sequence of the next workpiece to be processed, the transition time from one workpiece to another can be reduced, unnecessary waiting time can be reduced, and the overall glue dispensing efficiency can be improved.

[0072] In summary, by dynamically adjusting the speed and position of the dispensing machine and the synchronous belt, not only the dispensing process is optimized and the flexibility of system response and resource utilization efficiency are improved, but also the overall stability and adaptability of the system are enhanced.

[0073] In this embodiment, if the next workpiece to be processed has not yet entered the area to be glued, the control system will continue to use the existing follow-up planning strategy to perform follow-up glue dispensing on the current workpiece; when the next workpiece to be processed enters the area to be glued, the control system will dynamically adjust the initial speed of the glue dispensing machine and the synchronous belt according to the glue dispensing completion progress of the current workpiece and the incoming material interval time of the next workpiece; such adjustment helps to reduce waiting time, and the glue dispensing operation will not be interrupted due to waiting for the arrival of new workpieces, ensuring the continuity and accuracy of the glue dispensing operation and improving the glue dispensing efficiency.

[0074] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above description, and will not be described in detail later. Step S20, the method based on synchronous belt following dispensing also includes:

[0075] The initial process sequence of dispensing and the initial speed of the synchronous belt are set to the process sequence and the speed of the synchronous belt calculated by the prediction model, and the dispensing sequence and the speed of the synchronous belt are adjusted during the actual dispensing process of the dispensing machine;

[0076] The prediction model is trained based on historical workpiece material cycles, workpiece dispensing process trajectories and set dispensing speeds, and the initial process sequence of dispensing and the initial speed of the synchronous belt are calculated based on the mean of the historical workpiece material cycles.

[0077] It should be noted that the initial speed refers to the setting of the speed of the dispensing machine and the synchronous belt according to the optimal speed calculated by the prediction model before the dispensing starts. This adjustment is based on the prediction of the current workpiece and the analysis of historical data, and aims to improve the efficiency and accuracy of dispensing.

[0078] The mean of the incoming material cycle of historical workpieces refers to the average time from one process to another for the workpieces that have been processed in the past. By analyzing the historical data, the law of the incoming material cycle can be found to provide input for the prediction model; the dispensing process trajectory of the historical workpiece refers to the movement path of the dispensing head relative to the workpiece during the dispensing process. The dispensing process trajectory of the historical workpiece includes the specific dispensing position and dispensing sequence of the workpiece; the historical dispensing speed refers to the actual working speed of the dispensing machine during the past dispensing process. This includes the moving speed of the dispensing machine and the speed during dispensing; the prediction model is trained by the incoming material cycle distribution, dispensing process trajectory and dispensing speed of the historical workpiece.

[0079] In one embodiment, the training process of the prediction model is as follows: first, collect relevant data such as the incoming material cycle distribution data, dispensing process trajectory and dispensing speed of historical workpieces, clean and preprocess these data to ensure the consistency of the data, wherein the preprocessing includes steps such as removing noise, filling missing values, feature encoding and standardization. Then, the processed data set is divided into a training set and a test set. The training set is used to learn the prediction model, while the test set is used to evaluate the performance of the prediction model. The prediction model is trained using the training set data. During the training process, the prediction model adjusts internal parameters through an optimization algorithm to minimize the prediction error. The prediction performance of the prediction model is evaluated using the test set, and the evaluation indicators may include mean square error (MSE), coefficient of determination (R 2 ), etc. According to the results of model evaluation, the prediction model parameters are adjusted to improve the prediction ability of the prediction model, including adjusting the learning rate, number of iterations, regularization strength, etc.

[0080] After training and optimization, the prediction model is deployed in actual applications to predict the process sequence of new workpieces and the speed of the synchronous belt during dispensing.

[0081] In one implementation, the method for dispensing based on synchronous belt following described in the third embodiment further includes steps T10 to T20:

[0082] Step T10, using the synchronous belt speed calculated in the prediction model as the default initial speed;

[0083] It should be noted that in the operation of automated equipment, the calculated speed of the synchronous belt is the speed value that the dispensing machine and the synchronous belt should adopt as output by the prediction model, and this speed value is used as the default initial speed.

