A control method and system for a glue dispensing machine and a glue dispensing machine

Abstract

The present invention relates to a control method, system and glue dispensing machine for a glue dispensing machine, and relates to the field of glue dispensing machines, including: obtaining the remaining amount of raw materials and the total amount of glue to be dispensed; determining the raw material requirement according to the total amount of glue to be dispensed and the ratio information; determining the raw material filling amount according to the raw material barrel capacity and the remaining amount of raw materials based on the remaining amount of raw materials being less than the raw material requirement; controlling the feeding device to fill the raw materials into the raw material barrel according to the raw material filling amount; removing the old colloid adhering to the mixing tube by a glue removal method for a mixing tube based on the remaining amount of raw materials being not less than the raw material requirement; controlling a preset feeding pump to feed the raw materials into the mixing tube according to the raw material requirement, and controlling a preset stirring motor to stir the raw materials in the mixing tube at a preset mixing speed; exhausting the colloid after stirring by a mixing glue exhaust method, and issuing a completion prompt. The system can remove the old glue before mixing and exhaust the air in the colloid after mixing, thereby effectively improving the use effect of the colloid.

Description

Technical Field

[0001] The present invention relates to the field of glue dispensing machines, and in particular to a glue dispensing machine control method, system and glue dispensing machine. Background Art

[0002] Glue dispensing machine is an automated equipment used for automatic proportioning, mixing and dispensing of multi-component glue. It is widely used in electronics and electrical, LED industry, household appliances, auto parts, craft products, energy-saving and environmental protection industry, solar energy and other industries.

[0003] In the prior art, when multi-component glue is needed, manual glue mixing is usually adopted. Workers measure different raw material components through a measuring cylinder according to the required glue mixing amount, and then directly pour them into a mixing barrel for stirring. In the process of glue mixing, due to manual operation errors and a large amount of air mixed in during manual stirring, the use effect of the prepared glue is poor, which needs to be improved. Summary of the invention

[0004] In order to improve the use effect of the prepared glue, the present invention provides a glue dispensing machine control method, system and glue dispensing machine.

[0005] In the first aspect, the present invention provides a method for controlling a glue dispensing machine, which adopts the following technical solution:

[0006] A control method for a glue dispensing machine, comprising:

[0007] Obtain the remaining amount of raw materials in the preset raw material barrel and the total amount of glue to be mixed;

[0008] Determine the raw material demand for mixing the glue based on the total amount of glue and the preset ratio information;

[0009] Based on the fact that the remaining amount of raw materials is less than the required amount of raw materials, the raw material filling amount is determined according to the preset raw material barrel capacity and the remaining amount of raw materials;

[0010] Controlling a preset feeding device to fill the raw material barrel with the raw material according to the raw material filling amount;

[0011] Based on the fact that the remaining amount of raw materials is not less than the required amount of raw materials, the old colloid adhering to the mixing tube is removed by the mixing tube degumming method;

[0012] According to the demand for raw materials, a preset feeding pump is controlled to feed the raw materials into the mixing tube, and a preset stirring motor is controlled at a preset mixing speed to stir the raw materials in the mixing tube;

[0013] The colloid that has been stirred is exhausted by the mixed glue exhaust method, and a completion prompt is issued.

[0014] By adopting the above technical solution, the equipment can automatically add raw materials to the mixing tube in a quantitative manner, which is more accurate than the manual feeding method. Before the stirring motor stirs the raw materials in the mixing tube, the system will first remove the residual old glue in the mixing tube to prevent the old glue from mixing into the newly prepared glue. In addition, after the raw materials in the mixing tube are stirred, the system will exhaust the stirred colloid, so that there are fewer air bubbles mixed in the colloid, thereby improving the use effect of the glue.

[0015] Optionally, old glue is adhered to the inner wall of the mixing tube in the circumferential direction, and the old glue on the inner wall of the mixing tube is removed by a mixing tube glue removal method, and the mixing tube glue removal method includes:

[0016] Obtaining the image information inside the mixing tube;

[0017] Generate a tube body model according to the image information inside the tube;

[0018] Determine the old rubber features and the old rubber position according to the pipe body model and the preset reference model;

[0019] Randomly select any old glue position, and control the preset probe to pierce the old glue position with a preset piercing force to obtain the piercing distance;

[0020] When the penetration distance is less than the preset reference distance, the old rubber in the mixing tube is defined as hardened rubber, and the old rubber is treated with the hardened rubber treatment method;

[0021] When the penetration distance is not less than the reference distance, the old rubber in the mixing tube is defined as softened colloid, and the old rubber is treated with the softened colloid treatment method.

[0022] By adopting the above technical solution, the system performs image recognition inside the mixing tube to determine whether the old glue attached to the inner wall of the mixing tube has solidified, and the system can use different methods to deal with the old glue in different states, so that the old glue can be effectively removed from the inner wall of the mixing tube, so that the old glue is not easily mixed into the new glue when the stirring motor stirs the raw materials.

[0023] Optionally, the mixing tube includes a lower tube body and an upper tube body that is telescopic in the inner cavity of the lower tube body, and the bottom of the lower tube body is detachably mounted; the hardened colloid treatment method includes:

[0024] Determine the old rubber feature height and the old rubber starting point position according to the tube body model and the old rubber feature;

[0025] Controlling a preset annular blade to start cutting at a starting position of the old rubber with a preset cutting force, and controlling the annular blade to move according to a characteristic height of the old rubber and a preset blade cutting position to cut the old rubber into strips;

[0026] Determine the wall-adhering position of each strip of old rubber in the mixing tube according to the cutting position of the blade and the tube model;

[0027] According to the wall sticking position, a preset knocking device is controlled to knock the outer wall of the mixing tube to shake off the strip-shaped old glue from the inner wall of the mixing tube;

[0028] The upper tube body is controlled to slide in the lower tube body according to the characteristic height of the old rubber so as to push the strip-shaped old rubber out from the bottom of the lower tube body.

[0029] By adopting the above technical solution, the system can adopt a cutting method for the hardened old glue. The old glue attached to a circle of the pipe wall is first cut into strips. At this time, after the old glue on a circle of the pipe wall loses its original tension, it can be shaken off by knocking on the outer wall of the mixing pipe. It is not easy to stick to the inner wall, which is more convenient.

[0030] Optional, softening colloid treatment methods include:

[0031] Determine the set of characteristic thicknesses of old rubber on the inner wall of the mixing tube in the circumferential direction according to the tube model and the characteristic of old rubber;

[0032] Determine the maximum old glue thickness from the old glue characteristic thickness set;

[0033] Match the cooling power according to the maximum thickness of old glue;

[0034] According to the refrigeration power, a preset refrigeration device surrounding the outside of the mixing tube is controlled to perform refrigeration to solidify the softened colloid;

[0035] The upper tube body is controlled to slide in the lower tube body according to the preset length of the lower tube body so as to push the solidified old glue out from the bottom of the lower tube body.

