Control method, conveying device, system, electronic device, medium and program product

Abstract

The invention provides a liquid outflow control method, a dispensing control method, conveying equipment, an automatic processing system, electronic equipment, a computer readable storage medium and a computer program product, and relates to the technical field of automatic processing. The liquid outflow control method comprises the steps that when the conveying equipment receives a first in-place signal sent by a mechanical execution mechanism when a track related to machining operation starts to be executed, control over a liquid valve mechanism is started, so that the opening time and the closing time of the liquid valve mechanism are controlled, and when the conveying equipment receives a second in-place signal sent by the mechanical executing mechanism when the mechanical executing mechanism finishes executing the track related to the machining operation, the control over the liquid valve mechanism is stopped. Liquid outflow control is achieved through the conveying equipment, object machining operation is achieved through cooperation of the conveying equipment and the mechanical executing mechanism, and the object machining efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of automated processing technology, and more specifically, to a liquid outflow control method, a dispensing control method, a conveying device, an automated processing system, an electronic device, a computer-readable storage medium, and a computer program product in the field of automated processing technology. Background Art

[0002] In automated production scenarios, it usually includes automated processing equipment such as robotic arms and robots, and conveying equipment for transporting objects.

[0003] The automated processing equipment outputs liquid to the object during the movement of its mechanical actuator, and the outflowing liquid adheres to the surface of the object to achieve a kind of processing on the surface of the object. The mechanical actuator usually has a complex mechanical structure, which leads to the complex control logic of the automated processing equipment. If the trajectory motion control of the mechanical actuator and the liquid outflow control are to be achieved at the same time, the amount of calculation of the automated processing equipment will increase sharply, resulting in a decrease in the execution efficiency of the automated processing equipment, thereby affecting the liquid output processing efficiency of the object surface. Summary of the invention

[0004] The present application provides a liquid outflow control method, a dispensing control method, a conveying device, an automated processing system, an electronic device, a computer-readable storage medium and a computer program product. The present application can decouple the liquid outflow control function from the mechanical actuator control function, realize liquid outflow control through the conveying device, and cooperate with the mechanical actuator to realize the processing operation on the object, which not only reduces the amount of calculation of the automated processing equipment, but also improves the accuracy of the liquid outflow control, which is beneficial to improving the processing efficiency of the object.

[0005] In a first aspect, a liquid outflow control method is provided, which is applied to a conveying device, wherein the conveying device is used to convey an object, and mechanical actuators are distributed around the conveying device, and the conveying device is electrically connected to a liquid valve mechanism, and the liquid valve mechanism is arranged on the mechanical actuator; the liquid outflow control method comprises: in response to a first in-position signal of the mechanical actuator, starting control of the liquid valve mechanism to control the opening time and closing time of the liquid valve mechanism, wherein the first in-position signal is generated when the mechanical actuator starts to perform a trajectory motion related to a processing operation, and the liquid flows out when the liquid valve mechanism is opened; in response to a second in-position signal of the mechanical actuator, stopping control of the liquid valve mechanism, wherein the second in-position signal is generated when the mechanical actuator ends the trajectory motion.

[0006] Based on the above description, it can be known that the embodiment of the present application starts the control of the liquid valve mechanism to control the opening time and closing time of the liquid valve mechanism when the conveying device receives the first in-position signal sent by the mechanical actuator when the trajectory related to the processing operation is started, and stops the control of the liquid valve mechanism when the conveying device receives the second in-position signal sent by the mechanical actuator when the trajectory related to the processing operation is finished. The technical solution decouples the liquid outflow control function from the mechanical actuator control function, and the mechanical actuator is responsible for driving the liquid valve mechanism to move, and the conveying device is responsible for the switch control of the liquid valve mechanism, so that the conveying device and the mechanical actuator work together to complete the processing operation on the object through the liquid outflow control of the conveying device, thereby not only reducing the amount of calculation of the automated processing equipment, effectively improving the operating speed of the mechanical actuator, but also improving the accuracy and flexibility of the liquid outflow control, reducing the impact of the automated processing equipment on the transportation, and thus improving the transportation efficiency of the conveying equipment. Therefore, the solution provided by the embodiment of the present application is conducive to improving the processing efficiency of the object.

[0007] In a second aspect, a dispensing control method is provided, the dispensing control method comprising: in response to a first in-place signal of an automated processing equipment, starting adhesive outflow control of a dispensing device; wherein the dispensing device is arranged on a mechanical actuator of the automated processing equipment, the dispensing device is used to store and output adhesive, and the first in-place signal is generated by the automated processing equipment when the mechanical actuator starts to perform a trajectory motion related to a dispensing operation; in response to a second in-place signal of the automated processing equipment, stopping adhesive outflow control of the dispensing device, wherein the second in-place signal is generated by the automated processing equipment when the mechanical actuator ends the trajectory motion.

[0008] Based on the above description, it can be known that the embodiment of the present application starts the adhesive outflow control of the dispensing device set on the mechanical actuator by responding to the first in-place signal generated by the automated processing equipment when the mechanical actuator starts to perform the trajectory movement related to the dispensing operation, and stops the adhesive outflow control of the dispensing device by responding to the second in-place signal generated by the automated processing equipment when the mechanical actuator ends the trajectory movement related to the dispensing operation. The technical solution decouples the adhesive outflow control function from the mechanical actuator control function. When the mechanical actuator of the automated processing equipment is responsible for driving the dispensing device to move, the dispensing device is subject to the adhesive output control independent of the automated processing equipment, so that the dispensing device and the mechanical actuator are controlled by different control subjects and work together to complete the dispensing operation of the object. This can not only reduce the amount of calculation of the automated processing equipment, effectively improve the operating speed of the mechanical actuator, but also improve the accuracy and flexibility of the adhesive outflow control, reduce the impact of the automated processing equipment on the transportation, and thus improve the transportation efficiency of the object. Therefore, the solution provided by the embodiment of the present application is conducive to improving the efficiency of dispensing operations on objects.

[0009] In a third aspect, a conveying device is provided, the conveying device is used to convey an object, a mechanical actuator is distributed around the conveying device, the conveying device is electrically connected to a liquid valve mechanism, the liquid valve mechanism is arranged on the mechanical actuator, and the conveying device comprises:

[0010] A control device is used to start controlling the liquid valve mechanism in response to a first in-position signal of the mechanical actuator to control the opening time and closing time of the liquid valve mechanism, and to stop controlling the liquid valve mechanism in response to a second in-position signal of the mechanical actuator, wherein the first in-position signal is generated when the mechanical actuator starts trajectory motion, and the liquid flows out when the liquid valve mechanism opens, and the second in-position signal is generated when the mechanical actuator ends the trajectory motion.

[0011] Based on the above description, it can be known that the conveying device provided in the embodiment of the present application realizes the decoupling of the liquid outflow control function from the mechanical actuator control function, the mechanical actuator is responsible for driving the liquid valve mechanism to move, and the conveying device is responsible for the on-off control of the liquid valve mechanism, so that through the liquid outflow control of the conveying device, the conveying device and the mechanical actuator work together to complete the processing operation on the object, thereby not only reducing the amount of calculation of the mechanical actuator and effectively improving the operating speed of the mechanical actuator, but also improving the accuracy and flexibility of the liquid outflow control, reducing the impact of the automated processing equipment on the transportation, and thus improving the transportation efficiency of the conveying equipment. Therefore, the solution provided in the embodiment of the present application is conducive to improving the processing efficiency of the object.

[0012] In a fourth aspect, an automated processing system is provided, the automated processing system comprising: a conveying device, a mechanical actuator and a liquid valve mechanism, the mechanical actuator being distributed around the conveying device, the liquid valve mechanism being arranged on the mechanical actuator, the conveying device being electrically connected to the liquid valve mechanism, the conveying device being used to convey an object, and the liquid flowing out when the liquid valve mechanism is opened;

[0013] The mechanical actuator is used to send a first arrival signal to the conveying device when starting the trajectory movement related to the processing operation, and send a second arrival signal to the conveying device when ending the trajectory movement;

[0014] The conveying device is used to start controlling the liquid valve mechanism to control the opening time and closing time of the liquid valve mechanism when receiving the first in-place signal, and to stop controlling the liquid valve mechanism when receiving the second in-place signal.

[0015] Based on the above description, it can be known that the automated processing system provided by the embodiment of the present application realizes the decoupling of the liquid outflow control function from the mechanical actuator control function, the mechanical actuator is responsible for driving the liquid valve mechanism to move, and the conveying equipment is responsible for the on-off control of the liquid valve mechanism, so that through the liquid outflow control of the conveying equipment, the conveying equipment and the mechanical actuator work together to complete the processing operation on the object, thereby not only reducing the amount of calculation of the automated processing system, effectively improving the operating speed of the mechanical actuator, but also improving the accuracy and flexibility of the liquid outflow control, reducing the impact of the automated processing equipment on the transportation, and thus improving the transportation efficiency of the conveying equipment. Therefore, the solution provided by the embodiment of the present application is conducive to improving the processing efficiency of the object.

[0016] In a fifth aspect, an automated processing system is provided, the automated processing system comprising: a linear motor device, a mechanical actuator and a glue dispensing device, the linear motor device is used to convey an object, the mechanical actuator is distributed around the linear motor device, the glue dispensing device is arranged on the mechanical actuator, and the linear motor device is electrically connected to the glue dispensing device;

[0017] The mechanical actuator is used to send a first in-position signal to the linear motor device when starting to perform the track movement related to the dispensing operation, and send a second in-position signal to the linear motor device when ending the track movement;

[0018] The linear motor device is used to start the adhesive outflow control of the dispensing device when the first in-place signal is received, and to stop the adhesive outflow control of the dispensing device when the second in-place signal is received.

[0019] Based on the above description, it can be known that the automated processing system provided by the embodiment of the present application realizes the decoupling of the adhesive outflow control function and the mechanical actuator control function. When the mechanical actuator is responsible for driving the dispensing device to move, the dispensing device is controlled independently of the adhesive output, so that the dispensing device and the mechanical actuator are controlled by different control entities and work together to complete the dispensing operation on the object. This can not only reduce the amount of calculation of the automated processing system and effectively improve the operating speed of the mechanical actuator, but also improve the accuracy and flexibility of the adhesive outflow control, reduce the impact of the automated processing equipment on the transportation, and thus improve the transportation efficiency of the transportation equipment. Therefore, the solution provided by the embodiment of the present application is conducive to improving the efficiency of dispensing operations on objects.

[0020] In a sixth aspect, an electronic device is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the electronic device executes the method of any possible implementation of the first aspect or the second aspect.

[0021] In a seventh aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute a method in any possible implementation manner of the first aspect or the second aspect.

[0022] In an eighth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes a method in any possible implementation manner of the first aspect or the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic flow chart of a liquid outflow control method provided in an embodiment of the present application is shown;

[0024] Figure 2 A schematic diagram showing the cooperation of a conveying device and a plurality of mechanical actuators to realize a processing operation on an object;

[0025] Figure 3 A schematic diagram of the structure of the conveying equipment is shown;

[0026] Figure 4A schematic flow chart of a dispensing control method provided in an embodiment of the present application is shown;

[0027] Figure 5 A schematic diagram showing the structure of the conveying device and the dispensing device cooperating to perform the dispensing operation;

[0028] Figure 6 A schematic diagram showing the adhesive flowing out of the dispensing device being applied to a paper sheet;

[0029] Figure 7 A schematic diagram of the structure of a linear motor device is shown;

[0030] Figure 8 A schematic diagram showing the arrangement of two types of glue dots is shown;

[0031] Fig. 9 A schematic diagram of the structure of a conveying device provided in an embodiment of the present application is shown;

[0032] Fig.10 An exemplary electrical connection diagram of a conveying device, a mechanical actuator and a liquid valve mechanism is shown;

[0033] Fig.11 Another exemplary electrical connection diagram of a delivery device, a mechanical actuator, and a liquid valve mechanism is shown;

[0034] Fig.12 Another exemplary electrical connection diagram of a delivery device, a mechanical actuator, and a liquid valve mechanism is shown;

[0035] Fig.13 Another exemplary electrical connection diagram of the delivery device, the mechanical actuator and the liquid valve mechanism is shown;

[0036] Fig.14 A schematic diagram showing the assembly of a moving part and a stator assembly in a conveying device is shown;

[0037] Fig.15 A schematic diagram of a moving part in a conveying device is shown;

[0038] Fig.16 An exemplary structural block diagram of an automated processing system provided by an embodiment of the present application is shown;

[0039] Fig.17 A schematic diagram showing the connection between the container and the liquid valve mechanism is shown;

[0040] Fig.18 Another exemplary structural block diagram of an automated processing system provided by an embodiment of the present application is shown;

[0041] Fig.19A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0042] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0043] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0044] In automated production scenarios, there are usually automated processing equipment such as robotic arms and robots, and conveying equipment for conveying objects. The automated processing equipment outputs liquid to the object during the movement of its mechanical actuator, and the outflowing liquid adheres to the surface of the object, realizing a kind of processing on the surface of the object. Mechanical actuators usually have complex mechanical structures, which leads to complex control logic of automated processing equipment. If the trajectory motion control and liquid outflow control of the mechanical actuator are to be realized at the same time, the amount of calculation of the automated processing equipment will increase sharply, resulting in a decrease in the execution efficiency of the automated processing equipment. Specifically, problems such as slow operation of the mechanical actuator and jamming of the liquid outflow affect the transportation efficiency of the conveying equipment. Therefore, the processing operation of outputting liquid to the surface of an object has a low processing efficiency.

[0045] Based on the above problems, the embodiments of the present application provide a liquid outflow control method, a dispensing control method, a conveying device, an automated processing system, an electronic device, a computer-readable storage medium and a computer program product. The embodiments of the present application can decouple the liquid outflow control function from the mechanical actuator control function, realize liquid outflow control through the conveying device, and cooperate with the mechanical actuator to realize the processing operation on the object, which is conducive to improving the processing efficiency of the object.

[0046] A liquid outflow control method provided in an embodiment of the present application is first described in detail below.