[0084] Step T20, on the basis of maintaining the speed of the synchronous belt, follow-up dispensing is performed as in the steps of the above embodiment.

[0085] It should be noted that the follow-up dispensing is performed based on the initial speed calculated by the prediction model.

[0086] For example, please refer to Figure 3 , Figure 3 This is a schematic diagram of the process of following dispensing;

[0087] Specifically: if the current workpiece to be processed enters the area to be glued, the real-time position of the current workpiece to be processed on the synchronous belt is recorded; if the current workpiece to be processed enters the target glued area, the glue dispenser accelerates on the basis of the initial speed, and executes the glue dispensing action when it reaches the synchronous speed of the current workpiece to be processed; when the glue dispensing is completed, the glue dispensing machine decelerates, and the glue dispensing head returns to the standby position to prepare for the glue dispensing of the next workpiece to be processed.

[0088] In this embodiment, the synchronous belt speed calculated by the prediction model is used as the default initial speed, wherein the prediction model can predict the speed most suitable for the current workpiece based on historical data, thereby reducing adjustment time and improving the continuity of the production process, thereby improving the efficiency and accuracy of the dispensing process.

[0089] At the same time, the combination of the predictive model and the follow-up dispensing process is compatible with the adaptive adjustment mode follow-up dispensing process, so that the dispensing system can adapt to different workpieces and production changes, improve the flexibility and adaptability of the system, and achieve high-efficiency and high-precision dispensing operations.

[0090] In this embodiment, in the automated dispensing system, a speed adjustment strategy based on a predictive model is used. The role of the predictive model is to calculate the initial speed of the current dispensing machine and the synchronous belt by learning historical data, which can provide a speed setting that is closer to the optimal speed, ensuring that the dispensing machine and the synchronous belt operate in the most efficient state, reducing the time waiting for new workpieces to enter the dispensing area, and making the dispensing action more continuous and efficient.

[0091] For example, Figure 4This is a schematic diagram provided for the method of following dispensing with a synchronous belt in this application. The dotted frame is the current workpiece to be processed, the solid frame is the next workpiece to be processed, the orange part is the dispensing head of the dispensing machine, and the green part is the sensor. If the current workpiece to be processed enters the target dispensing area, the sensor detects that the next workpiece to be processed enters the dispensing area, and records the position of the next workpiece to be processed on the synchronous belt when it enters the dispensing area. The (position of the next workpiece to be processed on the synchronous belt when it enters the dispensing area - the position of the current workpiece to be processed on the synchronous belt when it enters the dispensing area) / the speed of the synchronous belt at this time is obtained. The time to arrive is used as the incoming material interval time; when the current workpiece to be processed enters the target dispensing area, the dispensing head begins to follow the acceleration and synchronizes with the speed of the current workpiece to be processed, so as to perform the dispensing action after executing the synchronous movement; after the dispensing action is completed, the dispensing machine decelerates, and the timing starts from this time until the dispensing machine stops. This period of time is the deceleration time of the dispensing machine following the end of dispensing; the calculation starts from the stop of the dispensing machine until the dispensing head of the dispensing machine returns to the standby position. This period of time is recorded as the time for the dispensing head of the dispensing machine to return to the standby position, among which the remaining dispensing time of the current workpiece to be processed is not shown in the figure.

[0092] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the method of the present application based on synchronous belt following dispensing. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0093] This application also provides a follow-up dispensing system, please refer to Figure 5 , the follow-up dispensing system includes:

[0094] Workpiece detection module 10, motion module 20, dispensing module 30, control module 40;

[0095] The workpiece detection module 10 includes: a photoelectric sensor or a camera for detecting the workpiece, which is used to detect whether the workpiece enters the area to be glued, and to record the position of the synchronous belt where the workpiece is located when the workpiece is detected to enter the area to be glued;

