Dispensing control system and method based on interruption control

Abstract

The invention discloses a dispensing control system and method based on interrupt control, an interrupt processing module is used for receiving a sensor signal and triggering an interrupt program for position calibration, and the mechanism simplifies complex circulation and condition judgment in traditional programming, so that the workload of code writing is reduced. And by utilizing calling and matching of each instruction, codes are further simplified, maintenance is simple, and compatibility can also be achieved when other types of instructions need to be replaced subsequently. According to the scheme, debugging can be realized only by pulling up a first rubber head assignment signal and then pulling down the first rubber head assignment signal through the PLC control module; and a calibration signal of a new variety of rubber head is pulled up, so that compatibility with the previous variety can be realized, the debugging and compatibility process is simple, convenient and rapid, and the production efficiency and the flexibility are remarkably improved. The method is also provided with a calibration processing and alarm mechanism, and when problems occur in the calibration process, the problems are solved and fed back in time.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, in particular to a dispensing control system and a control method based on interruption control. Background Art

[0002] Among the existing dispensing control technologies, ABB robot programming software is widely used in the automated dispensing process. However, the current pre-dispensing calibration method has some significant problems and limitations, especially in dealing with the debugging and compatibility of new varieties of dispensing positions.

[0003] First, the traditional dispensing program defines the XYZ compensation value. When the dispensing position is calibrated for the first time, these compensation values ​​are usually set to 0. When the glue tip needs to be replaced, in theory, there is no need to re-align the position. It is only necessary to adjust the XYZ compensation value according to the dispensing effect to correct the dispensing effect. However, when new varieties need to be added in the later stage of the dispensing process, since the position of the glue tip during the first calibration can no longer be found, the operator often needs to re-establish a new XYZ compensation value, or after debugging the point, the corresponding compensation value needs to be deducted in the XYZ direction. This not only increases the complexity of the operation, but may also lead to inaccurate calibration, thus affecting the dispensing effect.

[0004] Secondly, another common practice is to manually bend the dispensing head to change the dispensing position according to the dispensing effect. Although this method can adjust the dispensing position to a certain extent, it will cause the fixing seat of the fixed dispensing head to loosen in the long run, affecting the stability and accuracy of dispensing. In addition, the manual method of bending the dispensing head is not accurate enough to grasp the position, and it is difficult to ensure the consistency of the dispensing position.

[0005] Furthermore, the inaccuracy of the compensation value of the glue tip is also an important problem in the prior art. Due to various reasons (such as sensor accuracy, robot motion control error, etc.), the compensation value of the glue tip is often difficult to accurately determine. This will lead to inaccurate dispensing positions during the production process, thereby increasing the scrap rate and reducing production efficiency. At the same time, inaccurate compensation values ​​will also increase the debugging cycle and reduce overall production efficiency.

[0006] In summary, the existing pre-dispensing calibration method has many deficiencies in dealing with the debugging and compatibility of new varieties of dispensing positions. Therefore, it is necessary to develop a new dispensing control system and method to solve these problems. Summary of the invention

[0007] The invention discloses a dispensing control system and a control method based on interruption control, which can improve the accuracy and stability of dispensing, reduce the scrap rate and debugging cycle, and thus improve the overall production efficiency.

[0008] A first aspect of an embodiment of the present invention discloses a dispensing control system based on interruption control, comprising:

[0009] Robot control module 1, used to control the movement of the dispensing robot;

[0010] The sensor module 2 includes at least one sensor for detecting the position or state of the dispensing robot and generating a corresponding signal;

[0011] The interrupt processing module 3 is connected to the robot control module 1 and the sensor module 2, and is used to receive the sensor signal and trigger the interrupt program;

[0012] Storage module 4, used for storing the first calibration position data and compensation value;

[0013] The PLC control module 5 is used to receive external instructions and control signal assignment to achieve debugging and compatibility of new types of dispensing positions.

[0014] Preferably, the dispensing robot is an ABB robot; the interruption program includes the steps of stopping movement, saving position data, starting movement and interruption processing.

[0015] Preferably, the interrupt processing module 3 specifically implements the following functions:

[0016] Use the [CONNECT] instruction to associate the interrupt identifier with the interrupt procedure;

[0017] Use the [ISIGNALDI] instruction to associate the sensor signal with an interrupt identifier;

[0018] When receiving the sensor signal, the interrupt program is triggered, the movement of the dispensing robot is stopped through the [STOPMOVE] instruction, and the current position data is saved to the storage module;

[0019] After completing the position data saving, restart the dispensing robot through the [STARTMOVE] command;

[0020] Use the [IDELETE] instruction to interrupt the current interrupt program to prevent it from entering an infinite loop.