[0047] Figure 1A schematic flow chart of a liquid outflow control method provided in an embodiment of the present application is shown. The liquid outflow control method provided in an embodiment of the present application can be applied to a conveying device, the conveying device is used to convey objects, a mechanical actuator is distributed around the conveying device, the conveying device is electrically connected to a liquid valve mechanism, and the liquid valve mechanism is arranged on the mechanical actuator. Figure 1 , the liquid outflow control method may include the following steps:

[0048] S110: In response to the first in-position signal of the mechanical actuator, start controlling the liquid valve mechanism to control the opening time and closing time of the liquid valve mechanism.

[0049] In an exemplary embodiment, when the mechanical actuator performs a trajectory motion related to the processing operation, since the liquid valve mechanism is arranged on the mechanical actuator, the mechanical actuator drives the liquid valve mechanism to move, so that the trajectory of the liquid valve mechanism is also related to the processing operation. By configuring the relevant parameters of the conveying device and the relevant parameters of the mechanical actuator, it can be ensured that when the liquid valve mechanism is opened, the liquid valve mechanism has a corresponding object and can output liquid to the object.

[0050] When the mechanical actuator starts to execute the trajectory movement related to the processing operation, a first in-place signal is generated and sent to the conveying device. The conveying device can determine that the mechanical actuator starts to execute the trajectory movement related to the processing operation based on the first in-place signal, that is, it can determine that the processing operation for an object has started, so after receiving the first in-place signal, the conveying device starts to control the liquid valve mechanism to control the opening time and closing time of the liquid valve mechanism.

[0051] It is understandable that the timing when the mechanical actuator starts to perform the trajectory movement related to the processing operation and the conveying device controls the liquid valve mechanism to open are not necessarily synchronized, that is, the conveying device may control the liquid valve mechanism to open at the same time as receiving the first arrival signal, or it may control the liquid valve mechanism to open after waiting for a period of time after receiving the first arrival signal. In addition, the specific opening time and closing time of the liquid valve mechanism can be determined according to the interaction mode between the mechanical actuator and the conveying device, and the type of processing operation.

[0052] Optionally, when the liquid valve mechanism faces an object, its opening and closing times are related to the number of times the object is processed. For example, if the number of times an object is processed is N times, the opening and closing times of the liquid valve mechanism can be N times respectively, where N is a positive integer.

[0053] Optionally, when an object is processed once, the opening time and closing time can determine the opening time of the liquid valve mechanism for a single object. Specifically, the liquid valve mechanism is controlled to open at a specified opening time so that the liquid flows out, and the liquid valve mechanism is controlled to close at a specified closing time so that the liquid stops flowing out, and the opening time can be obtained according to the time interval from opening to closing.

[0054] Optionally, when an object is processed multiple times, the opening time and closing time can determine the opening time and closing time of the liquid valve mechanism for a single object. Specifically, the liquid valve mechanism is controlled to open at a specified opening time so that the liquid flows out, and the liquid valve mechanism is controlled to close at a specified closing time so that the liquid stops flowing out. This is performed multiple times in sequence, and the opening time can be obtained according to the time interval from opening to closing, and the closing time can be obtained according to the time interval from closing to opening.

[0055] In the case where the liquid valve mechanism needs to be opened and closed multiple times in front of an object, the first time threshold and the second time threshold can be set based on the target switching frequency, and timing is performed after controlling the liquid valve mechanism to open, and the liquid valve mechanism is controlled to close when the first time threshold is reached. Also, timing is performed after controlling the liquid valve mechanism to close, and the liquid valve mechanism is controlled to open when the second time threshold is reached. In this way, the opening and closing of the liquid valve mechanism are controlled multiple times, so that the opening duration and closing duration of the liquid valve mechanism match the target switching frequency.

[0056] It should be noted that the first in-place signal is used to instruct the conveying device to start controlling the liquid valve mechanism, which does not necessarily mean that the conveying device will control the liquid valve mechanism to open at the same time as receiving the first in-place signal, that is, the conveying device may control the liquid valve mechanism to open at the same time or after starting the control of the liquid valve mechanism. For example, when the conveying device receives the first in-place signal, the conveying device starts controlling the liquid valve mechanism and controls the liquid valve mechanism to open. For another example, when the conveying device receives the first in-place signal, the conveying device starts controlling the liquid valve mechanism and controls the liquid valve mechanism to open after waiting for a certain period of time. The embodiments of the present application do not impose specific limitations on this.

[0057] S120: In response to the second in-position signal of the mechanical actuator, stop controlling the liquid valve mechanism.

[0058] When the mechanical actuator ends the trajectory motion related to the processing operation, a second in-place signal is generated and sent to the conveying device. The conveying device can determine that the mechanical actuator ends the trajectory motion related to the processing operation based on the second in-place signal, that is, it can determine that the processing operation for an object is over, so that after receiving the second in-place signal, the control of the liquid valve mechanism is stopped. It should be noted that the second in-place signal is used to instruct the conveying device to stop controlling the liquid valve mechanism, which does not necessarily mean that the conveying device will control the liquid valve mechanism to close when receiving the second in-place signal, that is, the conveying device may control the liquid valve mechanism to close before or at the same time as stopping the control of the liquid valve mechanism. For example, when the conveying device receives the second in-place signal, if the liquid valve mechanism is in an open state, the conveying device may stop controlling the liquid valve mechanism after controlling the liquid valve mechanism to close. For another example, when the conveying device receives the second in-place signal, the conveying device has controlled the liquid valve mechanism to close, and at this time the conveying device stops controlling the liquid valve mechanism in response to the second in-place signal. The embodiment of the present application does not specifically limit whether there is a sequential relationship between the second in-place signal and whether the conveying device controls the liquid valve mechanism.

[0059] The embodiment of the present application adopts a technical solution that when the conveying device receives the first arrival signal sent by the mechanical actuator when it starts to execute the trajectory related to the processing operation, the control of the liquid valve mechanism is started to control the opening time and closing time of the liquid valve mechanism, and when the conveying device receives the second arrival signal sent by the mechanical actuator when it ends to execute the trajectory related to the processing operation, the control of the liquid valve mechanism is stopped, and the liquid outflow control function is decoupled from the mechanical actuator control function, and the mechanical actuator is responsible for driving the liquid valve mechanism to move, and the conveying device is responsible for the on-off control of the liquid valve mechanism, so that the conveying device and the mechanical actuator work together to complete the processing operation on the object through the liquid outflow control of the conveying device, thereby not only reducing the amount of calculation of the automated processing equipment and effectively improving the operating speed of the mechanical actuator, but also improving the accuracy and flexibility of the liquid outflow control, reducing the impact of the automated processing equipment on the transportation, and thus improving the transportation efficiency of the conveying equipment. Therefore, the solution provided by the embodiment of the present application is conducive to improving the processing efficiency of the object.

[0060] The embodiment of the present application decouples the liquid outflow control function from the mechanical actuator control function. The outflow frequency of the liquid is controlled by the conveying equipment and is not limited by the computing power of the automated processing equipment. This means that even if the computing power of the automated processing equipment is limited, if the conveying equipment has sufficient computing power, a higher frequency of liquid output can be achieved, thereby making the liquid output method more selective and more flexible. Among them, the outflow frequency of the liquid can be understood as the number of times the liquid valve mechanism outputs liquid per unit time.

[0061] It is understandable that the liquid outflow method provided in the embodiment of the present application can be applied to different processing scenarios, for example, it can be applied to at least one of the coating scenarios (such as dispensing scenarios, parts lubrication scenarios, coloring scenarios, etc.), maintenance scenarios (such as vegetation irrigation scenarios, object cleaning scenarios, etc.), food processing scenarios (such as liquid filling scenarios, food production scenarios, etc.), and daily chemical processing scenarios. The specific type of liquid can be determined according to the specific application scenario. For example, the liquid can be at least one of adhesives, lubricants, colorants, water, nutrient solutions, and liquid materials (such as beverages, sauces, detergents, etc.). In addition, the specific type of the object can be determined according to the specific processing requirements. The object transported by the conveying equipment can be a sheet object (such as paper, wood, tiles, cloth, etc.), parts, plants, bottles (such as glass bottles, plastic bottles, metal cans, etc.), food, etc. In order to facilitate understanding and implementation, several application scenarios are listed below for schematic description.

[0062] For food processing scenarios, the liquid may be a beverage, and the object conveyed by the conveying device may be a glass bottle. For each glass bottle, a beverage filling operation needs to be performed. When the conveying device receives the first arrival signal, the control of the liquid valve mechanism is started. When the conveying device controls the liquid valve mechanism to open, the beverage flows into the glass bottle, and when the liquid valve mechanism is controlled to close, the beverage no longer flows into the glass bottle. When the conveying device receives the second arrival signal, the control of the liquid valve mechanism is stopped, and the beverage filling operation of the glass bottle is ended, thereby completing the beverage filling of a glass bottle. By analogy, beverage filling of each glass bottle can be achieved.

[0063] For the dispensing scenario, the liquid can be an adhesive, and the object conveyed by the conveying device can be a piece of paper. For each piece of paper, multiple dispensing operations are required. When the conveying device receives the first arrival signal, the control of the liquid valve mechanism is started. When the conveying device controls the liquid valve mechanism to open, the adhesive flows out to the surface of the object, and when the conveying device controls the liquid valve mechanism to close, the adhesive stops flowing out. The conveying device controls the liquid valve mechanism to open and close multiple times, so as to attach the adhesive to different positions on the surface of the object. When the conveying device receives the second arrival signal, the conveying device controls the liquid valve mechanism to close and stops controlling the liquid valve mechanism. The dispensing operation of the object ends, thereby completing the dispensing of a piece of paper. By analogy, the dispensing of each piece of paper can be achieved.

[0064] In practical applications, the number of mechanical actuators is related to specific application scenarios and processing operation types, and the number of mechanical actuators can be one or more.

[0065] For example, Figure 2 As shown, Figure 2 A schematic diagram showing the cooperation of a conveying device and a plurality of mechanical actuators to implement processing operations on an object. Figure 2 The conveying device 101 is used to convey objects (such as Figure 2 The arrow direction schematically indicates the conveying direction of the conveying device 101. A plurality of mechanical actuators ( Figure 2 Only two mechanical actuators distributed in sequence along the conveying direction are schematically shown, namely, mechanical actuator 1021 and mechanical actuator 1031).

[0066] It should be noted that, for ease of understanding and explanation, the drawings of the embodiments of the present application only schematically illustrate the parts of automated processing equipment such as manipulators and robots that are used to perform processing operations, namely, mechanical actuators. In actual applications, the automated processing equipment may also include other components, such as a base, a power supply device, etc. The present application does not limit the specific structure of the automated processing equipment.

[0067] Continue to refer Figure 2 Taking the mechanical actuator 1021 as an example, the mechanical actuator 1021 is a part of the automated processing equipment 102 for performing processing operations. The mechanical actuator 1021 is fixedly connected to the liquid valve mechanism 1022. When the mechanical actuator 1021 performs trajectory motion, the mechanical actuator 1021 can drive the liquid valve mechanism 1022 to move. The conveying device 101 is electrically connected to the liquid valve mechanism 1022 ( Figure 2The conveying device 101 can be used to control the opening and closing of the liquid valve mechanism 1022, so as to realize the outflow control of the liquid 1023. Specifically, when the conveying device 101 controls the liquid valve mechanism 1022 to open, the liquid 1023 flows out, and when the conveying device 101 controls the liquid valve mechanism 1022 to close, the liquid 1023 stops flowing out. In addition, the conveying device 101 also establishes an electrical connection with the mechanical actuator 1021, and there can be a one-way signal receiving and sending relationship or a two-way signal receiving and sending relationship between the conveying device 101 and the mechanical actuator 1021.

[0068] When the conveying device 101 conveys the object 1041 to the mechanical actuator 1021, the mechanical actuator 1021 starts to perform the trajectory motion related to the processing operation and generates a first in-place signal. In response to the first in-place signal, the conveying device 101 starts to control the liquid valve mechanism 1021 to control the opening time and closing time of the liquid valve mechanism 1022. When the mechanical actuator 1021 finishes performing the trajectory motion related to the processing operation, a second in-place signal is generated, and the conveying device 101 stops controlling the liquid valve mechanism 1022 in response to the second in-place signal. The specific control process of the liquid valve mechanism 1022 by the conveying device 101 can be referred to the description of the relevant parts above, which will not be repeated here. After the mechanical actuator 1021 and the conveying device 101 cooperate to complete the processing operation of the object 1041, the conveying device 101 conveys the object 1041 to the mechanical actuator 1031, and cooperates with the mechanical actuator 1031 to perform the processing operation. It is understandable that the mechanical connection relationship, electrical connection relationship, and specific cooperation process with the conveying device 101 related to the mechanical actuator 1031 can be referred to the partial description of the mechanical actuator 1021 and will not be repeated here.

[0069] In one possible implementation, Figure 3 As shown, Figure 3 The transport device 101 may include at least one moving part (such as Figure 3 Two moving parts 101-1 and 101-2) and a conveyor track ( Figure 3 The conveying track includes at least one track component (such as Figure 3 4 track assemblies 102-1 to 102-4 are shown, and both the moving parts 101-1 and 101-2 can be used to load objects (such as Figure 3It is shown that the moving part 101-1 is loaded with object 1041, and the moving part 101-2 is loaded with object 1042), and the moving parts 101-1 and 101-2 can at least move along the track components 102-1 to 102-4. It should be noted that the shape formed by the extension of the track component along the conveying direction can be a straight line, an arc or a geometric shape formed by a combination of the two. In addition, the shape formed by the extension of multiple track components along the conveying direction can be a closed shape (such as a circle, a runway shape, a square circle, etc.), or an open shape (such as a straight line, a C shape, an S shape, a U shape, etc.). For ease of understanding, the examples disclosed in this application are all described by a conveying track including a track component in a straight line shape, and the conveying track with a track component of other shapes can be obtained by analogy with the examples disclosed in this application.

[0070] In an optional embodiment, the liquid outflow control method provided in the embodiment of the present application may further include at least one of the following steps:

[0071] S130: When it is determined that the target component exists, a motion start control instruction is sent to the mechanical actuator.

[0072] When the mechanical actuator drives the liquid valve mechanism to move, if the trajectory of the liquid valve mechanism is projected onto the conveying track, at least part of the projection overlaps with the conveying track. When the moving part reaches the area where the projection of the conveying track and the liquid valve mechanism overlap, the conveying device can control the opening and closing of the liquid valve mechanism to allow the liquid to flow out to the surface of the object.