[0036] By adopting the above technical solution, the old glue in the softened state still has strong viscosity, and it is not easy to operate it directly at this time. The system can harden the old glue in the softened state by cold means to reduce its viscosity, and then withdraw the hardened old glue from the mixing tube by sliding the upper tube body and the lower tube body against each other, which is more convenient.

[0037] Optionally, the cooling power adjustment method includes:

[0038] Selecting old rubber features with a thickness greater than a preset reference thickness from the old rubber feature thickness set, and determining the vibration dispersion position of the old rubber features;

[0039] Control the knocking device to knock at the vibration position of the outer wall of the mixing tube with a preset knocking force to shake off the old rubber characteristics;

[0040] Re-determine the old rubber feature thickness set based on the tube body model and the old rubber features, and determine the maximum old rubber thickness;

[0041] Match the correction power according to the maximum thickness of old glue;

[0042] The cooling power is replaced according to the corrected power, and the corrected power is output.

[0043] By adopting the above technical solution, the original old glue on the inner wall of the mixing tube is unevenly distributed, and there may be large pieces of old glue. For large pieces of old glue, higher refrigeration power is required to harden and solidify them, and this process consumes a lot of energy. The system can identify the larger old glue through images and then vibrate it to make it smaller. After the old glue is vibrated, the energy consumption required for cold hardening is lower.

[0044] Optionally, old glue is adhered to the stirring impeller, and the old glue on the stirring impeller is removed by a mixing tube glue removal method, and a stirring sleeve is provided on the outer surface of the stirring impeller, and the mixing tube glue removal method further includes:

[0045] Acquire image information of a stirring sleeve on the surface of a stirring impeller in a mixing tube;

[0046] According to the image information of the stirring sleeve and the preset reference impeller, the characteristics of the old glue adhering to the outside of the stirring sleeve are determined;

[0047] Determine the characteristic thickness of the old glue attached to the outer side of the stirring sleeve according to the image information of the stirring sleeve, the characteristics of the old glue and the preset reference point;

[0048] When the characteristic thickness of the old glue is greater than the preset adhesion thickness, replace the stirring sleeve.

[0049] By adopting the above technical solution, there will be old glue residue on the stirring impeller. By installing a stirring sleeve on the outside of the stirring impeller, the system can detect the characteristic thickness of the old glue attached to the stirring sleeve. When the characteristic thickness of the old glue is greater than the attachment thickness, the system can automatically replace the stirring sleeve, so that there is less old glue residue on the stirring impeller.

[0050] Optionally, the stirring sleeve is connected to an air pump, and the air pump can inflate the stirring sleeve; the stirring sleeve cleaning method includes:

[0051] When the characteristic thickness of the old glue is greater than the adhesion thickness, the air pump is controlled to inflate the stirring sleeve with a preset inflation power;

[0052] During the inflation process, continuously acquiring the stirring sleeve image information on the surface of the stirring sleeve;

[0053] Determine whether the old glue feature on the surface of the stirring sleeve has crack features according to the stirring sleeve image information and preset crack features;

[0054] When the old rubber features have crack features, the stirring sleeve is evacuated with a preset evacuation power, and the evacuation power is greater than the charging power;

[0055] The stirring motor is controlled to stir according to the preset disengagement speed to throw off the old glue features on the surface of the stirring sleeve.

[0056] By adopting the above technical solution, the stirring sleeve is an inflatable structure. When the image recognizes that the thickness of the old rubber feature on the outer wall of the stirring sleeve is thick, the system can inflate the stirring sleeve to expand the old rubber on its outer wall. During the expansion process, cracks will appear on the surface of the old rubber, so that the old rubber is separated into separate sheets. Then the stirring sleeve is quickly deflated, and the old rubber on the surface of the stirring sleeve can fall off the surface of the stirring sleeve due to inertia. By using this method to process the old rubber on the surface of the stirring sleeve, the stirring sleeve does not need to be replaced, which is more convenient.

[0057] Optionally, an air-filling tube is provided in the mixing tube, and an air pump can inflate the air-filling tube to expand the air-filling tube; the mixing rubber exhaust method includes:

[0058] Obtaining the bubble distribution image of the colloid after mixing and stirring;

[0059] Determine the characteristics of the glue layer with more bubbles according to the bubble distribution image and the preset bubble density, and determine the glue layer depth of the glue layer characteristics;

[0060] Determine the compression height of the glue layer characteristics according to the total amount of glue, the depth of the glue layer and the preset mixing tube size information;

[0061] Determine the expanded diameter of the inflation tube according to the glue layer depth, compression height and mixing tube size information;

[0062] Controlling the extension of the inflation tube into the glue layer feature according to the depth of the glue layer, and inflating the inflation tube with a preset inflation power according to the expansion diameter to press the colloid in the glue layer feature toward the circumferential inner wall of the mixing tube;

[0063] After a preset squeezing time, the inflation tube is deflated at a preset deflation speed.

[0064] By adopting the above technical solution, the colloid after stirring has large bubbles and more small bubbles. By inflating the inflation tube, the inflation tube can expand in all directions to compress the colloid on the inner wall of the mixing tube. In the process of compression, the large bubbles can be squeezed out. Then, in the process of slowly deflating the inflation tube, the colloid can slowly flow down along the inner wall of the mixing tube. In the process of flowing, the small bubbles in the colloid can be gradually removed from the colloid. In the above manner, less air can be mixed into the colloid after stirring, thereby improving the use effect of the colloid.

[0065] In the second aspect, the present application provides a control system for a glue dispensing machine, which adopts the following technical solution:

[0066] A control system for a glue dispensing machine, comprising:

[0067] An acquisition module is used to acquire the remaining amount of raw materials, the total amount of prepared glue, the image information inside the mixing tube, the image information of the stirring sleeve, the image information of the stirring sleeve, and the bubble distribution image;

[0068] A memory, used to store a program of a method for controlling a glue dispensing machine as described in any one of the above items;

[0069] The program in the processor and the memory can be loaded and executed by the processor to implement any one of the above-mentioned methods for controlling a glue dispensing machine.

[0070] In a third aspect, the present application provides a glue dispensing machine, which adopts the following technical solution:

[0071] A glue dispensing machine that uses any of the above-mentioned glue dispensing machine control methods to dispense glue, characterized in that it includes a plurality of raw material barrels for placing raw materials, a mixing tube for mixing glue, a feeding pump connecting the raw material barrels and the mixing tube and used for feeding the raw materials into the mixing tube, and a stirring motor arranged in the mixing tube and used for stirring the raw materials in the mixing tube.