[0021] Preferably, the storage module 4 also stores a flag indicating whether it is the first calibration, which is used to determine whether the compensation value needs to be calculated.

[0022] Preferably, the interrupt processing module 3 further includes interrupt programs in the X direction, the Y direction and the Z direction, which are respectively used to trigger position calibration in the corresponding direction when receiving sensor signals in the corresponding direction.

[0023] A second aspect of an embodiment of the present invention discloses a dispensing control method based on interruption control, which is applied to the control system described in the first embodiment and includes the following steps:

[0024] S1, initialize the system, set the signal and the flag bit of whether it is the first calibration to 0;

[0025] S2. Close all interrupt programs and set the initial value of the variable in the interrupt program to 0;

[0026] S3, control the dispensing robot to return to the origin position, and plan the path from the origin to the calibration starting position and the starting point position;

[0027] S4, using the interrupt processing module to receive the sensor signal and trigger the interrupt program to perform position calibration in the X direction; after the X direction position calibration is completed, taking the X direction position as the starting point, perform position calibration in the Y direction and the Z direction;

[0028] S5. Determine whether a compensation value needs to be calculated based on the flag indicating whether it is the first calibration, and save the current position data or the compensation value;

[0029] S6. After the calibration is completed, control the dispensing robot to return to the original position.

[0030] Preferably, the method further comprises the following steps:

[0031] S71. When adding a new variety, the PLC control module receives external instructions, pulls up the first rubber head assignment signal of the added variety, and performs point debugging;

[0032] S72. After debugging is completed, the first glue head assignment signal is pulled low, and the new variety glue head calibration signal is pulled high to achieve compatibility with the previous variety.

[0033] Preferably, in step S71, the following sub-steps are also included:

[0034] Use the current compensation value to subtract the XYZ value of the dispensing position to get the new dispensing position;

[0035] Save new dispensing locations for later use.

[0036] Preferably, during the position calibration process in the X, Y and Z directions, if the corresponding sensor signal is not received within the specified time, an alarm is triggered and the dispensing robot is controlled to return to the origin position; specifically, when trying to perform the calibration step in the X direction, the robot movement is started by the [STARTMOVE] instruction, and an attempt is made to enter the calibration procedure in the X direction; if the robot fails to successfully enter the calibration procedure in the X direction within the specified time due to some reason, such as the sensor signal is not triggered, the interrupt program is not correctly associated, etc., that is, the [ganyin] signal cannot be set to TRUE, the following alternative operations are performed:

[0037] The dispensing robot will automatically make three round trips in the current area. After each move, the [INCR] instruction will be used to increase the attempt counter, that is, to perform a self-increment operation.

[0038] If after three round trip attempts, the robot still fails to successfully enter the calibration procedure in the X direction, that is, the [ganyin] signal is still FALSE, the system will trigger an alarm mechanism and instruct the dispensing robot to return to its origin position through corresponding instructions or program logic.

[0039] Preferably, step S4 "using an interrupt processing module to receive a sensor signal and trigger an interrupt program to perform position calibration in the X direction; after the position calibration in the X direction is completed, taking the X direction position as a starting point, performing position calibration in the Y direction and the Z direction" includes:

[0040] S41, use the [CONNECT] instruction to associate the interrupt identifier with the interrupt program in the X direction, and use the [ISIGNALDI] instruction to associate the sensor signal with the interrupt identifier;

[0041] S42, when receiving the sensor signal, triggering the interrupt program in the X direction, stopping the movement of the dispensing robot, saving the current position data in the X direction, and setting the calibration completion signal;

[0042] S43, start the robot movement through the [STARTMOVE] instruction, and use the [IDELETE] instruction to interrupt the current interrupt program;

[0043] S44, repeat steps S41 to S43, and perform position calibration in the Y direction and the Z direction respectively.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. Rapid calibration of the dispensing tip is achieved through interrupt control, avoiding the inaccurate position problem caused by manually moving the tip and improving calibration accuracy.

[0046] 2. The interrupt processing module receives the sensor signal and triggers the interrupt program to perform position calibration. This mechanism simplifies the complex loops and conditional judgments in traditional programming, thereby reducing the workload of code writing. In addition, the code is further simplified by calling and coordinating various instructions, which is easy to maintain and compatible with other types that need to be replaced later. This case does not require large-scale adjustments or reprogramming of the entire system, and can quickly realize the debugging and compatibility of new types of dispensing positions, shortening the debugging cycle.