[0073] During the movement of the moving part, the conveying device can determine whether to send a motion start control instruction to the mechanical actuator according to the result of the determination of whether the target part exists. The target part is the detected moving part corresponding to the mechanical actuator. For example, the target part can be a moving part whose distance from the mechanical actuator along the transport direction meets a preset distance threshold. For another example, the target part can be a moving part that reaches the overlapping area of ​​the projection of the conveying track and the liquid valve mechanism.

[0074] Before the conveyor determines that the target part exists, the mechanical actuator may wait at the starting position of the trajectory related to the processing operation. The motion start control instruction sent by the conveyor to the mechanical actuator may instruct the mechanical actuator to start. After the mechanical actuator starts, it moves along the trajectory related to the processing operation.

[0075] Therefore, compared with the response delay caused by the mechanical actuator with more complex control logic judging the start time of the movement by itself, starting control of the mechanical actuator by the conveying device can reduce the operation pressure of the mechanical actuator and improve the starting efficiency of the mechanical actuator. In addition, when the mechanical actuator needs a certain time to start, the mechanical actuator can be instructed to start in advance through the distance threshold, so that when the mechanical actuator completes the start, the target component reaches the overlapping area of ​​the projection of the conveying track and the liquid valve mechanism, and can cooperate with the mechanical actuator to process the object; or, because the moving component is an independently controlled component, when the moving component reaches the overlapping area of ​​the projection of the conveying track and the liquid valve mechanism and serves as the target component, the movement of the moving component is controlled to wait for the liquid valve mechanism to complete the start.

[0076] S140: When the arrival of a moving component is detected, the real-time position information of the moving component is sent to the mechanical actuator for use by the mechanical actuator when performing trajectory movement.

[0077] The conveying device can obtain the real-time position information of each moving part, and according to the real-time position information of the moving part, it can be detected whether there is a moving part that has arrived. Among them, the detection method can be set according to the actual situation. For example, according to the real-time position information of the moving part, when the moving part reaches the preset position point, it can be determined that the moving part has arrived. It can be understood that the position point is a virtual point distributed along the conveying track and set by the software program, and the specific setting of the position point is related to the mechanical actuator. Specifically, the position point can be set before the movement starting position of the mechanical actuator, or the position point can also correspond to the movement starting position of the mechanical actuator, or the position point can be set according to the preset distance threshold. For another example, according to the real-time position information of the moving part, when it is determined that the moving part has arrived at the overlapping area of ​​the projection of the conveying track and the liquid valve mechanism, it is determined that the moving part has arrived. Sending the real-time position information of the moving part to the mechanical actuator can enable the mechanical actuator to grasp the real-time movement of the moving part, so that according to the real-time position information of the moving part, it moves to the trajectory point corresponding to the moving part, so that the movement between the mechanical actuator and the moving part matches, and the reliability and accuracy of the trajectory movement of the mechanical actuator are improved.

[0078] It is understandable that when the method provided in the embodiment of the present application includes steps S130 and S140, steps S130 and S140 can be executed synchronously or sequentially. For example, when the arrival detection of the mobile component is irrelevant to the target component judgment (specifically, when the preset position point and the preset distance threshold or the projection overlap area are irrelevant), when the arrival of the mobile component is detected, the real-time position information of the mobile component is sent to the mechanical actuator, and when the arriving mobile component is determined as the target component, a motion start control instruction is sent to the mechanical actuator; or, when the existence of the target component is determined, a motion start control instruction is sent to the mechanical actuator, and when the arrival of the mobile component as the target component is detected, the real-time position information of the mobile component is sent to the mechanical actuator. For another example, when the arrival detection of the mobile component is related to the target component judgment, the real-time position information of the mobile component received by the mechanical actuator is the real-time position information of the target component.

[0079] In a possible implementation, the liquid outflow control method further includes at least one of the following steps:

[0080] S150: Controlling the liquid valve mechanism in response to the opening control instruction or the closing control instruction sent by the mechanical actuator.

[0081] For S150, after the conveying device responds to the first arrival signal of the mechanical actuator and starts controlling the liquid valve mechanism, the liquid valve mechanism may not need to be opened at the same time. Based on this, the mechanical actuator can determine whether the liquid valve mechanism needs to be opened or closed accordingly according to the trajectory configured by itself, and the conveying device determines whether to control the liquid valve mechanism to open or close according to the opening control instruction or closing control instruction sent by the mechanical actuator, thereby achieving precise control of liquid outflow and liquid stopping, which is beneficial to avoid waste of liquid.

[0082] For example, when the mechanical actuator moves to a position along the trajectory and determines that the liquid valve mechanism needs to be opened, an opening control instruction can be generated and sent to the conveying device. The conveying device responds to the opening control instruction and controls the liquid valve mechanism to open; when the mechanical actuator moves to another position along the trajectory and determines that the liquid valve mechanism needs to be closed, a closing control instruction can be generated and sent to the conveying device. The conveying device responds to the closing control instruction and controls the liquid valve mechanism to close.

[0083] For another example, when the mechanical actuator moves to a position along the trajectory and determines that the liquid valve mechanism needs to be opened, an opening control instruction may be generated and sent to the conveying device. The conveying device determines whether to respond based on the opening control instruction and the real-time position information of the moving part, and controls the liquid valve mechanism to open after determining that it responds to the opening control instruction; when the mechanical actuator moves to another position along the trajectory and determines that the liquid valve mechanism needs to be closed, a closing control instruction may be generated and sent to the conveying device. The conveying device determines whether to respond based on the closing control instruction and the real-time position information of the moving part, and controls the liquid valve mechanism to close after determining that it responds to the closing control instruction.

[0084] S160: Controlling the liquid valve mechanism based on the position information of the mechanical actuator.

[0085] For S160, the conveying device can determine the opening and closing timing of the liquid valve mechanism according to the position information of the mechanical actuator, wherein the position information of the mechanical actuator can be detected by the conveying device or sent to the conveying device by the mechanical actuator. The conveying device can verify whether the position of the mechanical actuator is suitable for outputting liquid to the target component based on the position information of the mechanical actuator, and control the liquid valve mechanism to open when it is determined to be suitable for outputting liquid to the target component, and control the liquid valve mechanism to close when it is determined not to be suitable for outputting liquid to the target component, thereby achieving precise control of liquid outflow and liquid stop outflow, which is conducive to avoiding waste of liquid.

[0086] For food processing scenarios, the liquid is a beverage, and the object conveyed by the conveying device is a glass bottle. For example, the conveying device receives an opening control instruction sent by the mechanical actuator, and determines that the beverage can be accurately injected into the glass bottle after the liquid valve mechanism is opened, so the liquid valve mechanism is controlled to open. When the conveying device controls the liquid valve mechanism to open, if it receives a closing control instruction sent by the mechanical actuator, the liquid valve mechanism is controlled to close. For another example, the conveying device determines that the beverage can be accurately injected into the glass bottle after the liquid valve mechanism is opened by detecting the position information of the mechanical actuator, so the liquid valve mechanism is controlled to open. When the liquid valve mechanism is opened, the conveying device continues to determine whether the beverage can be accurately injected into the glass bottle by detecting the position information of the mechanical actuator. If not, the liquid valve mechanism is controlled to close, thereby avoiding waste of beverages.

[0087] For the dispensing scenario, the liquid is an adhesive, and the object conveyed by the conveying device is a wooden board. For example, the conveying device receives an opening control instruction sent by a mechanical actuator, and determines that after the control liquid valve mechanism is opened, the adhesive can accurately fall on a specific area on the surface of the wooden board, then the liquid valve mechanism is controlled to open. When the conveying device controls the liquid valve mechanism to open, if it receives a closing control instruction sent by the mechanical actuator, the liquid valve mechanism is controlled to close. For another example, the conveying device determines that after the control liquid valve mechanism is opened, the adhesive can accurately fall on a specific area on the surface of the wooden board through the position information of the detected mechanical actuator, then the liquid valve mechanism is controlled to open. When the control liquid valve mechanism is opened, the conveying device continues to determine whether the adhesive can accurately fall on a specific area on the surface of the wooden board through the position information of the detected mechanical actuator. If not, the liquid valve mechanism is controlled to close, which can prevent the adhesive from being applied to other areas and causing unqualified processing of the wooden board.

[0088] It can be understood that when the method provided in the embodiment of the present application includes step S150 and step S160, step S150 and step S160 can be executed synchronously or sequentially, so as to realize the decision of whether to control the liquid valve mechanism to open by combining the position information of the mechanical actuator and the control instruction sent by the mechanical actuator, which can not only further improve the accuracy of liquid outflow and liquid outflow stop control, but also improve the reliability of liquid valve mechanism control.

[0089] In the case where step S150 and step S160 are executed synchronously, the conveying device verifies that the position of the mechanical actuator is suitable for outputting liquid to the target component based on the position information of the mechanical actuator, and receives the opening control instruction sent by the mechanical actuator, indicating that the conveying device and the mechanical actuator both believe that the opening time of the liquid valve mechanism is met, and then controls the liquid valve mechanism to open. In the case where the conveying device controls the liquid valve mechanism to open, the conveying device continues to verify whether the position of the mechanical actuator is suitable for outputting liquid to the target component based on the position information of the mechanical actuator, and verifies that the position of the mechanical actuator is not suitable for outputting liquid to the target component, and receives the closing control instruction sent by the mechanical actuator, indicating that the conveying device and the mechanical actuator both believe that the closing time of the liquid valve mechanism is met, and then controls the liquid valve mechanism to close.

[0090] In the case where step S150 and step S160 are executed in sequence, step S160 may be executed before step S150, or step S150 may be executed before step S160. For example, step S160 is executed before step S150, and the conveying device waits for the opening control instruction sent by the mechanical actuator after verifying that the position of the mechanical actuator is suitable for outputting liquid to the target component based on the position information of the mechanical actuator. If the opening control instruction sent by the mechanical actuator is received, it means that the conveying device and the mechanical actuator have successively determined that the opening timing of the liquid valve mechanism is in accordance with the liquid valve mechanism, and the liquid valve mechanism is controlled to open. When the conveying device controls the liquid valve mechanism to open, the conveying device continues to verify whether the position of the mechanical actuator is suitable for outputting liquid to the target component based on the position information of the mechanical actuator. When verifying that the position of the mechanical actuator is not suitable for outputting liquid to the target component, the conveying device waits for the closing control instruction sent by the mechanical actuator. If the closing control instruction sent by the mechanical actuator is received, it means that the conveying device and the mechanical actuator have successively determined that the opening timing of the liquid valve mechanism is in accordance with the liquid valve mechanism, and the liquid valve mechanism is controlled to close.

[0091] In a possible implementation, before starting the control of the liquid valve mechanism in response to the first arrival signal of the mechanical actuator, the liquid outflow control method further includes the following steps:

[0092] S170: Based on the flow rate of the liquid and the single output requirement of the liquid, determine the single opening time and the single closing time of the liquid valve mechanism.

[0093] The single opening time of the liquid valve mechanism refers to the time when the liquid valve mechanism starts to perform the opening action each time it is controlled, and the single closing time refers to the time when the liquid valve mechanism starts to perform the closing action each time it is controlled. The flow rate of the liquid and the single output requirement of the liquid are determined according to the actual processing requirements. The single output requirement of the liquid can be understood as the amount of liquid output from each opening of the liquid valve mechanism to the closing of the liquid valve mechanism, that is, the volume of liquid flowing out at a time. The flow rate of the liquid is expressed as S, and the unit is, for example, mL / s, L / s, etc. The liquid volume is expressed as V, and the unit is, for example, mL, L, etc.

[0094] The outflow time T of the liquid during a single opening and closing of the liquid valve mechanism can be calculated by S and V. x , that is, T x =V / S. For example, the single opening time is T 开 , the single closing time is T 关 , then, T 关 =T 开+ T x .

[0095] The interval time from closing the liquid valve machine to opening the liquid valve machine is related to at least one of the moving speed of the mechanical actuator, the moving speed of the moving part, and the liquid distribution requirement (such as the liquid distribution interval). Assume that the interval time from closing the liquid valve machine to opening the liquid valve machine is T y , the calculation process of the opening time and closing time corresponding to two consecutive opening and closing of the liquid valve mechanism is as follows:

[0096] Regarding the first opening and closing of the liquid valve mechanism: For example, the first opening time is T1 开 , the first closing time is T1 关 , T1 关 =T1 开 +T x .

[0097] Regarding the second opening and closing of the liquid valve machine: For example, the second opening time is T2 开 , the second closing time is T2 关 , T2 开 =T1 关 +T y , T2 关 =T2 开 +T x .

[0098] Based on the flow rate of the liquid and the single output requirement of the liquid, the single opening time and the single closing time of the liquid valve mechanism can be calculated in advance, which is conducive to improving the accuracy of the opening and closing control of the liquid valve mechanism each time.

[0099] In a possible implementation, the mechanical actuator has at least two movement directions, and at least the two movement directions intersect each other. After starting the control of the liquid valve mechanism, the liquid outflow control method provided in the embodiment of the present application may further include the following steps:

[0100] S180: Control the target component to move, and the moving direction of the target component is parallel to one of the movement directions of the mechanical actuator. Specifically, the conveying direction of the part of the conveying device that cooperates with the mechanical actuator can be set to be parallel to one of the movement directions of the mechanical actuator, that is, the part of the track component in the conveying device that cooperates with the mechanical actuator is deployed along one of the movement directions of the mechanical actuator, so that the moving direction of the target component is parallel to one of the movement directions of the mechanical actuator. By controlling the movement of the target component, the movement of the mechanical actuator in the movement direction can be replaced, the control difficulty of the mechanical actuator is reduced, the movement efficiency of the mechanical actuator is improved, and the liquid valve mechanism can reach the position of outputting the liquid faster, thereby improving the object processing efficiency and processing accuracy.

[0101] For example, the at least two movement directions of the mechanical actuator may include the X-axis movement direction, the Y-axis movement direction, and the Z-axis movement direction in the spatial coordinate system. When the mechanical actuator moves, it will move based on at least one of the X-axis movement direction, the Y-axis movement direction, and the Z-axis movement direction, resulting in a more complex motion control logic for the mechanical actuator. If the moving direction of the target component is parallel to the Y-axis movement direction of the mechanical actuator, the movement of the target component in the Y-axis movement direction can be controlled to replace the movement of the mechanical actuator in the Y-axis. The mechanical actuator can drive the liquid valve mechanism to move in at least one of the X-axis movement direction and the Z-axis movement direction, thereby reducing the control difficulty of the mechanical actuator, improving the motion efficiency of the mechanical actuator, and enabling the liquid valve mechanism to reach the position of outputting the liquid faster, wherein the moving direction of the target component can be along the positive direction or negative direction of the Y-axis.