[0072] In summary, the present application includes at least one of the following beneficial technical effects:

[0073] The equipment can automatically add raw materials to the mixing tube in a quantitative manner, which is more accurate than manual addition. Before the stirring motor stirs the raw materials in the mixing tube, the system will first remove the residual old glue in the mixing tube to prevent the old glue from mixing into the newly prepared glue. In addition, after the raw materials in the mixing tube are stirred, the system will exhaust the stirred colloid, so that there are fewer air bubbles mixed in the colloid, thereby improving the use effect of the glue;

[0074] The mixing sleeve is an inflatable structure. When the image recognizes that the thickness of the old rubber on the outer wall of the mixing sleeve is thick, the system can inflate the mixing sleeve to expand the old rubber on its outer wall. During the expansion process, cracks will appear on the surface of the old rubber, separating the old rubber into separate sheets. Then the mixing sleeve is quickly deflated, and the old rubber on the surface of the mixing sleeve can fall off the surface of the mixing sleeve due to inertia. This method can be used to process the old rubber on the surface of the mixing sleeve, and the mixing sleeve does not need to be replaced, which is more convenient.

[0075] The colloid after stirring contains large bubbles and a large number of small bubbles. By inflating the air tube, the air tube can expand in all directions to compress the colloid on the inner wall of the mixing tube. During the compression process, the large bubbles can be squeezed out. Then, in the process of slowly deflating the air tube, the colloid can slowly flow down along the inner wall of the mixing tube. During the flow, the small bubbles in the colloid can be gradually removed from the colloid. In the above manner, less air can be mixed into the colloid after stirring, thereby improving the use effect of the colloid. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 It is a schematic diagram of the overall structure of a glue dispensing machine according to an embodiment of the present invention;

[0077] Figure 2 is a method flow chart of a method for controlling a glue dispensing machine according to an embodiment of the present invention;

[0078] Figure 3 It is a method flow chart of a mixing tube glue removal method for old glue on the inner wall of a mixing tube according to an embodiment of the present invention;

[0079] Figure 4 is a method flow chart of a hardened colloid processing method according to an embodiment of the present invention;

[0080] Figure 5 is a method flow chart of a method for softening colloid processing according to an embodiment of the present invention;

[0081] Figure 6 is a method flow chart of a cooling power adjustment method according to an embodiment of the present invention;

[0082] The parts indicated by the numerical symbols in the above figures are as follows: 1. Raw material barrel; 2. Mixing pipe; 3. Feeding pump; 4. Stirring motor. DETAILED DESCRIPTION

[0083] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0084] The embodiment of the present application discloses a glue dispensing machine.

[0085] Reference Figure 1 A glue dispensing machine includes a raw material barrel 1, a mixing tube 2, a feeding pump 3 and a stirring motor 4. The raw material barrel 1 is used to store raw materials for preparing colloids. The mixing tube 2 is used to mix multiple raw materials. The feeding pump 3 connects the raw material barrel 1 and the mixing tube 2 to pump the raw materials in the raw material barrel 1 into the mixing tube 2. The feeding pump 3 has a metering function and can meter the liquid passing through to accurately pump the raw materials into the mixing tube 2. The stirring motor 4 is arranged on the mixing tube 2, and the stirring motor 4 can stir the raw materials in the mixing tube 2 to make them evenly mixed into the desired colloid.

[0086] When using the rubber dispensing machine, first add all the raw materials into the raw material barrel 1, then pump the required amount of raw materials into the mixing tube 2 through the feeding pump 3, and then start the stirring motor 4 to stir the raw materials in the mixing tube 2. After the stirring is completed, the prepared colloid is released from the mixing tube 2.

[0087] Based on the same inventive concept, an embodiment of the present invention provides a control method for a rubber dispensing machine, wherein the old rubber in the mixing tube 2 is processed before the stirring motor 4 stirs the raw materials in the mixing tube 2, and the old rubber includes the old rubber attached to the inner wall of the mixing tube 2 and the old rubber attached to the stirring impeller, and different methods are used to process the hardened and unhardened old rubber respectively. After the stirring motor 4 stirs the raw materials in the mixing tube 2, the mixed colloid is exhausted, so that the prepared colloid has a better use effect.

[0088] Reference Figure 2 , a glue dispensing machine control method comprises the following steps:

[0089] Step S100: obtaining the remaining amount of raw material in the preset raw material cylinder 1 and the total amount of the glue to be prepared.

[0090] The remaining amount of raw materials refers to the remaining amount of raw materials for preparing colloid in the raw material barrel 1. A liquid level sensor is provided in each raw material barrel 1, and the remaining amount of raw materials can be measured and obtained by the liquid level sensor.

[0091] The total amount of glue to be prepared refers to the amount of colloid that needs to be prepared. The total amount of glue to be prepared is manually input before the equipment program starts and is read by the system.

[0092] Step S101: determining the required amount of raw materials for preparing the glue according to the total amount of glue and preset ratio information.

[0093] The ratio information refers to the ratio of the components of the colloid that needs to be prepared at present. The raw material requirement refers to the amount of raw materials required to prepare the colloid with the required total amount of the prepared glue. After the total amount of the prepared glue and the ratio information are determined, the raw material requirement of each component required to prepare the colloid with the required total amount of the prepared glue can be calculated based on the ratio information.

[0094] Step S1011: Based on the fact that the remaining amount of raw material is less than the required amount of raw material, the raw material filling amount is determined according to the preset capacity of the raw material cylinder 1 and the remaining amount of raw material.

[0095] The capacity of the raw material barrel 1 refers to the maximum amount of raw materials that can be stored in the raw material barrel 1 used in the equipment. The capacity of the raw material barrel is a standard parameter of the raw material barrel 1 and will not be described in detail here.

[0096] When the remaining amount of raw materials is less than the required amount of raw materials, it means that the raw materials in the current raw material barrel 1 are not enough to prepare the total amount of colloid required, and the system needs to fill new raw materials into the raw material barrel 1. The raw material filling amount is the amount of raw materials that can be filled in the raw material barrel 1, and the raw material filling amount is the difference between the capacity of the raw material barrel 1 and the remaining amount of raw materials.

[0097] Step S10111: Control the preset feeding device to fill the raw material barrel 1 with raw material according to the raw material filling amount.

[0098] The feeding device is arranged on one side of the glue dispensing machine for adding raw materials into the raw material barrel.