[0047] 3. Reduce the repetitive work of technicians, reduce the risks brought by debugging, and improve production efficiency.

[0048] 4. It can meet diverse production needs and is suitable for the calibration of different product pad types.

[0049] 5. Reduce the waste of glue and the amount of rework and scrap, and reduce production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a structural block diagram of the first embodiment disclosed in the present invention;

[0051] Figure 2 It is a structural schematic diagram of a control system of the third embodiment disclosed in the present invention; DETAILED DESCRIPTION

[0052] The present invention relates to a dispensing control system based on interrupt control and a control method thereof, aiming to solve the problems of complicated glue head calibration, long debugging cycle, low production efficiency and poor product quality consistency in existing dispensing operations. The present invention is described in detail below in conjunction with the accompanying drawings.

[0053] Embodiment 1

[0054] like Figure 1 As shown, the dispensing control system described in the present invention includes a robot control module 1, a sensor module 2, an interrupt processing module 3, a storage module 4 and a PLC control module 5.

[0055] Robot control module 1: used to control the movement of the dispensing robot, including moving, stopping and other actions.

[0056] Sensor module 2: includes at least one sensor for detecting the position or state of the dispensing robot and generating a corresponding signal.

[0057] Interrupt processing module 3: connected to robot control module 1 and sensor module 2, used to receive sensor signals and trigger an interrupt program. The interrupt program includes stopping movement, saving position data, starting movement and interrupt processing steps.

[0058] Storage module 4: used to store the first calibration position data and compensation value, as well as a flag indicating whether it is the first calibration. The flag is used to determine whether the compensation value needs to be calculated.

[0059] PLC control module 5: used to receive external instructions and control signal assignment to achieve debugging and compatibility of new varieties of dispensing positions. In specific implementation, the debugging and compatibility of new varieties of dispensing positions means that in the dispensing control system, when a new product or variety needs to be added, the dispensing position of the new variety can be quickly debugged and ensured to be compatible with the dispensing positions of other varieties in the system, thereby eliminating the need for large-scale adjustments or reprogramming of the entire system.

[0060] As mentioned above, the control system in this case can monitor the position and status of the dispensing robot in real time by integrating the sensor module and the interrupt processing module, ensuring that the position data is accurately recorded during the first calibration. When it is necessary to debug the dispensing position of a new variety, the system can quickly calculate and apply the necessary compensation values ​​based on the precise data of the first calibration, thereby avoiding the errors and uncertainties caused by manual adjustments, significantly improving the accuracy and efficiency of the calibration, and reducing the intervention and debugging time of operators. The introduction of the PLC control module enables the system to receive external instructions and flexibly adjust the signal assignment, thereby achieving rapid debugging and compatibility of the dispensing position of new varieties.

[0061] As a specific implementation method, the specific implementation process of the interrupt program is as follows:

[0062] In this case, the [CONNECT] instruction in the RAPID programming environment of the ABB robot is used to associate the interrupt identification number with the interrupt program, and then the [ISIGNALDI] instruction is used to associate the IO signal, i.e. the sensor signal, with the interrupt identification number. When the IO signal is triggered, the corresponding interrupt program will be executed.

[0063] When the sensor signal triggers an interrupt, first stop the movement of the dispensing robot through the [STOPMOVE] instruction and save the current position data to the storage module. Then, restart the dispensing robot through the [STARTMOVE] instruction. Finally, use the [IDELETE] instruction to interrupt the current interrupt program to prevent entering an infinite loop.

[0064] After completing the position data saving, restart the dispensing robot through the [STARTMOVE] command.

[0065] Use the [IDELETE] instruction to interrupt the current interrupt program to prevent it from entering an infinite loop.

[0066] As a specific implementation, the interrupt processing module 3 also includes interrupt programs in the X direction, Y direction and Z direction, which are respectively used to trigger position calibration in the corresponding direction when receiving sensor signals in the corresponding direction. The dispensing robot is an ABB robot. In this way, the ABB robot realizes multi-tasking processing through multi-threading technology, and can execute multiple tasks or programs at the same time, thereby improving work efficiency and flexibility.