[0096] The motion module 20 includes: a multi-axis mechanism and a synchronous belt, wherein the multi-axis motion mechanism is used to drive the dispensing mechanism to move, and the synchronous belt is used to transport the workpiece from the area to be dispensed to the dispensing area to perform the dispensing action;

[0097] The dispensing module 30 includes a dispensing mechanism and a dispensing controller, which are used to fix the glue head and heat the glue, paint or other fluids;

[0098] The control module 40 includes: a multi-axis mechanism motion control unit, a synchronous belt motion control unit and a glue output control unit, wherein the multi-axis mechanism motion control unit is used to control the idle movement, interpolation and other movements of the multi-axis mechanism in the following mode and the non-following mode; the synchronous belt motion control unit is used to control the speed of the synchronous belt; and the glue output control unit is used to control the glue output speed and the opening and closing time of the glue head.

[0099] The following dispensing system provided by the present application adopts the method of following dispensing based on synchronous belt in the above embodiment, which can solve the technical problem of low dispensing efficiency. Compared with the prior art, the beneficial effects of the following dispensing system provided by the present application are the same as the beneficial effects of the method of following dispensing based on synchronous belt provided by the above embodiment, and other technical features of the following dispensing system are the same as the features disclosed in the above embodiment method, which will not be described in detail here.

[0100] The present application provides a follow-up dispensing device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method of follow-up dispensing based on synchronous belt in the first embodiment mentioned above.

[0101] Reference below Figure 6 , which shows a schematic diagram of the structure of a device suitable for implementing the follow-up dispensing of the embodiment of the present application. The follow-up dispensing device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The follow-dispensing device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0102] like Figure 6As shown, the device for following the dispensing may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the device for following the dispensing are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the device for following the dispensing to communicate with other devices wirelessly or wired to exchange data. Although the figure shows the device for following the dispensing with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0103] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0104] The follow-up dispensing device provided by the present application adopts the method of follow-up dispensing based on synchronous belt in the above embodiment, which can solve the technical problem of low dispensing efficiency. Compared with the prior art, the beneficial effects of the follow-up dispensing device provided by the present application are the same as the beneficial effects of the method of follow-up dispensing based on synchronous belt provided in the above embodiment, and other technical features in the follow-up dispensing device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0105] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0106] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0107] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the method based on synchronous belt following dispensing in the above-mentioned embodiment.

[0108] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0109] The computer-readable storage medium may be included in the follow-up dispensing device; or may exist independently without being assembled into the follow-up dispensing device.

[0110] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the device following the dispensing, the device following the dispensing enables: to obtain the real-time position information of the current workpiece to be processed on the synchronous belt after the workpiece to be processed enters the area to be dispensing; when it is determined according to the real-time position information that the current workpiece to be processed enters the target dispensing area, the process of the dispensing machine following the processing workpiece, the process sequence of dispensing and the speed of the synchronous belt are adaptively adjusted in combination with the position of the next workpiece to be processed, wherein the workpiece to be processed becomes the processing workpiece after entering the target dispensing area; and the dispensing process of the workpiece is completed by adaptively adjusting the movement of the dispensing machine and the synchronous belt.

[0111] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0112] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0113] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0114] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method based on synchronous belt following dispensing, and can solve the technical problem of low dispensing efficiency. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the method based on synchronous belt following dispensing provided in the above-mentioned embodiment, and will not be described in detail here.

[0115] The present application also provides a computer program product, including a computer program, which implements the steps of the method based on synchronous belt following dispensing when executed by a processor.

[0116] The computer program product provided by the present application can solve the technical problem of low dispensing efficiency. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the method based on synchronous belt following dispensing provided by the above embodiment, which will not be repeated here.

[0117] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method based on synchronous belt following dispensing, characterized in that: The method comprises: Acquire the real-time position information of the workpiece to be processed on the synchronous belt after the workpiece to be processed enters the area to be glued; When it is determined according to the real-time position information that the current workpiece to be processed enters the target dispensing area, the dispensing machine is adaptively adjusted to follow the process of processing the workpiece, the dispensing process sequence and the speed of the synchronous belt in combination with the position of the next workpiece to be processed, wherein the workpiece to be processed enters the target dispensing area to be processed; The dispensing process of the workpiece is completed by adaptively adjusting the movement of the dispensing machine and the synchronous belt.