[0099] When the raw material in the raw material barrel 1 is insufficient, the system will automatically fill the raw material into the raw material barrel 1 through the feeding device according to the raw material filling amount, so that the raw material in the raw material barrel 1 is sufficient to prepare the required total amount of colloid.

[0100] Step S1012: Based on the remaining amount of raw materials being not less than the required amount of raw materials, the old colloid adhering to the mixing tube 2 is removed by a mixing tube degumming method.

[0101] If the remaining amount of raw materials is not less than the required amount of raw materials, it means that the remaining raw materials in the raw material barrel 1 are sufficient for preparing the colloid of the total amount of the prepared glue. At this time, there is no need to add raw materials to the raw material barrel 1. The system can determine whether to add raw materials through detection during the next colloid preparation. When it is determined that there is enough raw material in the raw material barrel 1, it is necessary to remove the old glue that originally remained in the mixing tube 2 before the feeding pump 3 feeds the raw material into the mixing tube 2 to avoid the old glue from being mixed into the new colloid and affecting the use effect of the new colloid. The old glue in the mixing tube 2 is removed by the mixing tube degumming method, which will not be described in detail here and will be described in detail in the subsequent embodiments.

[0102] Step S10121: controlling the preset feeding pump 3 to feed the raw materials into the mixing tube 2 according to the raw material demand, and controlling the preset stirring motor 4 to stir the raw materials in the mixing tube 2 at a preset mixing speed.

[0103] After the system removes the old glue in the mixing tube 2 , the system can control the feeding pump 3 to feed the raw materials into the mixing tube 2 .

[0104] The mixing speed is the speed set by the technicians for the stirring motor 4 to stir the raw materials in the mixing tube 2. The raw materials are stirred at the mixing speed, and the colloid obtained after mixing has a better use effect, which will not be elaborated here.

[0105] Step S10122: exhaust the colloid after stirring by using the mixed glue exhaust method, and issue a completion prompt.

[0106] After the mixing is completed, there are many air bubbles mixed in the colloid. At this time, the bubbles in the colloid need to be discharged. The bubbles in the colloid can be effectively discharged by the mixed rubber exhaust method. The mixed rubber exhaust method will not be described here, but will be described in detail in the subsequent embodiments.

[0107] Reference Figure 3 , there is old glue adhered to the inner wall of the mixing tube 2, and the old glue at this position can be removed by a mixing tube glue removal method, which includes the following steps:

[0108] Step S200: obtaining the image information inside the mixing tube 2.

[0109] The in-tube image information refers to the image of the circumferential inner wall of the mixing tube 2 , which is obtained by taking pictures with a miniature camera disposed on the top of the mixing tube 2 . The in-tube image information includes old glue adhering to the inner wall of the mixing tube 2 .

[0110] Step S201: Generate a tube body model according to the in-tube image information.

[0111] The tube body model refers to a three-dimensional model obtained by modeling the mixing tube 2, and the tube body model includes the tube body of the mixing tube 2 and the old glue on the inner wall of the tube body. By obtaining the image information inside the tube, the positions of each point on the inner wall of the tube body and each point on the old glue on the inner wall are determined, and at this time, the three-dimensional tube body model is converted according to the captured image information inside the tube.

[0112] Step S202: determining the old rubber features and the old rubber position according to the tube body model and the preset reference model.

[0113] The reference model refers to a standard three-dimensional model of the mixing tube 2. At this time, there is no old glue attached to the inner wall of the mixing tube 2. The reference model is set by technicians based on the modeling of the standard mixing tube 2, and will not be described in detail here.

[0114] The old glue feature refers to the old glue adhering to the inner wall of the mixing tube 2. The old glue position refers to the position of the old glue feature on the inner wall of the mixing tube 2.

[0115] The tube body model is compared with the reference model. The difference between the two is the old rubber feature, and the position of the old rubber can be determined based on the position of the difference in the tube body model.

[0116] Step S203: randomly selecting any old glue position, and controlling a preset probe to penetrate into the old glue position with a preset penetration force, and obtaining a penetration distance.

[0117] After determining the characteristics of the old glue and all the old glue positions, it is necessary to determine the hardness and softness of the old glue in the mixing tube 2 at this time. The hardness and softness of the old glue can be determined by a probe. The probe is set at the top of the mixing tube 2 to judge the hardness and softness of the old glue, and can be extended to any position in the mixing tube 2 under the drive of the driving device. The system controls the probe to extend to any old glue position and pierce the old glue position.

[0118] The puncture force is a reference value of the force set by the technician for the probe to penetrate the old glue characteristics. The old glue characteristics are tested by this force. Hardened old glue is not easy to penetrate, while unhardened old glue is easy to penetrate. It will not be elaborated here.

[0119] The penetration distance is the depth of the probe penetrating into the old glue feature. The system can directly obtain the insertion length of the probe. When the probe touches the old glue feature, it starts recording the insertion length of the probe. The insertion length from touching the old glue feature to stopping the probe penetration is the penetration distance.

[0120] Step S2031: When the penetration distance is less than the preset reference distance, the old rubber in the mixing tube 2 is defined as hardened colloid, and the old rubber is treated by the hardened colloid treatment method.

[0121] The benchmark distance is a reference value set by technicians to determine the hardness or softness of the old rubber characteristics, which will not be elaborated here.

[0122] If the penetration distance is less than the reference distance, it means that the old glue feature has hardened and the probe cannot easily penetrate the old glue feature. At this time, the hardened colloid is treated by a hardened colloid treatment method. The hardened colloid treatment method will not be described here and will be described in detail in subsequent embodiments.

[0123] Step S2032: When the penetration distance is not less than the reference distance, the old rubber in the mixing tube 2 is defined as softened colloid, and the old rubber is processed by the softened colloid processing method.

[0124] If the penetration distance is not less than the reference distance, it means that the old glue feature has not hardened yet and the probe can penetrate the old glue feature. At this time, the old glue feature is processed by a softening colloid processing method. The softening colloid processing method will not be described here and will be described in detail in subsequent embodiments.

[0125] Reference Figure 4 In this embodiment, the mixing tube 2 includes a lower tube body and an upper tube body, the outer diameter of the upper tube body is equal to the inner diameter of the lower tube body, so the upper tube body can be telescopically slid inside the lower tube body to adjust the length of the mixing tube 2; and the bottom of the lower tube body can be disassembled to facilitate cleaning of the mixing tube 2.

[0126] The hardening colloid treatment method includes the following steps:

[0127] Step S300: determining the old glue feature height and the old glue starting point position according to the tube body model and the old glue feature.