[0067] As described above, by real-time monitoring of sensor signals and triggering the interrupt program, the system can quickly respond to changes in the position or state of the dispensing robot, thereby stopping movement in time, saving position data, and performing position calibration as needed, thereby improving response speed and automation. In the interrupt program, the system in this case can accurately record the current position data of the dispensing robot and perform position calibration based on these data, ensuring that the system can provide accurate position information every time the glue head is replaced or the dispensing position of a new variety is debugged, thereby avoiding the problem of inaccurate dispensing caused by excessive position deviation. The interrupt processing module 3 can receive and process signals from different sensors, which enables the system to adapt to a variety of dispensing scenarios and glue head types. In addition, through the introduction of the PLC control module 5, the system can also receive external instructions and flexibly adjust signal assignments, thereby achieving rapid debugging and compatibility of new varieties of dispensing positions.

[0068] As a specific implementation, the position calibration process in the X, Y, and Z directions is as follows:

[0069] During the position calibration process in the X direction, the [CONNECT] instruction is used to associate the interrupt identifier with the interrupt program in the X direction, and the [ISIGNALDI] instruction is used to associate the sensor signal with the interrupt identifier. When the sensor signal is received, the interrupt program in the X direction is triggered to perform position calibration. After the calibration is completed, the position calibration in the Y and Z directions is performed with the X direction position as the starting point. The specific implementation steps are similar to those in the X direction. In this way, by calibrating the positions in the X, Y, and Z directions respectively, the system can ensure the precise position control of the dispensing robot in three-dimensional space, avoid the problem of inaccurate dispensing caused by position deviation, and improve the accuracy and consistency of dispensing. By adjusting the association method between the interrupt program and the sensor signal, the system can adapt to and be compatible with new dispensing tasks or product types.

[0070] Embodiment 2

[0071] A dispensing control method based on interruption control, applied to the control system described in the first embodiment, comprises:

[0072] S1. First, initialize the system and set the signal and the flag bit of whether it is the first calibration to 0.

[0073] S2. Then, close all interrupt programs and set the initial value of the variable in the interrupt program to 0 to prevent interrupt blocking.

[0074] S3. Control the dispensing robot to return to the origin position, and plan the path from the origin to the calibration starting position and the starting point position.

[0075] S4. Use the interrupt processing module to receive the sensor signal and trigger the interrupt program to perform position calibration in the X direction. After the X direction position calibration is completed, the position calibration in the Y direction and Z direction is performed with the X direction position as the starting point. The specific implementation steps are as follows:

[0076] S41. Use the [CONNECT] instruction in the RAPID programming environment of the ABB robot to associate the interrupt identifier [intnum_3] with the interrupt program in the X direction, and then use the [ISIGNALDI] instruction to associate the interrupt identifier with the sensor [jigunag1] signal, where 1 is a high level and 0 is a low level;

[0077] S42. When the IO signal is triggered, that is, when the sensor signal is received, the interrupt program in the X direction is triggered. In the interrupt calibration program in the X direction, the [STOPMOVE] instruction is used to stop the movement of the robot and assign the current X direction position to [jiyi_X], and the [ganyin] signal is set to TRUE; the [jiyi_X] is a variable that records the X direction position data value, and the [ganyin] signal is a variable that reflects the successful completion of the calibration step of a certain direction such as X, Y, and Z during the robot calibration process. The [ganyin] signal is set to TRUE, that is, a calibration completion signal is generated to indicate that the calibration in this direction has been completed.

[0078] S43. Start the robot movement through the [STARTMOVE] instruction, and close the identifier of the current interrupt program through [IDELETE] to interrupt the current interrupt program. In specific implementation, if the robot fails to successfully enter the calibration program in the X direction due to some reasons such as the sensor signal is not triggered, the interrupt program is not correctly associated, etc. when trying to perform the calibration step in the X direction, that is, the [ganyin] signal cannot be set to TRUE, then the dispensing robot will automatically perform three round trips. After each movement, the [INCR] instruction is used to increase the attempt counter; that is, the [INCR] instruction is used to add 1; if all three attempts fail, the system will trigger an alarm and instruct the dispensing robot to return to the origin.

[0079] S44, repeat steps S41 to S43, and perform position calibration in the Y direction and the Z direction respectively.

[0080] S5. Determine whether it is necessary to calculate the compensation value according to the flag indicating whether it is the first calibration, and save the current position data or the compensation value; if it is the first calibration, save the current position data; if it is not the first calibration, calculate the compensation value and save it.

[0081] S6. After the calibration is completed, the dispensing robot is controlled to return to the original position and prepare for the next dispensing operation.