[0102] It can be understood that the above-mentioned scheme of coordinated movement of the target component and the liquid valve mechanism can simplify the control of the mechanical actuator, and can be applicable to output liquid to different areas on the surface of the object transported by the conveying device, such as applying adhesive to different areas on the surface of the object transported by the conveying device.

[0103] In a possible implementation, after starting the control of the liquid valve mechanism, the liquid outflow control method further includes the following steps:

[0104] S1701: Based on the movement control information, the target component is controlled to move.

[0105] The specific process of controlling the movement of the target component in S170 is as follows: controlling the movement of the target component according to the movement control information, and the movement control information may include a movement speed control parameter. The movement speed control parameter is used to control the movement speed of the target component, and the movement speed control parameter may include at least one of the expected movement speed and the maximum movement speed, and the movement speed control parameter may further include at least one of the expected acceleration, the expected deceleration, the maximum acceleration, the maximum deceleration, the expected jerk, the expected deceleration, the maximum jerk, the maximum deceleration, etc. The movement speed control parameter is related to the outflow requirements of the liquid, the movement speed of the mechanical actuator, the opening time of the liquid valve mechanism, and the closing time of the liquid valve mechanism. After determining the outflow requirements of the liquid, the movement speed of the mechanical actuator, the opening time of the liquid valve mechanism, and the closing time of the liquid valve mechanism, the movement speed control parameter of the corresponding target component can be set, so as to accurately control the movement of the target component and meet the processing requirements.

[0106] In addition, the movement control information may also include at least one of a movement direction parameter and a movement position parameter. The movement direction parameter is used to indicate the movement direction of the target component, and the movement position parameter is used to indicate the various positions that the target component is to reach during the processing of the object, so that the target component can move in coordination with the movement of the liquid valve mechanism.

[0107] In a possible implementation, before the target component is controlled to move based on the movement control information, the liquid outflow control method further includes the following steps:

[0108] S190: Based on the initial control information, the target component is controlled to move so as to perform joint debugging with the mechanical actuator, and the initial control information is modified according to the debugging result until the debugging result meets the outflow requirement of the outflowing liquid.

[0109] The initial control information may include an initial speed control parameter, which is used to control the moving speed of the target component when debugging the conveying device. The initial speed control parameter includes at least one of a plurality of different initial moving speeds, and the initial speed control parameter may further include at least one of initial acceleration, initial deceleration, initial jerk, deceleration, etc. The initial speed control parameter is determined based on the conveying beat, and the conveying beat can be understood as the conveying time spent by the conveying device in processing an object. The initial control information may also include at least one of an initial moving direction parameter and an initial moving position parameter, the initial moving direction parameter is used to indicate the moving direction of the target component when debugging the conveying device, and the initial moving position parameter indicates the various positions to be reached by the target component when debugging the conveying device, so that the target component can move in coordination with the movement of the liquid valve mechanism; wherein the moving direction of the target component and the various positions to be reached by the target component may also be determined according to the trajectory of the mechanical actuator.

[0110] In actual processing, there are various processing requirements for objects. Even objects of the same type may have different processing requirements, which leads to different movement control of moving parts by the conveying equipment. Therefore, different processing requirements may cause the conveying equipment to be unable to control the moving parts through fixed movement control information. Before the conveying equipment is officially put into operation, the movement control information used for the movement control of the target parts needs to be debugged.

[0111] Specifically, the target component is controlled to move and the mechanical actuator is controlled to move through the initial control information, so that the target component and the mechanical actuator are jointly debugged to obtain a debugging result. The debugging result includes the amount of liquid output to the object carried by the target component and the liquid distribution during the debugging period. If the debugging result does not meet the liquid outflow requirement, the initial control information is modified, and the target component is controlled to move and the mechanical actuator is controlled to move through the modified initial control information until the debugging result meets the liquid outflow requirement. The debugging is stopped, and the modified initial control information corresponding to the time when the debugging is stopped is used as the movement control information for controlling the movement of the target component during subsequent processing.

[0112] For example, the liquid is adhesive and the object is a wooden board. The outflow requirements of the outflowing liquid set by the user include the reference outflow of the adhesive when the liquid valve mechanism is opened and closed once and the reference distribution of the adhesive dots on the surface of the wooden board (such as the size, density, thickness, etc. of the glue dots). Before applying adhesive dots to each wooden board, the target component is controlled to move by the initial control information and the mechanical actuator is controlled to move, so that the target component and the mechanical actuator are jointly debugged to obtain a debugging result. The debugging result includes the debugging outflow of the adhesive and the debugging distribution of the adhesive dots on the surface of the wooden board. If the debugging outflow does not reach the reference outflow and / or the debugging distribution does not reach the debugging distribution, the initial control information is modified, and the target component is continued to be controlled to move by the modified initial control information, and the mechanical actuator is continued to be controlled to move until the debugging outflow in the debugging result reaches the reference outflow and the debugging distribution reaches the debugging distribution, then the debugging is stopped, and the modified initial control information corresponding to the stopping of the debugging is used as the movement control information for controlling the movement of the target component.

[0113] Based on the above technical solution, before processing an object, the movement control information of the moving parts that meets the user's requirements for object processing can be debugged, thereby improving the qualified rate of object processing and reducing the processing scrap cost.

[0114] The following is a detailed description of a dispensing control method provided in an embodiment of the present application.

[0115] Figure 4 A schematic flow chart of a dispensing control method provided in an embodiment of the present application is shown, as Figure 4 As shown, the execution subject of the dispensing control method provided in the embodiment of the present application is a conveying device, which is used to convey objects. The conveying device cooperates with the dispensing device to realize the dispensing operation for the objects conveyed by the conveying device.

[0116] Mechanical actuators of the automated processing equipment are distributed around the conveying equipment. The automated processing equipment is used to control the mechanical actuators. The mechanical actuators include at least one. Figure 5 As shown, Figure 5 The schematic diagram shows the structure of the conveying equipment and the dispensing device cooperating to perform the dispensing operation. Figure 5 Take a mechanical actuator as an example for explanation. Mechanical actuators 212 of automated processing equipment are distributed around the conveying device 210. A dispensing device 213 is provided on the mechanical actuator 212. The dispensing device 213 is used to store and output adhesive. The mechanical actuator 212 can drive the dispensing device 213 provided on the mechanical actuator 212 to move. The adhesive 215 output by the dispensing device 213 can be applied to the object 214 conveyed by the conveying device 210, so as to implement the dispensing operation on the object 214.

[0117] The above dispensing control method includes the following schemes:

[0118] S210: In response to a first arrival signal of a mechanical actuator of the automated processing equipment, start adhesive outflow control of the dispensing device.

[0119] In an exemplary embodiment, the first in-position signal is generated by the automated processing equipment when controlling the mechanical actuator to start executing the trajectory motion related to the dispensing operation. The trajectory motion related to the dispensing operation can also be understood as the trajectory of the mechanical actuator driving the dispensing device to move.

[0120] When the automated processing equipment controls the mechanical actuator to start moving along the trajectory related to the dispensing operation, it sends a first in-place signal to the conveying equipment, and the first in-place signal is used to indicate that the conveying equipment can control the dispensing device. After receiving the first in-place signal, the conveying equipment starts to control the adhesive outflow of the dispensing device, that is, to control when the adhesive stored in the dispensing device flows out and when it stops flowing out. Among them, when the mechanical actuator moves along the trajectory related to the dispensing operation, it drives the dispensing device to move, and when the dispensing device is controlled to be opened, the adhesive flows out, and when the dispensing device is controlled to be closed, the adhesive stops flowing out. Optionally, after the dispensing device is controlled to be opened, the adhesive flows out, and the opening time is started to be counted. When the opening time reaches the first time, the dispensing device is controlled to be closed, the adhesive stops flowing out, and the closing time is started to be counted. When the closing time reaches the second time, the dispensing device is controlled to be opened, and the opening and closing of the dispensing device are repeatedly controlled in sequence.

[0121] For example, the object conveyed by the conveying device is a piece of paper, and the conveying device repeatedly controls the opening and closing of the glue dispensing device in the above manner, and the adhesive flowing out of the glue dispensing device is applied to the paper. Figure 6 As shown, Figure 6 A schematic diagram showing the adhesive flowing out of the dispensing device being applied to a paper sheet, Figure 6 The object 214 in the figure represents a paper sheet, and 216 represents a glue point applied to the paper sheet by the adhesive. The conveying device repeatedly controls the opening and closing of the glue dispensing device, and the glue points applied to the paper sheet are evenly distributed, and the intervals between any two adjacent glue points are equal. Figure 6 The dispensing scene in the figure shows that the dispensing operation is being performed on the paper, and the dispensing operation has not yet been completed.

[0122] S220: In response to a second arrival signal from the automated processing equipment, stop controlling the adhesive outflow of the dispensing device.

[0123] The second in-place signal is generated when the automated processing equipment controls the mechanical actuator to finish executing the trajectory movement related to the dispensing operation. When the automated processing equipment controls the mechanical actuator to finish executing the trajectory movement related to the dispensing operation, it sends the second in-place signal to the conveying device. After the conveying device receives the second in-place signal, it indicates that the mechanical actuator stops driving the dispensing device to move, and also indicates that the dispensing operation is over. The conveying device controls the dispensing device to close, that is, stops controlling the outflow of adhesive from the dispensing device, and the adhesive no longer flows out. Figure 6 The glue dispensing completion scene in the figure shows that the glue dispensing operation is completed on the paper.

[0124] The embodiment of the present application starts the adhesive outflow control of the glue dispensing device arranged on the mechanical actuator by responding to the first in-position signal generated by the automated processing equipment when the mechanical actuator starts to perform the trajectory movement related to the glue dispensing operation, and stops the adhesive outflow control of the glue dispensing device by responding to the second in-position signal generated by the automated processing equipment when the mechanical actuator ends the trajectory movement related to the glue dispensing operation. The technical solution decouples the adhesive outflow control function from the mechanical actuator control function. When the mechanical actuator of the automated processing equipment is responsible for driving the glue dispensing device to move, the glue dispensing device is controlled by the adhesive output independent of the automated processing equipment, so that the glue dispensing device and the mechanical actuator, under the control of different control subjects, work together to complete the glue dispensing operation on the object, thereby not only reducing the amount of calculation of the automated processing equipment, effectively improving the operating speed of the mechanical actuator, but also improving the accuracy and flexibility of the adhesive outflow control, reducing the impact of the automated processing equipment on the transportation, and thus improving the transportation efficiency of the object. Therefore, the solution provided by the embodiment of the present application is conducive to improving the efficiency of the glue dispensing operation on the object.

[0125] In a possible implementation, after starting the adhesive outflow control of the glue dispensing device, the glue dispensing control method further includes the following steps:

[0126] S230: Control the timing of the dispensing device outputting the adhesive.

[0127] When the conveying equipment starts to control the adhesive outflow of the glue dispensing device, the timing of controlling the glue dispensing device to output the adhesive can be understood as the specific time when the conveying equipment controls the adhesive outflow of the glue dispensing device, and the specific time when the adhesive outflow of the glue dispensing device is controlled to stop. For example, the adhesive outflow of the glue dispensing device is controlled at time t, the adhesive outflow of the glue dispensing device is controlled to stop at time t+1, the adhesive outflow of the glue dispensing device is controlled at time t+2, and the adhesive outflow of the glue dispensing device is controlled to stop at time t+3, and so on, so that the object conveyed by the conveying equipment is coated with adhesive in advance, and the glue spots on the object are evenly distributed and have intervals.

[0128] In a possible implementation, after starting the adhesive outflow control of the glue dispensing device, the glue dispensing control method provided in the embodiment of the present application further includes the following steps:

[0129] S240: Based on the single glue output quantity requirement and the flow rate of the adhesive, controlling the single adhesive output time of the dispensing device.

[0130] The single glue output requirement is determined according to the user's glue dispensing operation requirements for the object. The single glue output requirement can be understood as the amount of adhesive that flows out from the glue dispensing device from the time the glue dispensing device controls the glue to stop flowing out, that is, the volume of the adhesive that flows out. The single adhesive output time of the glue dispensing device can also be understood as the duration of each adhesive flow out of the glue dispensing device. When the flow rate of the adhesive is fixed, the single adhesive output time of the glue dispensing device = single glue output requirement ÷ adhesive flow rate.

[0131] When the conveying equipment starts to control the adhesive outflow of the dispensing device, the single adhesive output time of the dispensing device is calculated according to the single adhesive output quantity requirement and the flow rate of the adhesive. When the duration of each adhesive outflow of the dispensing device reaches the single adhesive output time, the adhesive outflow of the dispensing device is controlled to stop, that is, each adhesive outflow control of the dispensing device is completed, thereby ensuring that the adhesive outflow amount of the dispensing device each time meets the user's requirements for the dispensing operation of the object.

[0132] The conveying device can be a variety of types of devices to adapt to different application scenarios and requirements. For example, the conveying device is a linear motor device, a belt conveyor, a chain conveyor, a cylinder conveyor, etc. The embodiment of the present application is described by taking the conveying device as a linear motor device as an example.

[0133] In one possible implementation, Figure 7 As shown, Figure 7A schematic structural diagram of a linear motor device is shown. In the case where the above-mentioned conveying device is a linear motor device 210, the linear motor device 210 includes a movable component 211 and a stator assembly 212. The movable component 211 and the stator assembly 212 each include at least one, for example, the movable component 211 includes a movable component 211-1 and a movable component 211-2, and the stator assembly 212 includes stator assemblies 212-1 to 212-3. The movable component 211 moves along the stator assembly 212, and the movable component 211 is used to load an object 214. For example, the movable component 211-1 loads an object 214-1, and the movable component 211-2 loads an object 214-2. At least one stator assembly 212 constitutes a conveying track, and the movable component 211 moves along the conveying track. The conveying track and the movable component 211 constitute a conveying line body, and the conveying line body is used to convey the object 214. Combined Figure 5 and Figure 7 The mechanical actuator 212 has at least two movement directions, and at least two movement directions intersect each other. For example, the at least two movement directions include an X-axis movement direction, a Y-axis movement direction, and a Z-axis movement direction in the spatial coordinate system. For example, when the mechanical actuator 212 moves, it moves based on at least two directions of the X-axis movement direction, the Y-axis movement direction, and the Z-axis movement direction.