[0128] The old glue characteristic height refers to the height of the hardened old glue in the mixing tube 2. The old glue starting point refers to the bottom position where the old glue adheres to the inner wall of the mixing tube 2. Both the old glue characteristic height and the old glue starting point can be obtained by comparing the old glue characteristics in the tube body model. Since the old glue characteristics are raised features in the tube body model, the raised features are analyzed, and the height between the uppermost and lowermost ends is the old glue characteristic height, and the lowermost end of the raised features is the old glue starting point.

[0129] Step S301: Control a preset annular blade to start cutting at a starting position of the old rubber with a preset cutting force, and control the annular blade to move according to a characteristic height of the old rubber and a preset blade cutting position to cut the old rubber into strips.

[0130] The annular blade is used to cut the hardened old rubber in the mixing tube 2. The annular blade is arranged below the mixing tube 2. After the bottom of the lower tube body is removed, the annular blade can be inserted into the mixing tube 2. The annular blade is annular, and a plurality of cutting blades are arranged around it. When the annular blade is inserted into the mixing tube 2, the cutting blade can abut against the inner wall of the mixing tube 2 and move along the inner wall.

[0131] The cutting force is a reference value of the force applied by the annular blade for cutting the hardened old rubber set by the technician. The hardened old rubber can be separated by the cutting force, and it is not easy to damage the inner wall of the mixing tube 2. The setting method of the cutting force is not described in detail here.

[0132] The blade cutting position is the position of the cutting blade relative to the inner wall of the mixing tube 2 when the cutting blade cuts the hardened old rubber, which is set by the technician. The cutting blade divides the inner wall of the mixing tube 2 into several areas. After the cutting blade cuts the old rubber, the old rubber is in these areas, which will not be elaborated here.

[0133] When it is determined that the old rubber characteristic is hardened old rubber, the system opens the bottom of the lower tube body and extends the annular blade into the mixing tube 2. The annular blade starts cutting from the starting position of the old rubber and cuts the old rubber with the characteristic height of the old rubber as the cutting distance, cutting the old rubber into strips, so that the old rubber loses tension.

[0134] Step S302: Determine the wall-adhering position of each strip of old rubber in the mixing tube 2 according to the blade cutting position and the tube body model.

[0135] The wall sticking position refers to the position of each strip of old rubber on the inner wall of the mixing tube 2 after the old rubber is cut. According to the blade cutting position, the positions of several areas of the tube model divided by the cutting blade can be determined, and the strip of old rubber is located in these areas.

[0136] Step S303: controlling a preset knocking device to knock the outer wall of the mixing tube 2 according to the wall sticking position to shake off the strip-shaped old glue from the inner wall of the mixing tube 2.

[0137] The knocking device is arranged on the outer wall of the mixing tube 2 and is used to knock the outer wall of the material changing tube. After the wall sticking position is determined, the system can control the knocking device to find a position on the outer wall of the mixing tube 2 corresponding to the wall sticking position, and knock the position, so that the strip of old glue stuck at the position is peeled off from the inner wall.

[0138] Step S304: Control the upper tube body to slide in the lower tube body according to the characteristic height of the old rubber so as to push the strip of old rubber out from the bottom of the lower tube body.

[0139] When the strip of old rubber stuck on the inner wall is separated from the inner wall, the system can control the upper tube body and the lower tube body to move relative to each other, and control the upper tube body to slide in the lower tube body, so as to push the strip of old rubber in the lower tube body out of the lower tube body. A waste box is arranged under the lower tube body, and the strip of old rubber can fall into the waste box.

[0140] Reference Figure 5 When the old glue sticking in the mixing tube 2 is detected to be still in a softened state, the softened colloid is processed by a software colloid processing method, and the softened colloid processing method includes the following steps:

[0141] Step S400: determining a set of characteristic thicknesses of old rubber on the inner wall of the mixing tube 2 in the circumferential direction according to the tube model and the characteristic of old rubber.

[0142] The old glue feature thickness set refers to a set of thicknesses of all old glue features adhered to the inner wall of the mixing tube 2. The protruding old glue features on the inner wall of the mixing tube 2 can be determined and their thicknesses can be determined through the tube model and the old glue features, and then the thicknesses of all the old glue features are put into the set to form the old glue feature thickness set.

[0143] Step S401: determining the maximum old glue thickness from the old glue characteristic thickness set.

[0144] The maximum old glue thickness refers to the thickness of the thickest old glue feature among the old glue features adhered to the inner wall of the mixing tube 2. The maximum old glue thickness can be obtained by sorting and analyzing the parameters in the old glue feature thickness set.

[0145] Step S402: matching the cooling power according to the maximum old glue thickness.

[0146] The refrigeration power is the power of the refrigeration device arranged outside the mixing tube 2 when refrigerating and freezing the mixing tube 2.

[0147] In this embodiment, since the softened old glue still has great viscosity, it is easy to stick when directly touched by an object, so the softened old glue is frozen to harden it, and then processed. The thickness of the old glue adhered to the inner wall of the mixing tube 2 is inconsistent, and different refrigeration powers are required to be used to freeze the old glue of different thicknesses. In order to make all the old glue features on the inner wall of the mixing tube 2 be frozen and hardened, it is necessary to take the maximum old glue thickness among the old glue features as a reference, and determine the refrigeration power according to the maximum old glue thickness to freeze all the old glue features.

[0148] Step S403: controlling the preset refrigeration device surrounding the outer side of the mixing tube 2 to perform refrigeration according to the refrigeration power to solidify the softened colloid.

[0149] After the refrigeration power is determined, the refrigeration device surrounding the outside of the mixing tube 2 is turned on to freeze the mixing tube 2 so that the softened old glue adhering to the inner wall of the mixing tube 2 can harden.

[0150] Step S404: Control the upper tube to slide in the lower tube according to the preset length of the lower tube to push the solidified old glue out from the bottom of the lower tube.

[0151] Similar to step S304, when the softened colloid is hardened by freezing, the system controls the upper tube to expand and contract within the lower tube. The bottom of the upper tube can abut against the top of the solidified softened colloid and push the colloid out from the bottom of the lower tube during the expansion and contraction process, so that it falls into the waste box.

[0152] Reference Figure 6 The thickness of the old rubber adhered to the inner wall of the mixing tube 2 varies. When freezing it, the refrigeration power can only be determined by the maximum thickness of the old rubber. By processing the old rubber to reduce its thickness, the refrigeration power can be reduced. The refrigeration power adjustment method includes the following steps:

[0153] Step S500: selecting old glue features with a thickness greater than a preset reference thickness from the old glue feature thickness set, and determining the vibration dispersion position of the old glue features.

[0154] The benchmark thickness is a reference value set by technicians. Old rubber features whose thickness is greater than the benchmark thickness need to be processed to reduce their thickness, which will not be elaborated here.