2. The method based on synchronous belt following dispensing as claimed in claim 1, characterized in that: The step of adaptively adjusting the process of the dispensing machine following the workpiece processing, the dispensing process sequence and the speed of the synchronous belt comprises: If the next workpiece to be processed does not enter the area to be glued, the glue dispensing machine and the synchronous belt are controlled to continue to move according to the existing follow-up plan; If the next workpiece to be processed enters the area to be glued, the movement of the glue dispensing machine and the synchronous belt is replanned according to the remaining follow-up time of the current workpiece and the incoming material interval time of the next workpiece to be processed.

3. The method based on synchronous belt following dispensing as claimed in claim 2, characterized in that: The remaining following time is the remaining time for the dispensing machine to complete the following of the current workpiece according to the existing following plan; the incoming material interval time is (the position of the next workpiece to be processed on the synchronous belt when it enters the area to be dispensed - the position of the current workpiece on the synchronous belt when it enters the area to be dispensed) / the speed of the synchronous belt at this time; The step of replanning the movement of the dispensing machine and the synchronous belt according to the remaining follow-up time of the currently processed workpiece and the incoming material interval time of the next workpiece to be processed includes: If the remaining following time is less than the material interval time, the speed of the synchronous belt is increased, and the following process of the dispensing machine or the dispensing process sequence of the next workpiece to be processed is adjusted at the same time; If the remaining follow-up time is equal to the material interval time, the synchronous belt and the dispensing machine move according to the original plan; If the remaining following time is greater than the incoming material interval time, classification processing is performed according to the stage at which the dispensing machine is following the currently processed workpiece.

4. The method based on synchronous belt following dispensing as claimed in claim 3 is characterized in that: The step of classifying and processing according to the stage of the dispensing machine following the current processing workpiece includes: If the glue dispensing of the current workpiece is not completed, after the glue dispensing of the current workpiece is completed, the speed of the synchronous belt, the following process and the glue dispensing process sequence are adjusted according to the real-time position of the next workpiece to be processed on the synchronous belt; If the glue dispensing machine has completed the synchronous glue dispensing of the current workpiece, the speed of the synchronous belt, the glue dispensing machine following process and the glue dispensing process sequence of the next workpiece to be processed are adjusted according to the position of the next workpiece to be processed on the synchronous belt and the speed of the current glue dispensing machine and the synchronous belt.

5. The method based on synchronous belt following dispensing as claimed in claim 1, characterized in that: The step of adaptively adjusting the process of the dispensing machine following the workpiece processing, the dispensing process sequence and the speed of the synchronous belt comprises: The initial process sequence of dispensing and the initial speed of the synchronous belt are set as the prediction model to calculate the process sequence of dispensing and the speed of the synchronous belt, and the dispensing sequence and the speed of the synchronous belt are adjusted during the actual process of the dispensing machine following the dispensing; The prediction model is trained based on historical workpiece material cycles, workpiece dispensing process trajectories and set dispensing speeds, and the initial process sequence of dispensing and the initial speed of the synchronous belt are calculated based on the mean of the historical workpiece material cycles.

6. The method based on synchronous belt following dispensing as claimed in claim 5, characterized in that: The method further comprises: The synchronous belt speed calculated in the prediction model is used as the default initial speed; On the basis of maintaining the synchronous belt speed, the follow-up dispensing process is performed according to the method described in claims 1 to 5.

7. A system based on synchronous belt following dispensing, characterized in that: The system comprises: a workpiece detection module, a motion module, a dispensing module, and a control module. Each module of the system is configured to implement the steps of the method for dispensing based on synchronous belt following as claimed in any one of claims 1 to 6.

8. A device based on synchronous belt following dispensing, characterized in that: The device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method based on synchronous belt following dispensing as claimed in any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method based on synchronous belt following dispensing as described in any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method based on synchronous belt following dispensing as claimed in any one of claims 1 to 6 are implemented.

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