[0134] After starting the adhesive outflow control of the glue dispensing device, the glue dispensing control method provided in the embodiment of the present application further includes the following steps:

[0135] S250: Control the target component to move.

[0136] The moving direction of the target component is parallel to one of the moving directions of the mechanical actuator. The target component is a detected moving component corresponding to the mechanical actuator. For example, the target component may be a moving component whose distance from the mechanical actuator along the transport direction meets a preset distance threshold. For another example, the target component may be a moving component that reaches the overlapping area of ​​the projection of the conveying track and the dispensing device.

[0137] Specifically, the conveying direction of the part of the linear motor device that cooperates with the mechanical actuator can be set to be parallel to one of the movement directions of the mechanical actuator, that is, the part of the track component in the linear motor device that cooperates with the mechanical actuator is deployed along one of the movement directions of the mechanical actuator, so that the movement direction of the target component is parallel to one of the movement directions of the mechanical actuator. By controlling the movement of the target component, the movement of the mechanical actuator in the movement direction can be replaced, thereby reducing the control difficulty of the automated processing equipment for the mechanical actuator, improving the movement efficiency of the mechanical actuator, and enabling the dispensing device to reach the position of outputting the adhesive faster, thereby improving the object processing efficiency and processing accuracy.

[0138] For example, the at least two movement directions of the mechanical actuator may include the X-axis movement direction, the Y-axis movement direction, and the Z-axis movement direction in the spatial coordinate system. When the mechanical actuator moves, it will move based on at least one of the X-axis movement direction, the Y-axis movement direction, and the Z-axis movement direction, resulting in a more complex motion control logic for the mechanical actuator. If the moving direction of the target component is parallel to the Y-axis movement direction of the mechanical actuator, the movement of the target component in the Y-axis movement direction can be controlled to replace the movement of the mechanical actuator in the Y-axis. The automated processing equipment controls the mechanical actuator to drive the dispensing device to move in at least one of the X-axis movement direction and the Z-axis movement direction, thereby reducing the difficulty of automated processing equipment to control the mechanical actuator, improving the movement efficiency of the mechanical actuator, and enabling the dispensing device to reach the position of outputting the adhesive faster, wherein the moving direction of the target component can be along the positive direction or negative direction of the Y-axis.

[0139] It can be understood that the above-mentioned solution of coordinated movement of the target component and the dispensing device can not only simplify the control of the mechanical actuator by the automated processing equipment, but also improve the efficiency of dispensing adhesive on different areas on the surface of the object transported by the linear motor equipment.

[0140] In a possible implementation, in the process of controlling the target component to move, the dispensing control method provided in the embodiment of the present application further includes the following steps:

[0141] S2501: Based on the movement control information, the target component is controlled to move.

[0142] In the above S250, the specific process of controlling the target component to move is as follows: the linear motor device controls the movement of the target component according to the movement control information, and the movement control information may include a movement speed control parameter. The movement speed control parameter is used to control the movement speed of the target component, and the movement speed control parameter may include at least one of the expected movement speed and the maximum movement speed. The movement speed control parameter may further include at least one of the expected acceleration, the expected deceleration, the maximum acceleration, the maximum deceleration, the expected jerk, the expected deceleration, the maximum jerk, the maximum deceleration, etc. The movement speed control parameter is related to the outflow requirements of the adhesive, the movement speed of the mechanical actuator, the opening time of the dispensing device, and the closing time of the dispensing device. After determining the outflow requirements of the adhesive, the movement speed of the mechanical actuator, the opening time of the dispensing device, and the closing time of the dispensing device, the movement speed control parameter of the corresponding target component can be set, so as to accurately control the movement of the target component and meet the dispensing operation requirements for the object transported by the linear motor device.

[0143] In a possible implementation, in the process of controlling the target component to move, the dispensing control method provided in the embodiment of the present application further includes the following steps:

[0144] S2502: Based on at least one of the glue point distribution requirements, the motion trajectory of the mechanical actuator, and the control timing of the glue dispensing device, the target component is controlled to move.

[0145] The glue dot distribution requirements include: at least one of the glue dot distribution area, glue dot spacing, glue dot size, and glue dot arrangement shape. The glue dot distribution area can be understood as the area on the surface of the object where the glue dots are distributed after the adhesive is applied to the object; the glue dot spacing is the distance between two adjacent glue dots distributed on the surface of the object; the glue dot size can be understood as the size of each glue dot on the object. For example, if the glue dots on the object are rectangular, the glue dot size includes the length and width; if the glue dots on the object are circular, the glue dot size includes the radius. The glue dot arrangement shape is the shape formed by the arrangement of multiple glue dots on the surface of the object, for example, Figure 8 As shown, Figure 8 Two schematic diagrams of glue dot arrangements are shown. Geometric shape A represents a plurality of glue dots arranged linearly to form an array distribution shape, and geometric shape B represents a plurality of glue dots that can form a geometric shape distributed with the same center on the surface of an object.

[0146] The linear motor device controls the movement of the target component according to at least one of the glue point distribution requirements, the motion trajectory of the mechanical actuator and the control timing of the dispensing device. After the dispensing operation is completed on the object loaded on the target component, the glue points covering the object meet the user's glue point distribution requirements for the object.

[0147] The following is a detailed description of a conveying device provided in an embodiment of the present application.

[0148] Fig. 9 A schematic diagram of the structure of a conveying device provided in an embodiment of the present application is shown. Fig. 9As shown, mechanical actuators 312 are distributed around the conveying device 311, and the liquid valve mechanism 313 is arranged on the mechanical actuator 312. The mechanical actuator 312 is, for example, a mechanical arm. When the mechanical actuator 312 moves, the mechanical actuator 312 can drive the liquid valve mechanism 313 to move. The conveying device 311 is electrically connected to the mechanical actuator 312, and the conveying device 311 is electrically connected to the liquid valve mechanism 313. The conveying device 311 includes a conveying line body 3111 and a control device 3112. The conveying line body 3111 is used to convey an object 314. The control device 3112 is used to control the conveying line body 3111 to convey the object 314, and to control the opening and closing of the liquid valve mechanism 313. When the liquid valve mechanism 313 is opened, the liquid 315 flows out. When the liquid valve mechanism 313 is closed, the liquid 315 stops flowing out. The control device 3112 controls the opening and closing of the liquid valve mechanism 313, thereby realizing the outflow control and the stop outflow control of the liquid 315.

[0149] The control device 3112 performs control over the liquid valve mechanism 313 specifically as follows: the control device 3112 is used to respond to a first arrival signal of the mechanical actuator 312 to start controlling the liquid valve mechanism 313 so as to control the opening time and closing time of the liquid valve mechanism 313, and to respond to a second arrival signal of the mechanical actuator 312 to stop controlling the liquid valve mechanism 313.

[0150] In an exemplary embodiment, when the mechanical actuator 312 performs a trajectory motion related to the processing operation, since the liquid valve mechanism 313 is provided on the mechanical actuator 312, the mechanical actuator 312 drives the liquid valve mechanism 313 to move, so that the trajectory of the liquid valve mechanism 313 is also related to the processing operation. By configuring the relevant parameters of the conveying device 311 and the relevant parameters of the mechanical actuator 312, it can be ensured that when the liquid valve mechanism 313 is opened, the liquid valve mechanism 313 has a corresponding object 314, and can output liquid 315 to the object 314.

[0151] When the mechanical actuator 312 starts to execute the trajectory movement related to the processing operation, a first in-place signal is generated and sent to the conveying device 311. The conveying device 311 can determine that the mechanical actuator 312 starts to execute the trajectory movement related to the processing operation based on the first in-place signal, that is, it can be determined that the processing operation for an object 314 has started, so after receiving the first in-place signal, the control of the liquid valve mechanism 313 is started to control the opening time and closing time of the liquid valve mechanism 313.

[0152] It is understandable that the timing when the mechanical actuator 312 starts to execute the trajectory movement related to the processing operation and the conveying device 311 controls the liquid valve mechanism 313 to open is not necessarily synchronized, that is, the conveying device 311 may control the liquid valve mechanism 313 to open at the same time as receiving the first arrival signal, or may control the liquid valve mechanism 313 to open after waiting for a period of time after receiving the first arrival signal. In addition, the specific opening time and closing time of the liquid valve mechanism 313 can be determined according to the interaction mode between the mechanical actuator 312 and the conveying device 311, and the type of processing operation.

[0153] Optionally, when the liquid valve mechanism 313 faces an object 314, its opening and closing times are related to the number of times an object 314 is processed. For example, if an object 314 is processed N times, the opening and closing times of the liquid valve mechanism 313 can be N times respectively, where N is a positive integer.

[0154] Optionally, when an object 314 is processed once, the opening time and the closing time can determine the opening time of the liquid valve mechanism 313 for a single object 314. Specifically, the liquid valve mechanism 313 is controlled to open at a specified opening time so that the liquid 315 flows out, and the liquid valve mechanism 313 is controlled to close at a specified closing time so that the liquid 315 stops flowing out, and the opening time can be obtained according to the time interval from opening to closing.

[0155] Optionally, when an object 314 is processed multiple times, the opening time and closing time can determine the opening time and closing time of the liquid valve mechanism 313 for a single object 314. Specifically, the liquid valve mechanism 313 is controlled to open at a specified opening time so that the liquid 315 flows out, and the liquid valve mechanism 313 is controlled to close at a specified closing time so that the liquid 315 stops flowing out, and this is performed multiple times in sequence, and the opening time can be obtained according to the time interval from opening to closing, and the closing time can be obtained according to the time interval from closing to opening.

[0156] In the case where the liquid valve mechanism 313 needs to be opened and closed multiple times in front of an object 314, the first time threshold and the second time threshold can be set based on the target switching frequency, and timing is performed after the liquid valve mechanism 313 is controlled to open, and the liquid valve mechanism 313 is controlled to close when the first time threshold is reached, and timing is performed after the liquid valve mechanism 313 is controlled to close, and the liquid valve mechanism 313 is controlled to open when the second time threshold is reached, thereby controlling the opening and closing of the liquid valve mechanism 313 multiple times, so that the opening duration and closing duration of the liquid valve mechanism 313 match the target switching frequency.

[0157] It should be noted that the first arrival signal is used to instruct the conveying device 311 to start the control of the liquid valve mechanism 313, which does not necessarily mean that the conveying device 311 will control the liquid valve mechanism 313 to open at the same time as receiving the first arrival signal, that is, the conveying device 311 may control the liquid valve mechanism 313 to open at the same time or after starting the control of the liquid valve mechanism 313. For example, when the conveying device 311 receives the first arrival signal, the conveying device 311 starts the control of the liquid valve mechanism 313 and controls the liquid valve mechanism 313 to open. For another example, when the conveying device 311 receives the first arrival signal, the conveying device 311 starts the control of the liquid valve mechanism 313, and controls the liquid valve mechanism 313 to open after waiting for a certain period of time. The embodiments of the present application do not impose specific limitations on this.

[0158] When the mechanical actuator 312 finishes executing the trajectory motion related to the processing operation, a second in-place signal is generated and sent to the conveying device 311. The conveying device 311 can determine that the mechanical actuator 312 has finished executing the trajectory motion related to the processing operation based on the second in-place signal, that is, it can determine that the processing operation for an object 314 has ended, and thus stop controlling the liquid valve mechanism 313 after receiving the second in-place signal. It should be noted that the second in-place signal is used to instruct the conveying device 311 to stop controlling the liquid valve mechanism 313, which does not necessarily mean that the conveying device 311 will control the liquid valve mechanism 313 to close only when receiving the second in-place signal, that is, the conveying device 311 may control the liquid valve mechanism 313 to close before or at the same time as stopping the control of the liquid valve mechanism 313. For example, when the conveying device 311 receives the second in-place signal, if the liquid valve mechanism 313 is in an open state, the conveying device 311 may stop controlling the liquid valve mechanism 313 after controlling the liquid valve mechanism 313 to close. For another example, when the delivery device 311 receives the second arrival signal, the delivery device 311 has controlled the liquid valve mechanism 313 to close, and at this time, the delivery device 311 stops controlling the liquid valve mechanism 313 in response to the second arrival signal. The embodiment of the present application does not specifically limit whether there is a sequential relationship between the second arrival signal and whether the delivery device 311 controls the liquid valve mechanism 313.

[0159] It is understandable that the conveying device 311 provided in the embodiment of the present application can be applied to different processing scenarios, for example, it can be applied to at least one of the coating scenario, maintenance scenario, food processing scenario, daily chemical processing scenario, etc. The specific type of liquid 315 can be determined according to the specific application scenario. For example, liquid 315 can be at least one of adhesive, lubricant, colorant, water, nutrient solution and liquid material. In addition, the specific type of object 314 can be determined according to specific processing requirements. The object conveyed by the conveying device can be a sheet object, a component, a plant, a bottle (such as a glass bottle, a plastic bottle, a metal can, etc.), food, etc. In actual applications, the number of mechanical actuators 312 is related to the specific application scenario and the type of processing operation, and the number of mechanical actuators 312 can be one or more.

[0160] The conveying device provided in the embodiment of the present application realizes the decoupling of the liquid outflow control function from the mechanical actuator control function. The mechanical actuator is responsible for driving the liquid valve mechanism to move, and the conveying device is responsible for the on-off control of the liquid valve mechanism. Thus, through the liquid outflow control of the conveying device, the conveying device and the mechanical actuator work together to complete the processing operation on the object. This can not only reduce the amount of calculation of the mechanical actuator and effectively improve the operating speed of the mechanical actuator, but also improve the accuracy and flexibility of the liquid outflow control, reduce the impact of the automated processing equipment on the transportation, and thus improve the transportation efficiency of the conveying equipment. Therefore, the solution provided in the embodiment of the present application is conducive to improving the processing efficiency of the object.