[0155] The vibration dispersion position refers to the position where the old rubber feature with a thickness greater than the reference thickness is attached to the inner wall of the mixing tube 2. The old rubber feature thickness set includes the thickness of all old rubber features. All values ​​greater than the reference thickness are screened out from the old rubber feature thickness set, and the corresponding old rubber feature is determined according to the value, and then the adhesion position of the old rubber feature is found on the inner wall of the mixing tube 2 according to the determined old rubber feature.

[0156] Step S501: Control the knocking device to knock at the vibration dispersion position of the outer wall of the mixing tube 2 with a preset knocking force to shake the old rubber features.

[0157] After determining the vibration dispersion position, the system can control the knocking device to knock at the vibration dispersion position, so that the thick large piece of old glue features adhering to the vibration dispersion position are vibrated into thin old glue features.

[0158] Step S502: re-determine the old glue feature thickness set based on the tube body model and the old glue feature, and determine the maximum old glue thickness.

[0159] After vibrating all old glue features whose thickness is greater than the baseline thickness, it is necessary to redetermine the old glue feature thickness set. At this time, the thickness of all old glue features in the old glue feature thickness set has become smaller, but the maximum old glue thickness of the old glue feature with the largest thickness still needs to be determined.

[0160] Step S503: Matching the correction power according to the maximum old glue thickness.

[0161] Correction power refers to the refrigeration power that can freeze all the old rubber features after the large old rubber features are shaken away. After re-determining the maximum old rubber thickness, the correction power is determined by the maximum old rubber thickness.

[0162] Step S504: replacing the cooling power according to the corrected power, and outputting the corrected power.

[0163] The output is replaced by correction power instead of cooling power to reduce power consumption and also freeze-harden all old glue features.

[0164] In addition to the old glue adhering to the inner wall of the mixing tube 2, the old glue also adheres to the stirring impeller. The old glue on the stirring impeller is also removed by the mixing tube glue removal method. The mixing tube glue removal method also includes the following steps:

[0165] Step S600: acquiring image information of the stirring sleeve on the surface of the stirring impeller in the mixing tube 2.

[0166] In this embodiment, a stirring sleeve is provided on the surface of the stirring impeller so that the old glue will not directly stick to the stirring impeller, thereby facilitating the removal of the old glue.

[0167] The stirring sleeve image information refers to the image of the stirring sleeve surface on the stirring impeller, which is obtained by taking pictures with a miniature camera arranged on the top of the mixing tube 2 .

[0168] Step S601: matching the image information of the stirring sleeve with a preset reference impeller to determine the features of the old glue adhering to the outer side of the stirring sleeve.

[0169] The reference impeller refers to an image database of a stirring impeller without the feature of old glue adhering thereto obtained through machine learning. The stirring impeller includes a stirring sleeve mounted thereon, which will not be described in detail here.

[0170] By comparing the image information of the stirring sleeve with the reference impeller, the difference between the two is the characteristics of the old glue adhering to the outside of the stirring sleeve.

[0171] Step S602: determining the characteristic thickness of the old glue attached to the outer side of the stirring sleeve according to the image information of the stirring sleeve, the old glue characteristics and the preset reference point.

[0172] The preset reference point is a reference point set by a technician for determining the image ratio when the micro camera is shooting. The static object in the mixing tube 2 is used as the reference point, which will not be described in detail here.

[0173] The ratio of the stirring sleeve image information to the actual image can be determined through the stirring sleeve image information and the reference point. The thickness of the old glue feature in the image can be determined based on the stirring sleeve image information and the old glue feature. Finally, the actual thickness of the old glue feature can be determined based on the image ratio.

[0174] Step S603: When the characteristic thickness of the old adhesive is greater than the preset adhesion thickness, the stirring sleeve is replaced.

[0175] The preset adhesion thickness is a reference value set by the technicians to measure whether the old glue attached to the outside of the stirring sleeve needs to be removed, which will not be elaborated here.

[0176] When the characteristic thickness of the old glue is not greater than the adhesion thickness, it means that there is less old glue adhering to the outside of the stirring sleeve and it does not need to be processed.

[0177] When the characteristic thickness of the old glue is greater than the adhesion thickness, it means that there is a lot of old glue adhering to the outside of the stirring sleeve. At this time, the old glue characteristics on the outside of the stirring sleeve need to be processed, and the processing method is to replace the stirring sleeve.

[0178] In order to facilitate the removal of the old glue features on the outside of the stirring sleeve, in this embodiment, the stirring sleeve is connected to an air pump, which can inflate the stirring sleeve. The air pump is arranged on the outside of the mixing pipe 2 and connected to the stirring sleeve through an air pipe. The stirring sleeve cleaning method includes the following steps:

[0179] Step S700: When the characteristic thickness of the old glue is greater than the adhesion thickness, the air pump is controlled to inflate the stirring sleeve with a preset inflation power.

[0180] The inflation power refers to the power of the air pump when inflating the stirring sleeve. It is a reference value set by the technicians and will not be elaborated here.

[0181] When it is detected that the characteristic thickness of the old glue is greater than the adhesion thickness, the system controls the air pump to inflate the stirring sleeve.

[0182] Step S701: During the inflation process, continuously obtain the stirring sleeve image information on the surface of the stirring sleeve.

[0183] During the inflation process, as the stirring sleeve continues to expand, cracks will appear on the old rubber features attached to the surface of the stirring sleeve. Regardless of whether the old rubber features are softened old rubber or hardened old rubber, cracks will appear when the old rubber expands to a certain extent. In order to detect cracks, it is necessary to continuously obtain the image information of the stirring sleeve.

[0184] Step S702: determining whether the old glue feature on the surface of the stirring sleeve has crack features according to the stirring sleeve image information and preset crack features.

[0185] The crack feature is a database including crack images obtained through machine learning, which will not be described in detail here.

[0186] By comparing the image information of the stirring sleeve with the crack characteristics, when a shape consistent with the crack characteristics appears on the surface of the stirring sleeve, it means that crack characteristics appear on the surface of the old rubber characteristics.

[0187] Step S703: When the old rubber feature has crack features, the stirring sleeve is evacuated with a preset exhaust power, and the exhaust power is greater than the charging power.

[0188] In this embodiment, when the stirring sleeve expands to a certain extent so that crack features appear on the surface of the old glue feature, the system then evacuates the stirring sleeve to make the stirring sleeve shrink rapidly. At this time, the old glue feature has inertia and can be peeled off from the surface of the stirring sleeve.

[0189] The preset vacuum power is the power set by the technician to vacuum the stirring sleeve. The stirring sleeve can be quickly contracted by vacuuming the stirring sleeve with the vacuum power. I will not elaborate on this. In order to make the old rubber feature inertial, the vacuum power needs to be greater than the inflation power, so that the speed of contraction of the stirring sleeve is much greater than the power of expansion of the stirring sleeve.