[0161] Fig.10 An exemplary electrical connection diagram of a conveying device, a mechanical actuator and a liquid valve mechanism is shown. Fig.11 Another exemplary electrical connection diagram of the delivery device, the mechanical actuator and the liquid valve mechanism is shown. Fig.12 Another exemplary electrical connection diagram of a conveying device, a mechanical actuator and a liquid valve mechanism is shown. Fig.13 Another exemplary electrical connection diagram of the conveying device, the mechanical actuator and the liquid valve mechanism is shown. Figure 10-13 As shown, combined with reference Fig. 9 The conveying equipment may include a control device 3112 and a conveying line body 3111, and the conveying line body is used to convey the object 314.

[0162] In one possible implementation, Fig.10As shown, the conveying device 311 may also include a position detection module 3113, the position detection module 3113 is electrically connected to the mechanical actuator 312 through the control device 3112, and the liquid valve mechanism is electrically connected to the control device 3112. The position detection module 3113 is responsible for detecting the position information of the object 314 conveyed by the conveying line body 3111. The position detection module 3113 may be a module that measures by one or more of light, electricity, and magnetism. For example, the position detection module 3113 may be a photoelectric sensor, an infrared light sensor, a magnetic sensor, a grating sensor, a laser sensor, etc. The position detection module 3113 is arranged along the conveying line body 3111, and may or may not be in contact with the conveying line body 3111.

[0163] The position detection module 3113 is used to send an operation start control instruction to the mechanical actuator 312 through the control device 3112 when it is detected that the conveying line body 3111 conveys the object 314 to the preset position. When the mechanical actuator 312 receives the operation start control instruction, it starts to move according to the trajectory related to the processing operation and sends a first in-place signal to the control device 3112. After receiving the first in-place signal, the control device 3112 starts to control the liquid valve mechanism 313, controls the opening time and closing time of the liquid valve mechanism 313, and realizes the outflow control and stop outflow control of the liquid 315. Among them, the preset position can be understood as a preset station, which is a position selected by the user on the conveying line body 3111 in advance. The preset position can also be understood as an intermediate position before the preset station, and the distance between the intermediate position area and the preset position is less than the preset distance, that is, the intermediate position area is before the preset position and close to the preset position.

[0164] It can be understood that the position detection module 3113 can be used only to determine whether the object 314 transported by the conveyor line 3111 has reached the preset position. For example, when the object 314 corresponds to the position detection module 3113, it blocks (or reflects) the wireless signal emitted by the position detection module 3113, or the voltage or current inside the position detection module 3113 changes, so that the position detection module 3113 determines that the object 314 has reached the preset position; or, the position detection module 3113 can be used to detect the real-time position of the object 314 in the conveyor line 3111 and determine whether the object 314 has reached the preset position. For example, the position detection module 3113 determines the real-time position of the object 314 in the conveyor line 3111 through the time difference between the transmission and reception of the same wireless signal, or by analyzing the received wireless signal, thereby determining whether the object 314 has reached the preset position.

[0165] From the above, it can be seen that due to the linkage mechanism of the mechanical actuator and the position detection module in the conveying equipment, automatic control of the mechanical actuator and the liquid valve mechanism is realized, the possibility of human intervention is reduced, which is conducive to reducing labor costs and improving processing efficiency.

[0166] In one possible implementation, Fig.11 As shown, the position detection module 3113 is electrically connected to the control device 3112 and the mechanical actuator 312 respectively, that is, the position detection module 3113 will send the detected position information of the object 314 transported by the conveyor line 3111 to the control device 3112 and the mechanical actuator 312.

[0167] The position detection module 3112 is used to send a third arrival signal to the control device 3112 and the mechanical actuator 312 when it is detected that the conveying line 3111 transports the object 314 to the preset position. The mechanical actuator 312 is also used to send a third arrival signal to the control device 3112. The control device 3112 is also used to respond to the first arrival signal of the mechanical actuator 312, and when it is verified that the third arrival signal sent by the position detection module 3113 is consistent with the third arrival signal sent by the mechanical actuator 312, it is considered that the object 314 transported by the conveying line 3111 has indeed reached the preset position, and then the control of the liquid valve mechanism 313 is started to control the opening time and closing time of the liquid valve mechanism 313, so as to ensure that the liquid 315 output by the liquid valve mechanism 313 can be output to the object 314 transported by the conveying line 3111, thereby avoiding waste of the liquid 315.

[0168] like Fig.13 As shown, the position detection module 3113 and the conveying device 311 are relatively independent, that is, the position detection module 3113 is an independent device, the position detection module 3113 is electrically connected to the mechanical actuator 312, and the control device 3112 is electrically connected to the mechanical actuator 312 and the liquid valve mechanism 313.

[0169] When the position detection module 3113 detects that the conveying line 3111 transports the object 314 to the preset position, the operation start control instruction is sent to the mechanical actuator 312. When receiving the operation start control instruction, the mechanical actuator 312 starts to move according to the trajectory related to the processing operation and sends a first in-position signal to the control device 3112. After receiving the first in-position signal, the control device 3112 starts to control the liquid valve mechanism 313.

[0170] In one possible implementation, Figure 10-13As shown: the conveyor line body 3111 may include a moving part 31112 and a track assembly 31111, the moving part 31112 moves along the track assembly 31111, and the moving part 31112 is used to load the object 314. In practical applications, the control device 3112 may control the track assembly 31111 to drive the moving part 31112 to move along the track assembly 31111, or the control device 3112 may control the moving part 31112 to move along the track assembly 31111. The preset position is a position corresponding to at least one preset track assembly, that is, the preset position includes at least one.

[0171] Specifically, the conveying direction of the part of the conveying line body 3111 that cooperates with the mechanical actuator 312 can be set to be parallel to one of the movement directions of the mechanical actuator, that is, the part of the track assembly 31111 in the conveying line body 3111 that cooperates with the mechanical actuator 312 is deployed along one of the movement directions of the mechanical actuator 312, so that the moving direction of the target component is parallel to one of the movement directions of the mechanical actuator 312. By controlling the movement of the target component, the movement of the mechanical actuator 312 in the movement direction can be replaced, the control difficulty of the mechanical actuator 312 is reduced, the movement efficiency of the mechanical actuator 312 is improved, and the liquid valve mechanism 313 can reach the position of outputting liquid faster, thereby improving the object processing efficiency and processing accuracy. For details, please refer to the above-mentioned relevant part description, which will not be repeated here.

[0172] The control device 3112 is further used to control the opening time and closing time of the liquid valve mechanism 313 according to the target switching frequency, and to control the movement of the target component based on the movement control information.

[0173] Among them, the target component is the detected moving component corresponding to the mechanical actuator 312, which can be specifically understood as the target component is the moving component 31112 located at the preset position, or the target component is the moving component 31112 located in the middle position area. The movement control information may include a movement speed control parameter, which is used to control the movement speed of the target component. The movement speed control parameter may include at least one of the expected movement speed and the maximum movement speed. The movement speed control parameter may further include at least one of the expected acceleration, the expected deceleration, the maximum acceleration, the maximum deceleration, the expected jerk, the expected deceleration, the maximum jerk, the maximum deceleration, etc. The movement speed control parameter is related to the outflow requirement of the liquid, the movement speed of the mechanical actuator 312, the opening time of the liquid valve mechanism 313, and the closing time of the liquid valve mechanism. After determining the outflow requirement of the liquid, the movement speed of the mechanical actuator 312, the opening time of the liquid valve mechanism 313, and the closing time of the liquid valve mechanism, the movement speed control parameter of the corresponding target component can be set, so as to accurately control the movement of the target component to meet the processing requirements.

[0174] In addition, the movement control information may also include at least one of a movement direction parameter and a movement position parameter. The movement direction parameter is used to indicate the movement direction of the target component, and the movement position parameter is used to indicate the various positions that the target component is to reach during the processing of the object, so that the target component can move in coordination with the movement of the liquid valve mechanism 313.

[0175] The control device 3112 is further used to control the opening time and closing time of the liquid valve mechanism 313 according to the target switching frequency, and to control the movement of the target component based on the movement control information.

[0176] The control device 3112 controls the opening time and closing time of the liquid valve mechanism 313 according to the target switching frequency, and when the movement of the target component is controlled based on the movement control information, the movement direction of the target component is parallel to one of the movement directions of the mechanical actuator 312 and intersects with other movement directions of the mechanical actuator 312.

[0177] For example, when the mechanical actuator drives the liquid valve mechanism 313 to move in the X-axis and Z-axis directions, the liquid valve mechanism 313 outputs liquid during the movement, and the control device 3112 controls the target component to move in the X-axis direction, for example, the target component moves in the positive direction or negative direction of the X-axis. When the liquid valve mechanism 313 and the target component move at the same time, liquid 315 is output for the object 314 loaded by the target component, thereby simplifying the control of the mechanical actuator 312, and is suitable for outputting liquid to different areas on the surface of the object 314 transported by the conveying line 3111, for example, applying adhesive to different areas on the surface of the object 314 transported by the conveying line 3111, and the multiple glue dots applied on the surface of the object 314 are the glue distribution requirements corresponding to the target switching frequency and / or the movement control information.

[0178] In one possible implementation, Figure 11-13 As shown, combined with reference Fig. 9 The control device 3112 may include a control module 31121 and a host computer 31122. The liquid valve mechanism 313 and the control module 31121 are both electrically connected to the host computer 31122, and the host computer 31122 is electrically connected to the mechanical actuator 312. The host computer 31121 is used to instruct the control module 31122 to control the conveying line body 3111. Specifically, the host computer 31122 controls the opening time and closing time of the liquid valve mechanism 313 according to the target switching frequency in response to the first in-position signal of the mechanical actuator 312, and sends movement control information to the control module 31121; the control module 31121 is used to control the movement of the target component according to the movement control information.

[0179] Optionally, when the conveyor line body 3111 includes a moving part 31112 and a track assembly 31111, the host computer 31121 can be used to instruct the control module 31122 to control the track assembly 31111 to drive the moving part 31112 to move along the track assembly 31111, or, the host computer 31121 can be used to instruct the control module 31122 to directly control the moving part 31112 to move along the track assembly 31111.

[0180] Alternatively, if Fig.11 As shown, the position detection module 3113 can be electrically connected to the host computer 31121 and the mechanical actuator 312 respectively, and the host computer 31121 is electrically connected to the mechanical actuator 312 and the liquid valve mechanism 313.

[0181] When the position detection module 3112 detects that the conveying line 3111 transports the object 314 to the preset position, the position detection module 3112 sends a third arrival signal to the host computer 31121 and the mechanical actuator 312. The mechanical actuator 312 sends the third arrival signal to the host computer 31121. When the host computer 31121 receives the first arrival signal and the third arrival signal sent by the mechanical actuator 312, if it is verified that the third arrival signal sent by the position detection module 3113 is consistent with the third arrival signal sent by the mechanical actuator 312, it is considered that the object 314 transported by the conveying line 3111 has indeed reached the preset position, and then the control of the liquid valve mechanism 313 is started.

[0182] Alternatively, if Fig.12 As shown, the position detection module 3113 is electrically connected to the host computer 31121, and the host computer 31121 is electrically connected to the mechanical actuator 312 and the liquid valve mechanism 313. When the position detection module 3113 detects that the conveying line body 3111 conveys the object 314 to the preset position, the mechanical actuator 312 is sent an operation start control instruction through the host computer 31121. When the mechanical actuator 312 receives the operation start control instruction, it starts to move according to the trajectory related to the processing operation, and sends a first in-position signal to the host computer 31121. After receiving the first in-position signal, the host computer 31121 starts to control the liquid valve mechanism 313.

[0183] It can be understood that the host computer can accurately control the liquid valve mechanism and the control module, thereby ensuring that the switch control of the liquid valve mechanism and the movement control of the target component can be closely coordinated, which is not only beneficial to improving the coordination between the liquid valve mechanism and the target component during operation, but also beneficial to the processing efficiency of the object.

[0184] In a possible implementation, when the conveying device 311 is applied to a coating scenario of an object, the host computer 31122 is also used to obtain the target switching frequency and movement control information according to the dispensing processing requirements of the object 314 .

[0185] It can be understood that each dispensing process requirement corresponds to a set of preset control data, each set of preset control data includes a preset switching frequency and preset movement control information, and each set of preset control data corresponds to a preset glue point layout. If there are multiple dispensing process requirements, each of the multiple dispensing process requirements corresponds to a preset glue point layout, and each of the multiple dispensing process requirements corresponds to a preset glue point layout. For example, each of the multiple dispensing process requirements corresponds to a preset glue point layout, such as Figure 8After the liquid valve mechanism 313 and the target component are controlled according to a set of preset control data corresponding to a dispensing process requirement, the glue dot layout of the glue dots applied on the surface of the object 314 is the preset glue dot layout corresponding to the dispensing process requirement.

[0186] After the dispensing processing requirements of the object 314 loaded by the target component are determined, the upper computer 31122 can obtain the target switching frequency and movement control information corresponding to the dispensing processing requirements of the object 314 from the above-mentioned correspondence according to the dispensing processing requirements of the object 314. The upper computer 31122 controls the opening time and closing time of the liquid valve mechanism 313 according to the target switching frequency, and the control module 31121 controls the movement of the target component according to the movement control information, so that the glue point layout of the glue points applied on the surface of the object 314 can be a preset glue point layout corresponding to the target switching frequency and the movement control information, thereby meeting the dispensing processing requirements for the object 314.

[0187] In one possible implementation, Fig.14 A schematic diagram of the assembly of the moving parts and the stator assembly in the conveying device is shown, Figure 11-Figure 14 As shown, the moving component 31112 in the conveying device 311 is a moving component, and the track component 31111 is a stator component. The stator component 31111 is used to drive the moving component 31112 through magnetic coupling, so that the moving component 31112 moves along the stator component 31111, which is conducive to achieving precise control of the moving component 31112, thereby improving the processing efficiency of the object 314.

[0188] In one possible implementation, Fig.15 A schematic diagram of a moving part in a conveying device is shown, Fig.15 As shown, the object 314 is a sheet-like object, such as a wooden board, a piece of paper, a floor tile, etc. The movable part 31112 includes a clamping member 31113 for clamping the sheet-like object, and the clamping member 31113 can ensure that the object 314 is stably loaded on the movable part 31112 to prevent the object 314 from falling.

[0189] The following is an embodiment of an automated processing system provided by the present application.

[0190] Fig.16 An exemplary structural block diagram of an automated processing system provided in an embodiment of the present application is shown. Fig.16As shown, the automated processing system 411 includes a conveying device 414, a mechanical actuator 413 and a liquid valve mechanism 412. The mechanical actuator 413 is distributed around the conveying device 414, and the liquid valve mechanism 412 is arranged on the mechanical actuator 413. The conveying device 414 is electrically connected to the liquid valve mechanism 412. The conveying device 414 is used to convey objects, and the liquid flows out when the liquid valve mechanism 412 is opened.

[0191] The automated processing system provided in the embodiment of the present application can be applied to different processing scenarios, for example, it can be applied to at least one of the coating scenario, maintenance scenario, food processing scenario, daily chemical processing scenario, etc. The specific type of liquid can be determined according to the specific application scenario, for example, the liquid can be at least one of adhesive, lubricant, colorant, water, nutrient solution and liquid material, etc. In addition, the specific type of object can be determined according to the specific processing requirements, and the object transported by the conveying equipment can be a sheet object, parts, plants, bottles, food, etc.

[0192] The processing operation process of the automated processing system 411 for the object is as follows:

[0193] The mechanical actuator 413 is used to send a first arrival signal to the conveying device 414 when starting to execute the trajectory movement related to the processing operation, and to send a second arrival signal to the conveying device 414 when ending the trajectory movement; the conveying device 414 is used to start controlling the liquid valve mechanism 412 when receiving the first arrival signal to control the opening time and closing time of the liquid valve mechanism 412, and to stop controlling the liquid valve mechanism 412 when receiving the second arrival signal.

[0194] In an exemplary embodiment, the trajectory motion related to the above-mentioned processing operation can also be understood as the trajectory of the mechanical actuator 413 driving the liquid valve mechanism 412 to move. When the mechanical actuator 413 performs the trajectory motion related to the processing operation, since the liquid valve mechanism 412 is arranged on the mechanical actuator 413, the mechanical actuator 413 drives the liquid valve mechanism 412 to move, so that the trajectory of the liquid valve mechanism 412 is also related to the processing operation. By configuring the relevant parameters of the conveying device 414 and the relevant parameters of the mechanical actuator 413, it can be ensured that when the liquid valve mechanism 412 is opened, the liquid valve mechanism 412 has a corresponding object and can output liquid to the object.

[0195] When the mechanical actuator 413 starts to execute the trajectory movement related to the processing operation, a first in-place signal is generated and sent to the conveying device 414. The conveying device 414 can determine that the mechanical actuator 413 starts to execute the trajectory movement related to the processing operation based on the first in-place signal, that is, it can determine that the processing operation for an object has started, so after receiving the first in-place signal, it starts to control the liquid valve mechanism 412 to control the opening time and closing time of the liquid valve mechanism 412.

[0196] It is understandable that the timing when the mechanical actuator 413 starts to execute the trajectory movement related to the processing operation and the conveying device 414 controls the liquid valve mechanism 412 to open is not necessarily synchronized, that is, the conveying device 414 may control the liquid valve mechanism 412 to open at the same time as receiving the first arrival signal, or may control the liquid valve mechanism 412 to open after waiting for a period of time after receiving the first arrival signal. In addition, the specific opening time and closing time of the liquid valve mechanism 412 can be determined according to the interaction mode between the mechanical actuator 413 and the conveying device 414, and the type of processing operation.

[0197] Optionally, when the liquid valve mechanism 412 faces an object, its opening and closing times are related to the number of times the object is processed. For example, if the number of times an object is processed is N times, the opening and closing times of the liquid valve mechanism 412 can be N times respectively, where N is a positive integer.

[0198] Optionally, when an object is processed once, the opening time and closing time can determine the opening time of the liquid valve mechanism 412 for a single object. Specifically, the liquid valve mechanism 412 is controlled to open at a specified opening time so that the liquid flows out, and the liquid valve mechanism 412 is controlled to close at a specified closing time so that the liquid stops flowing out, and the opening time can be obtained according to the time interval from opening to closing.

[0199] Optionally, when an object is processed multiple times, the opening time and closing time can determine the opening time and closing time of the liquid valve mechanism 412 for a single object. Specifically, the liquid valve mechanism 412 is controlled to open at a specified opening time so that the liquid flows out, and the liquid valve mechanism 412 is controlled to close at a specified closing time so that the liquid stops flowing out. This is performed multiple times in sequence, and the opening time can be obtained according to the time interval from opening to closing, and the closing time can be obtained according to the time interval from closing to opening.

[0200] In the case where the liquid valve mechanism 412 needs to be opened and closed multiple times in front of an object, the first duration threshold and the second duration threshold can be set based on the target switching frequency, and timing is performed after the liquid valve mechanism 412 is controlled to open, and the liquid valve mechanism 412 is controlled to close when the first duration threshold is reached, and timing is performed after the liquid valve mechanism 412 is controlled to close, and the liquid valve mechanism 412 is controlled to open when the second duration threshold is reached. In this way, the opening and closing of the liquid valve mechanism 412 are controlled multiple times, so that the opening duration and closing duration of the liquid valve mechanism 412 match the target switching frequency.

[0201] It should be noted that the first in-place signal is used to instruct the conveying device 414 to start controlling the liquid valve mechanism 412, which does not necessarily mean that the conveying device 414 will control the liquid valve mechanism 412 to open at the same time as receiving the first in-place signal, that is, the conveying device 414 may control the liquid valve mechanism 412 to open at the same time or after starting the control of the liquid valve mechanism 412. For example, when the conveying device 414 receives the first in-place signal, the conveying device 414 starts controlling the liquid valve mechanism 412 and controls the liquid valve mechanism 412 to open. For another example, when the conveying device 414 receives the first in-place signal, the conveying device 414 starts controlling the liquid valve mechanism 412 and controls the liquid valve mechanism 412 to open after waiting for a certain period of time. The embodiments of the present application do not impose specific limitations on this.

[0202] When the mechanical actuator 413 finishes executing the trajectory motion related to the processing operation, a second in-place signal is generated and sent to the conveying device 414. The conveying device 414 can determine that the mechanical actuator 413 has finished executing the trajectory motion related to the processing operation based on the second in-place signal, that is, it can determine that the processing operation for an object has ended, and thus stop controlling the liquid valve mechanism 412 after receiving the second in-place signal. It should be noted that the second in-place signal is used to instruct the conveying device 414 to stop controlling the liquid valve mechanism 412, which does not necessarily mean that the conveying device 414 will control the liquid valve mechanism 412 to close only when receiving the second in-place signal, that is, the conveying device 414 may control the liquid valve mechanism 412 to close before or at the same time as stopping the control of the liquid valve mechanism 412. For example, when the conveying device 414 receives the second in-place signal, if the liquid valve mechanism 412 is in an open state, the conveying device 414 may stop controlling the liquid valve mechanism 412 after controlling the liquid valve mechanism 412 to close. For another example, when the delivery device 414 receives the second arrival signal, the delivery device 414 has controlled the liquid valve mechanism 412 to close, and at this time, the delivery device 414 stops controlling the liquid valve mechanism 412 in response to the second arrival signal. The embodiment of the present application does not specifically limit whether there is a sequential relationship between the second arrival signal and whether the delivery device 414 controls the liquid valve mechanism 412.

[0203] The automated processing system provided in the embodiment of the present application realizes the decoupling of the liquid outflow control function from the mechanical actuator control function. The mechanical actuator is responsible for driving the liquid valve mechanism to move, and the conveying device is responsible for the on-off control of the liquid valve mechanism. Thus, through the liquid outflow control of the conveying device, the conveying device and the mechanical actuator work together to complete the processing operation on the object. This can not only reduce the amount of calculation of the automated processing system, effectively improve the operating speed of the mechanical actuator, but also improve the accuracy and flexibility of the liquid outflow control, reduce the impact of the automated processing equipment on the transportation, and thus improve the transportation efficiency of the conveying equipment. Therefore, the solution provided in the embodiment of the present application is conducive to improving the processing efficiency of the object.

[0204] In one possible implementation, Fig.17 The schematic diagram of the connection between the container and the liquid valve mechanism is shown. Fig.17 As shown, combined with reference Fig.16 The automated processing system 411 further includes a container 415, and the liquid valve mechanism 412 includes an electric control valve, which is located at the liquid outlet of the container 415 and is electrically connected to the conveying device 414. The electric control valve can be opened or closed under the control of the conveying device 414 to allow the liquid provided by the container 415 to be output or to prevent the liquid provided by the container 415 from being output.

[0205] Optionally, the opening of the electric control valve can be adjusted. When the conveying device 414 controls the electric control valve to open, it can also control the electric control valve to increase or decrease the opening of the electric control valve, thereby adjusting the outflow amount and flow rate of the liquid.

[0206] In a possible implementation, the electrically controlled valve is a solenoid valve or an electric valve, which is helpful to improve the selectivity of the electrically controlled valve.

[0207] The following is another embodiment of an automated processing system provided by the present application.

[0208] Fig.18 Another exemplary structural block diagram of an automated processing system provided by an embodiment of the present application is shown. Fig.18 As shown, the automated processing system 511 is applied to a coating scenario, and the coating scenario includes

[0209] Glue dispensing scenarios, parts lubrication scenarios, coloring scenarios, etc., the embodiment of the present application takes the application of the automated processing system 511 to the glue dispensing scenario as an example for explanation. The automated processing system 511 includes a linear motor device 514, a mechanical actuator 513 and a glue dispensing device 512. The linear motor device 514 is used to transport objects, and mechanical actuators 513 are distributed around the linear motor device 514. The glue dispensing device 512 is arranged on the mechanical actuator 513, and the linear motor device 514 is electrically connected to the glue dispensing device 512. Among them, the mechanical actuator 513 includes at least one, and each mechanical actuator 513 is provided with a glue dispensing device 512, and the glue dispensing device 512 is used to store and output adhesives. The mechanical actuator 513 can drive the glue dispensing device 512 arranged on the mechanical actuator 513 to move, and the adhesive output by the glue dispensing device 512 can be applied to the object transported by the linear motor device 514 to realize the glue dispensing operation on the object.

[0210] The mechanical actuator 513 is used to send a first in-position signal to the linear motor device 514 when starting the trajectory movement related to the dispensing operation, and to send a second in-position signal to the linear motor device 514 when ending the trajectory movement; the linear motor device 514 is used to start the adhesive outflow control of the dispensing device 512 when receiving the first in-position signal, and to stop the adhesive outflow control of the dispensing device 512 when receiving the second in-position signal.

[0211] In an exemplary embodiment, the first in-position signal is generated when the mechanical actuator 513 starts to execute the trajectory motion related to the dispensing operation. The trajectory motion related to the dispensing operation can also be understood as the trajectory of the mechanical actuator driving the dispensing device 512 to move.

[0212] When the mechanical actuator 513 starts to move along the trajectory related to the dispensing operation, it sends a first in-place signal to the linear motor device 514, and the first in-place signal is used to indicate that the linear motor device 514 can control the dispensing device 512. After receiving the first in-place signal, the linear motor device 514 starts to control the adhesive outflow of the dispensing device 512, that is, to control when the adhesive stored in the dispensing device 512 flows out and when it stops flowing out. Among them, when the mechanical actuator 513 moves along the trajectory related to the dispensing operation, it drives the dispensing device 512 to move. When the dispensing device 512 is controlled to be opened, the adhesive flows out, and when the dispensing device 512 is controlled to be closed, the adhesive stops flowing out. Optionally, after the glue dispensing device 512 is controlled to be opened, the adhesive flows out and the opening time starts to be counted. When the opening time reaches a first time, the glue dispensing device 512 is controlled to be closed, the adhesive stops flowing out, and the closing time starts to be counted. When the closing time reaches a second time, the glue dispensing device 512 is controlled to be opened, and the opening and closing of the glue dispensing device 512 are repeatedly controlled in sequence.

[0213] For example, the object conveyed by the linear motor device 514 is a piece of paper, and the linear motor device 514 repeatedly controls the opening and closing of the glue dispensing device 512 in the above manner, so that the adhesive flowing out of the glue dispensing device 512 is applied to the piece of paper. Figure 6 As shown, Figure 6 The object 214 in the figure represents a paper sheet, and 216 represents a glue point applied to the paper sheet by the adhesive. The linear motor device 514 repeatedly controls the opening and closing of the glue dispensing device 512, and the glue points applied to the paper sheet are evenly distributed, and the intervals between any two adjacent glue points are equal. Figure 6 The dispensing scene in the figure shows that the dispensing operation is being performed on the paper, and the dispensing operation has not yet been completed.

[0214] The second in-position signal is generated when the mechanical actuator 513 finishes the trajectory movement related to the glue dispensing operation. When the mechanical actuator 513 finishes the trajectory movement related to the glue dispensing operation, it sends the second in-position signal to the linear motor device 514. After the linear motor device 514 receives the second in-position signal, it indicates that the mechanical actuator 513 stops driving the glue dispensing device 512 to move, which also indicates that the glue dispensing operation is over. The linear motor device 514 controls the glue dispensing device 512 to close, that is, stops controlling the outflow of the adhesive from the glue dispensing device 512, and the adhesive no longer flows out. Figure 6 As shown in the glue dispensing completion scene in FIG, the glue dispensing completion scene indicates that the glue dispensing operation is completed on the paper sheet.

[0215] The automated processing system provided in the embodiment of the present application realizes the decoupling of the adhesive outflow control function from the mechanical actuator control function. When the mechanical actuator is responsible for driving the dispensing device to move, the dispensing device is controlled independently of the adhesive output, so that the dispensing device and the mechanical actuator, under the control of different control entities, work together to complete the dispensing operation on the object. This can not only reduce the amount of calculation of the automated processing system and effectively improve the operating speed of the mechanical actuator, but also improve the accuracy and flexibility of the adhesive outflow control, reduce the impact of the automated processing equipment on the transportation, and thus improve the transportation efficiency of the transportation equipment. Therefore, the solution provided in the embodiment of the present application is conducive to improving the efficiency of dispensing operations on objects.

[0216] In a possible implementation, the dispensing device 512 includes a container and a liquid valve mechanism, and the container stores adhesive. The liquid valve mechanism is located at the liquid outlet of the container, and the liquid valve mechanism is electrically connected to the linear motor device 514. The liquid valve mechanism opens the adhesive to flow out, and the liquid valve mechanism closes the adhesive to stop flowing out. The opening of the liquid valve mechanism can be adjusted. The linear motor device 514 can control the liquid valve mechanism to not only control the outflow and stop the outflow of the adhesive, but also control the outflow amount and flow rate of the adhesive.