[0190] Step S704: controlling the stirring motor 4 to stir according to a preset separation speed to shake off the old glue features on the surface of the stirring sleeve.

[0191] The preset separation speed is the rotation speed of the stirring motor 4 set by the technician. The stirring motor 4 is rotated by controlling the separation speed, and the separated old glue features adhering to the stirring sleeve can be thrown off, which will not be elaborated here.

[0192] After the stirring sleeve is retracted again, the system controls the stirring motor 4 to rotate. At this time, the old glue features that have been separated from the stirring sleeve but have not fallen off the stirring sleeve can be thrown off the stirring sleeve under the action of centrifugal force.

[0193] In this embodiment, an air-filling tube is provided in the mixing tube 2, and the air pump can inflate the air-filling tube while inflating the stirring sleeve to expand the air-filling tube. After the air-filling tube is expanded, the colloid that has been stirred in the mixing tube 2 can be squeezed toward the circumference of the mixing tube. The mixing venting method includes the following steps:

[0194] Step S800: obtaining a bubble distribution image of the colloid after mixing and stirring.

[0195] The bubble distribution image refers to the distribution of bubbles in the colloid obtained by photographing the stirred colloid through a camera disposed outside the mixing tube 2. In this embodiment, the mixing tube 2 is made of a transparent material, and the mixed colloid is also transparent.

[0196] Step S801: determining a glue layer feature with more bubbles according to a bubble distribution image and a preset bubble density, and determining a glue layer depth of the glue layer feature.

[0197] The colloid obtained after the raw materials are stirred contains a large number of bubbles. Since the bubbles will float in the colloid, the bubbles are regularly distributed in the colloid, with more bubbles on the top and less on the bottom.

[0198] The preset bubble density is a reference value set by the technician. When the amount of bubbles in the colloid is greater than the bubble density, it is defined that there are more bubbles at that position, which will not be elaborated here.

[0199] By analyzing the bubble distribution image according to the bubble density, the glue layer feature with more bubbles can be determined. The glue layer depth refers to the depth of the glue layer feature in the mixing tube 2, and the glue layer depth can be directly determined from the bubble distribution image through image recognition.

[0200] Step S802: Determine the compression height of the glue layer characteristics according to the total amount of glue, the depth of the glue layer and the preset size information of the mixing tube 2.

[0201] The size information of the mixing tube 2 includes the length of the mixing tube 2 and the diameter of the mixing tube 2 , which are standard parameters of the mixing tube 2 and will not be described in detail here.

[0202] The compression height refers to the height that the adhesive layer characteristics can be compressed to when the inflatable tube is compressed. After the adhesive layer characteristics are compressed, they cannot overflow from the mixing tube.

[0203] The volume of the glue layer feature can be determined according to the depth of the glue layer and the diameter of the mixing tube 2. The volume and height of the colloid containing fewer bubbles can be determined according to the difference between the total amount of glue prepared and the volume of the glue layer feature. Finally, the height to which the glue layer feature is allowed to be compressed can be calculated according to the length of the mixing tube 2 and the height of the colloid containing fewer bubbles.

[0204] Step S803: determining the expansion diameter of the inflation tube according to the glue layer depth, the compression height and the size information of the mixing tube 2.

[0205] The expanded diameter refers to the diameter that the inflation tube needs to expand to when the glue layer feature is compressed from the glue layer height to the compressed height.

[0206] The volume of the glue layer feature can be determined by the glue layer depth and the diameter of the mixing tube 2. The thickness of the glue layer feature after compression can be determined by the compression height, the volume of the glue layer feature and the diameter of the mixing tube 2. Finally, the expanded diameter of the inflation tube can be calculated based on the diameter of the mixing tube 2 and the thickness of the glue layer feature after compression.

[0207] Step S804: controlling the inflation tube to extend into the glue layer feature according to the glue layer depth, and inflating the inflation tube with a preset inflation power according to the expansion diameter to press the glue in the glue layer feature toward the circumferential inner wall of the mixing tube 2 .

[0208] After determining the expanded diameter of the inflation tube, the system controls the inflation pump to inflate the inflation tube, so that the inflation tube extends into the glue layer feature and expands the inflation tube to the expanded diameter. At this time, the glue layer feature containing more bubbles can be pressed toward the circumferential inner wall of the mixing tube 2 by the inflation tube, and the larger bubbles in the glue layer feature can be squeezed out.

[0209] Step S805: After a preset squeezing time, the inflation tube is controlled to deflate at a preset deflation speed.

[0210] The squeezing time is a reference value set by the technicians, which is the duration of the inflation tube expansion, and will not be elaborated here.

[0211] The deflation speed is a reference value set by the technicians, which is the speed at which the inflation tube deflates and contracts. The inflation tube contracts at the deflation speed, and the colloid can slowly slide down along the inner wall of the mixing tube 2, so that the small bubbles in the colloid are gradually discharged. I will not go into details here.

[0212] Based on the same inventive concept, an embodiment of the present invention provides a control system for a rubber dispensing machine, including the following modules:

[0213] The acquisition module is used to obtain the remaining amount of raw materials, the total amount of prepared glue, the image information inside the mixing tube 2, the image information of the stirring sleeve, the image information of the stirring sleeve and the bubble distribution image.

[0214] The memory is used to store a program of a glue dispensing machine control method.

[0215] The program in the memory can be loaded and executed by the processor to implement a method for controlling a glue dispensing machine.

[0216] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

Claims

1. A method for controlling a glue dispensing machine, characterized in that: include: Obtaining the remaining amount of raw material in the preset raw material cylinder (1) and the total amount of the glue to be prepared; Determine the raw material demand for mixing the glue based on the total amount of glue and the preset ratio information; Based on the fact that the remaining amount of the raw material is less than the required amount of the raw material, the raw material filling amount is determined according to the preset capacity of the raw material cylinder (1) and the remaining amount of the raw material; Controlling a preset feeding device to fill the raw material into the raw material barrel (1) according to the raw material filling amount; Based on the fact that the remaining amount of raw materials is not less than the required amount of raw materials, the old colloid adhering to the mixing tube (2) is removed by a mixing tube degumming method; According to the demand for raw materials, a preset feeding pump (3) is controlled to feed the raw materials into the mixing tube (2), and a preset stirring motor (4) is controlled at a preset mixing speed to stir the raw materials in the mixing tube (2); The colloid that has been stirred is exhausted by the mixed glue exhaust method, and a completion prompt is issued; Old glue is adhered to the inner wall of the mixing tube (2) in the circumferential direction. The old glue on the inner wall of the mixing tube (2) is removed by a mixing tube glue removal method. The mixing tube glue removal method includes: Obtaining image information inside the mixing tube (2); Generate a tube model according to the image information inside the tube; Determine the old rubber features and the old rubber position according to the pipe body model and the preset reference model; Randomly select any old glue position, and control the preset probe to pierce the old glue position with a preset piercing force to obtain the piercing distance; When the penetration distance is less than the preset reference distance, the old rubber in the mixing tube (2) is defined as hardened rubber, and the old rubber is treated with a hardened rubber treatment method; When the penetration distance is not less than the reference distance, the old rubber in the mixing tube (2) is defined as softened colloid, and the old rubber is treated with the softened colloid treatment method.