[0217] Fig.19 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown. Fig.19 As shown, the electronic device 600 includes: a memory 601 and a processor 602, wherein the memory 601 stores an executable program code 6011, and the processor 602 is used to call and execute the executable program code 6011 to perform a liquid outflow control method or a dispensing control method.

[0218] This embodiment can divide the functional modules of the electronic device according to the method example provided in the embodiment of the present application. For example, each functional module can be corresponded to, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0219] The electronic device provided in this embodiment is used to execute a liquid outflow control method or a dispensing control method provided in the embodiment of the present application, and thus can achieve the same effect as the implementation method provided in the embodiment of the present application.

[0220] In the case of an integrated unit, the electronic device may include a processing module and a storage module. The processing module may be used to control and manage the actions of the electronic device. The storage module may be used to support the electronic device in executing related program codes and data.

[0221] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the embodiments of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0222] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the relevant method steps provided in the embodiment of the present application, thereby realizing a liquid outflow control method or dispensing control method in the embodiment of the present application.

[0223] This embodiment also provides a computer program product. When the computer program product runs on a computer, it enables the computer to execute the relevant method steps provided in the embodiment of the present application to implement a liquid outflow control method or a dispensing control method in the embodiment of the present application.

[0224] In addition, the electronic device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the electronic device may include a connected processor and a memory; wherein the memory is used to store instructions, and when the electronic device is running, the processor may call and execute instructions so that the chip performs the steps of a liquid outflow control method or a dispensing control method in the embodiments of the present application.

[0225] Among them, the electronic device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding liquid outflow control method or dispensing control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding liquid outflow control method or dispensing control method provided above, and will not be repeated here.

[0226] Through the description of the above implementation methods, technical personnel in the relevant field can 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 can be divided into different functional modules to complete all or part of the functions described above.

[0227] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0228] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the 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.

Claims

1. A method for controlling liquid outflow, characterized in that: Applied to a conveying device, the conveying device is used to convey an object, a mechanical actuator is distributed around the conveying device, the conveying device is electrically connected to a liquid valve mechanism, and the liquid valve mechanism is arranged on the mechanical actuator; The liquid outflow control method comprises: In response to a first in-position signal of the mechanical actuator, starting control of the liquid valve mechanism to control the opening time and closing time of the liquid valve mechanism, wherein the first in-position signal is generated when the mechanical actuator starts to perform a trajectory motion related to a processing operation, and the liquid flows out when the liquid valve mechanism is opened; In response to a second in-position signal of the mechanical actuator, the control of the liquid valve mechanism is stopped, wherein the second in-position signal is generated when the mechanical actuator ends the trajectory motion.

2. The liquid outflow control method according to claim 1, characterized in that: The conveying device includes a moving part and a track assembly, the moving part moves along the track assembly, and the moving part is used to load the object, and the liquid outflow control method further includes at least one of the following: In the case of determining that there is a target component, sending a motion start control instruction to the mechanical actuator, wherein the target component is a detected moving component corresponding to the mechanical actuator; When the arrival of a moving component is detected, the real-time position information of the moving component is sent to the mechanical actuator for use by the mechanical actuator when performing the trajectory motion.

3. The liquid outflow control method according to claim 2, characterized in that: The liquid outflow control method further comprises at least one of the following: Controlling the liquid valve mechanism in response to an opening control instruction or a closing control instruction sent by the mechanical actuator; The liquid valve mechanism is controlled based on the position information of the mechanical actuator.

4. The liquid outflow control method according to claim 3, characterized in that: The liquid outflow control method further comprises at least one of the following: Based on the position information of the mechanical actuator, when it is verified that the position of the mechanical actuator is suitable for outputting liquid to the target component, controlling the liquid valve mechanism to open; Based on the position information of the mechanical actuator, after verifying that the position of the mechanical actuator is suitable for outputting the liquid to the target component and receiving an opening control instruction sent by the mechanical actuator, the liquid valve mechanism is controlled to open.

5. The liquid outflow control method according to claim 1, characterized in that: Before starting the control of the liquid valve mechanism in response to the first in-position signal of the mechanical actuator, the liquid outflow control method further includes: Based on the flow rate of the liquid and the single output requirement of the liquid, a single opening time and a single closing time of the liquid valve mechanism are determined.

6. The liquid outflow control method according to claim 2, characterized in that: The mechanical actuator has at least two movement directions, and the at least two movement directions intersect each other; After the control of the liquid valve mechanism is started, the liquid outflow control method further includes: The target component is controlled to move, and the moving direction of the target component is parallel to one of the moving directions of the mechanical actuator.

7. The liquid outflow control method according to claim 2, characterized in that: After the control of the liquid valve mechanism is started, the liquid outflow control method further includes: The target component is controlled to move based on movement control information, wherein the movement control information includes movement speed control parameters, and the movement speed control parameters are related to the outflow requirements of the liquid, the movement speed of the mechanical actuator, the opening time of the liquid valve mechanism, and the closing time of the liquid valve mechanism.

8. The liquid outflow control method according to claim 7, characterized in that: Before controlling the movement of the target component based on the movement control information, the liquid outflow control method further includes: Based on the initial control information, the target component is controlled to move so as to be jointly debugged with the mechanical actuator, and the initial control information is modified according to the debugging result until the debugging result meets the outflow requirement of the liquid, wherein the initial control information includes an initial speed control parameter, and the initial speed control parameter is determined based on the delivery rhythm.

9. The liquid outflow control method according to any one of claims 1 to 8, characterized in that: The liquid is at least one of an adhesive, a lubricant, a colorant, water, a nutrient solution, and a liquid material.

10. The liquid outflow control method according to any one of claims 1 to 8 is applied to at least one of a coating scenario, a maintenance scenario, a food processing scenario, and a daily chemical processing scenario.

11. A dispensing control method, characterized in that: The dispensing control method comprises: In response to a first arrival signal of the automated processing equipment, the adhesive outflow control of the glue dispensing device is started; wherein the glue dispensing device is arranged on a mechanical actuator of the automated processing equipment, the glue dispensing device is used to store and output the adhesive, and the first arrival signal is generated by the automated processing equipment when the mechanical actuator starts to perform a track motion related to the glue dispensing operation; In response to a second in-place signal from the automated processing equipment, the adhesive outflow control of the glue dispensing device is stopped, wherein the second in-place signal is generated by the automated processing equipment when the mechanical actuator ends the trajectory motion.

12. The dispensing control method according to claim 11, characterized in that: After the adhesive outflow control of the glue dispensing device is started, the glue dispensing control method further includes: Control the timing of the dispensing device outputting the adhesive.

13. The dispensing control method according to claim 11, characterized in that: Before starting the adhesive outflow control of the glue dispensing device, the glue dispensing control method further includes: Based on the single glue output quantity requirement and the flow rate of the adhesive, the single adhesive output time of the dispensing device is controlled.

14. The dispensing control method according to claim 11, characterized in that: Applied to a linear motor device, the linear motor device is used to transport an object, the mechanical actuator is distributed around the linear motor device, the linear motor device is electrically connected to the dispensing device, the linear motor device includes a mover component and a stator assembly, the mover component moves along the stator assembly, and the mover component is used to load the object, the mechanical actuator has at least two movement directions, and the at least two movement directions intersect each other; After the adhesive outflow control of the glue dispensing device is started, the glue dispensing control method further includes: The target component is controlled to move; wherein the moving direction of the target component is parallel to one of the moving directions of the mechanical actuator, and the target component is a detected movable component corresponding to the mechanical actuator.

15. The dispensing control method according to claim 14, characterized in that: The controlling the target component to move comprises: The target component is controlled to move based on the movement control information, wherein the movement control information includes a movement speed control parameter, and the movement speed control parameter is related to the outflow requirement of the adhesive, the movement speed of the mechanical actuator, and the control timing of the dispensing device.

16. The dispensing control method according to claim 14, characterized in that: The controlling the target component to move comprises: The target component is moved and controlled based on at least one of the glue dot distribution requirements, the motion trajectory of the mechanical actuator, and the control timing of the glue dispensing device, wherein the glue dot distribution requirements include at least one of: glue dot distribution area, glue dot spacing, glue dot size, and glue dot arrangement shape.

17. A conveying device, characterized in that: The conveying device is used to convey objects. Mechanical actuators are distributed around the conveying device. The conveying device is electrically connected to a liquid valve mechanism. The liquid valve mechanism is arranged on the mechanical actuator. The conveying device includes: A control device is used to start controlling the liquid valve mechanism in response to a first in-position signal of the mechanical actuator to control the opening time and closing time of the liquid valve mechanism, and to stop controlling the liquid valve mechanism in response to a second in-position signal of the mechanical actuator, wherein the first in-position signal is generated when the mechanical actuator starts trajectory motion, and the liquid flows out when the liquid valve mechanism opens, and the second in-position signal is generated when the mechanical actuator ends the trajectory motion.

18. The conveying device according to claim 17, characterized in that The conveying device further comprises a position detection module, wherein the position detection module is electrically connected to the mechanical actuator; The position detection module is used to send an operation start control instruction to the mechanical actuator when detecting that the conveying device conveys the object to a preset position; Wherein, upon receiving the operation start control instruction, the mechanical actuator starts the trajectory movement and sends the first in-position signal to the control device.

19. The conveying device according to claim 18, characterized in that The position detection module is electrically connected to the control device and the mechanical actuator; The position detection module is used to send a third arrival signal to the control device and the mechanical actuator when detecting that the conveying device conveys the object to the preset position; The mechanical actuator is further used to send the third in-position signal to the control device; The control device is also used to respond to the first in-position signal of the mechanical actuator, and when it is verified that the third in-position signal sent by the position detection module is consistent with the third in-position signal sent by the mechanical actuator, start controlling the liquid valve mechanism to control the opening time and closing time of the liquid valve mechanism.

20. The conveying device according to claim 19, characterized in that The conveying device further comprises a moving part and a track assembly, the moving part moves along the track assembly, the moving part is used to load the object, and the preset position is a preset position corresponding to at least one of the track assemblies; The control device is further used to control the opening time and closing time of the liquid valve mechanism according to the target switching frequency, and to control the movement of the target component based on the movement control information; The target component is a detected moving component corresponding to the mechanical actuator, and the movement control information includes a movement speed control parameter, which is related to the outflow requirement of the liquid, the movement speed of the mechanical actuator, the opening time of the liquid valve mechanism, and the closing time of the liquid valve mechanism; The mechanical actuator has at least two movement directions, which intersect with each other. The moving direction of the target component is parallel to one of the movement directions of the mechanical actuator and intersects with the other movement direction of the mechanical actuator.

21. The conveying device according to claim 20, characterized in that The control device comprises a control module and a host computer, the liquid valve mechanism and the control module are both electrically connected to the host computer, and the host computer is electrically connected to the mechanical actuator; The host computer is used to control the opening time and closing time of the liquid valve mechanism according to the target switching frequency in response to the first in-position signal of the mechanical actuator, and send the movement control information to the control module; The control module is used to control the movement of the target component according to the movement control information.

22. The conveying device according to claim 21, characterized in that The host computer is also used to obtain the target switching frequency and the movement control information according to the dispensing processing requirements of the object.

23. The conveying device according to any one of claims 20 to 22, characterized in that The moving component is a movable component, and the track component is a stator component; Wherein, the stator assembly is used to drive the mover component by magnetic coupling so that the mover component moves along the stator assembly.

24. The conveying device according to claim 23, characterized in that The object is a sheet-like object, and the mover component comprises a clamping member for clamping the sheet-like object.

25. An automated processing system, characterized in that: The automated processing system comprises: a conveying device, a mechanical actuator and a liquid valve mechanism, wherein the mechanical actuator is distributed around the conveying device, the liquid valve mechanism is arranged on the mechanical actuator, the conveying device is electrically connected to the liquid valve mechanism, the conveying device is used to convey an object, and the liquid flows out when the liquid valve mechanism is opened; The mechanical actuator is used to send a first arrival signal to the conveying device when starting the trajectory movement related to the processing operation, and send a second arrival signal to the conveying device when ending the trajectory movement; The conveying device is used to start controlling the liquid valve mechanism to control the opening time and closing time of the liquid valve mechanism when receiving the first in-place signal, and to stop controlling the liquid valve mechanism when receiving the second in-place signal.

26. The automated processing system according to claim 25, characterized in that: The automated processing system further comprises a container, and the liquid valve mechanism comprises an electrically controlled valve, the electrically controlled valve is located at the liquid outlet of the container, and the electrically controlled valve is electrically connected to the conveying device.

27. The automated processing system according to claim 26, characterized in that: The electrically controlled valve is a solenoid valve or an electric valve.

28. An automated processing system, characterized in that: The automated processing system comprises: a linear motor device, a mechanical actuator and a glue dispensing device, wherein the linear motor device is used to convey an object, the mechanical actuator is distributed around the linear motor device, the glue dispensing device is arranged on the mechanical actuator, and the linear motor device is electrically connected to the glue dispensing device; The mechanical actuator is used to send a first in-position signal to the linear motor device when starting to perform the track movement related to the dispensing operation, and send a second in-position signal to the linear motor device when ending the track movement; The linear motor device is used to start the adhesive outflow control of the dispensing device when the first in-place signal is received, and to stop the adhesive outflow control of the dispensing device when the second in-place signal is received.

29. The automated processing system according to claim 29, characterized in that: The dispensing device comprises a container and a liquid valve mechanism, wherein the liquid valve mechanism is located at the liquid outlet of the container and is electrically connected to the linear motor device.

30. An electronic device, configured in a conveying device, the electronic device comprising: A memory for storing executable program codes; A processor, used to call and run the executable program code from the memory, so that the electronic device executes the liquid outflow control method as described in any one of claims 1 to 10, or executes the dispensing control method as described in any one of claims 11 to 16.

31. A computer-readable storage medium storing a computer program, which, when executed, implements the liquid outflow control method as described in any one of claims 1 to 10, or implements the dispensing control method as described in any one of claims 11 to 16.

32. A computer program product, when the computer program product is run on a computer or a processor, enables the computer or the processor to execute the liquid outflow control method as described in any one of claims 1 to 10, or execute the dispensing control method as described in any one of claims 11 to 16.

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