2. A method for controlling a rubber dispensing machine according to claim 1, characterized in that: The mixing tube (2) comprises a lower tube body and an upper tube body which is telescopically arranged in the cavity of the lower tube body, and the bottom of the lower tube body can be detachably installed; the hardening colloid treatment method comprises: Determine the old rubber feature height and the old rubber starting point position according to the tube body model and the old rubber feature; Controlling a preset annular blade to start cutting at a starting position of the old rubber with a preset cutting force, and controlling the annular blade to move according to a characteristic height of the old rubber and a preset blade cutting position to cut the old rubber into strips; Determine the wall-adhering position of each strip of old rubber in the mixing tube (2) according to the cutting position of the blade and the tube model; According to the wall sticking position, a preset knocking device is controlled to knock the outer wall of the mixing tube (2) so as to shake off the strip-shaped old rubber from the inner wall of the mixing tube (2); The upper tube body is controlled to slide in the lower tube body according to the characteristic height of the old rubber so as to push the strip-shaped old rubber out from the bottom of the lower tube body.

3. A method for controlling a glue dispensing machine according to claim 2, characterized in that: Softening colloid treatment methods include: Determine a set of characteristic thicknesses of old rubber in the circumferential direction of the inner wall of the mixing tube (2) according to the tube body model and the characteristic of old rubber; Determine the maximum old glue thickness from the old glue characteristic thickness set; Match the cooling power according to the maximum thickness of old glue; According to the refrigeration power, a preset refrigeration device surrounding the outside of the mixing tube (2) is controlled to perform refrigeration to solidify the softened colloid; The upper tube body is controlled to slide in the lower tube body according to the preset length of the lower tube body so as to push the solidified old glue out from the bottom of the lower tube body.

4. A method for controlling a glue dispensing machine according to claim 3, characterized in that: Refrigeration power adjustment methods include: Selecting old rubber features with a thickness greater than a preset reference thickness from the old rubber feature thickness set, and determining the vibration dispersion position of the old rubber features; Controlling the knocking device to knock at the vibration dispersion position of the outer wall of the mixing tube (2) with a preset knocking force to vibrate the old rubber features; Re-determine the old rubber feature thickness set based on the tube body model and the old rubber features, and determine the maximum old rubber thickness; Match the correction power according to the maximum thickness of old glue; The cooling power is replaced according to the corrected power, and the corrected power is output.

5. A method for controlling a glue dispensing machine according to claim 1, characterized in that: There is old glue adhered to the stirring impeller, and the old glue on the stirring impeller is removed by a mixing tube glue removal method, and a stirring sleeve is provided on the outer surface of the stirring impeller. The mixing tube glue removal method also includes: Acquiring image information of a stirring sleeve on the surface of a stirring impeller in a mixing tube (2); According to the image information of the stirring sleeve and the preset reference impeller, the characteristics of the old glue adhering to the outside of the stirring sleeve are determined; Determine the characteristic thickness of the old glue attached to the outer side of the stirring sleeve according to the image information of the stirring sleeve, the characteristics of the old glue and the preset reference point; When the characteristic thickness of the old glue is greater than the preset adhesion thickness, replace the stirring sleeve.

6. A method for controlling a rubber dispensing machine according to claim 5, characterized in that: The stirring sleeve is connected to an air pump, which can inflate the stirring sleeve; the stirring sleeve cleaning method includes: When the characteristic thickness of the old glue is greater than the adhesion thickness, the air pump is controlled to inflate the stirring sleeve with a preset inflation power; During the inflation process, continuously acquiring the stirring sleeve image information on the surface of the stirring sleeve; Determine whether the old glue feature on the surface of the stirring sleeve has crack features according to the stirring sleeve image information and preset crack features; When the old rubber features have crack features, the stirring sleeve is evacuated with a preset evacuation power, and the evacuation power is greater than the charging power; The stirring motor (4) is controlled to stir according to a preset separation speed to shake off the old glue features on the surface of the stirring sleeve.

7. A method for controlling a rubber dispensing machine according to claim 1, characterized in that: An air-filling tube is arranged in the mixing tube (2), and an air pump can inflate the air-filling tube to expand the air-filling tube; the mixing rubber exhaust method comprises: Obtaining the bubble distribution image of the colloid after mixing and stirring; Determine the characteristics of the glue layer with more bubbles according to the bubble distribution image and the preset bubble density, and determine the glue layer depth of the glue layer characteristics; Determining the compression height of the glue layer characteristics according to the total amount of glue dispensed, the depth of the glue layer and the preset size information of the mixing tube (2); Determining the expanded diameter of the inflation tube according to the glue layer depth, the compression height and the size information of the mixing tube (2); Controlling the extension of the inflation tube into the glue layer feature according to the depth of the glue layer, and inflating the inflation tube with a preset inflation power according to the expansion diameter to press the glue in the glue layer feature toward the circumferential inner wall of the mixing tube (2); After a preset squeezing time, the inflation tube is deflated at a preset deflation speed.

8. A control system for a rubber dispensing machine, characterized in that: include: An acquisition module, used to acquire the remaining amount of raw materials, the total amount of prepared glue, the image information inside the mixing tube (2), the image information of the stirring sleeve, the image information of the stirring sleeve, and the bubble distribution image; A memory, used to store a program of a method for controlling a glue dispensing machine according to any one of claims 1 to 7; The program in the memory can be loaded and executed by the processor to implement a method for controlling a glue dispensing machine.

9. A glue dispensing machine, using a glue dispensing machine control method as claimed in any one of claims 1 to 7 to dispense glue, characterized in that: The invention comprises a plurality of raw material barrels (1) for placing raw materials, a mixing tube (2) for mixing glue, a feeding pump (3) connecting the raw material barrels (1) and the mixing tube (2) and used for feeding the raw materials into the mixing tube (2), and a stirring motor (4) arranged in the mixing tube (2) and used for stirring the raw materials in the mixing tube (2).

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