[0082] Because the compensation values ​​obtained in our calibration procedure are applied to all varieties, if a new variety is added, the glue tip compensation value and glue tip position of the previously debugged variety cannot be confirmed. We need to use the current compensation value to subtract the value of the dispensing position XYZ, and then save the dispensing position, which undoubtedly increases the time for debugging the new variety. Therefore, as a preferred implementation, the control method of this case also includes the following steps for debugging and compatibility of the dispensing position of the new variety:

[0083] S71. When adding a new variety, the PLC control module only needs to pull up the first rubber head assignment signal [command{8}] of the added variety, and the current rubber head can be used to debug the point;

[0084] S72. After debugging is completed, pull the first glue head assignment signal [command{8}] low, and at the same time pull the glue head calibration signal of the new variety high [command{9}] to make it compatible with all previous varieties.

[0085] As a specific implementation, step S71 further includes the following sub-steps:

[0086] Use the current compensation value to subtract the XYZ value of the dispensing position to get the new dispensing position;

[0087] Save new dispensing locations for later use.

[0088] As mentioned above, the method of this case receives the sensor signal through the interrupt processing module and triggers the interrupt program to perform position calibration. This mechanism simplifies the complex loops and conditional judgments in traditional programming, thereby reducing the workload of code writing. In addition, the code is further simplified by calling and coordinating various instructions, which is simple to maintain and compatible with other types that need to be replaced later. In this case, debugging can be achieved by simply raising and then lowering the first rubber head assignment signal through the PLC control module; and by raising the calibration signal of the new variety of rubber head, compatibility with previous varieties can be achieved. The debugging and compatibility process is simple and fast, which significantly improves production efficiency and flexibility. The method of this case also has a calibration processing and alarm mechanism to promptly resolve and feedback problems when they occur during the calibration process.

[0089] Embodiment 3

[0090] like Figure 2As shown, a control system includes:

[0091] A memory 601 storing executable program codes;

[0092] a processor 602 coupled to the memory 601;

[0093] The processor 602 calls the executable program code stored in the memory 601 to execute a dispensing control method based on interrupt control in the second embodiment.

[0094] An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute a dispensing control method based on interrupt control according to a second embodiment.

[0095] Embodiment 4

[0096] The embodiments of the present invention further disclose a computer program product, wherein when the computer program product is run on a computer, the computer is enabled to execute part or all of the steps of the methods in the above method embodiments.

[0097] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory Read-Only Memory, ROM, a random access memory Random Access Memory, RAM, a programmable read-only memory Programmable Read-only Memory, PROM, an erasable programmable read-only memory Erasable Programmable Read Only Memory, EPROM, a one-time programmable read-only memory One-time programmable read-only memory, OTPROM, an electronically-erasable programmable read-only memory Electrically-Erasable Programmable Read-Only Memory, EEPROM, a compact disc read-only memory, CD-ROM or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0098] The present invention realizes an efficient and accurate dispensing control system by integrating multiple functional modules and adopting interrupt control technology. The system can automatically calibrate the glue head, reduce the technicians' repeated work, improve production efficiency, and ensure the accuracy of the dispensing position and the consistency of product quality. In addition, through the PLC control module, new varieties can be easily added and the dispensing position can be adjusted to meet the diversified production needs.

[0099] The above is a detailed introduction to a dispensing control system and control method based on interruption control disclosed in an embodiment of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A dispensing control system based on interruption control, characterized in that: include: A robot control module (1), used for controlling the movement of the dispensing robot; A sensor module (2), comprising at least one sensor, used to detect the position or state of the dispensing robot and generate a corresponding signal; An interrupt processing module (3) is connected to the robot control module (1) and the sensor module (2) and is used to receive sensor signals and trigger an interrupt program; A storage module (4), used for storing the first calibration position data and compensation value; The PLC control module (5) is used to receive external instructions and control signal assignment to achieve debugging and compatibility of new types of dispensing positions.

2. The dispensing control system according to claim 1, characterized in that: The dispensing robot is an ABB robot; the interruption program includes the steps of stopping movement, saving position data, starting movement and interruption processing.

3. The dispensing control system according to claim 2, characterized in that: The interrupt processing module (3) specifically implements the following functions: Use the [CONNECT] instruction to associate the interrupt identifier with the interrupt procedure; Use the [ISIGNALDI] instruction to associate the sensor signal with an interrupt identifier; When receiving the sensor signal, the interrupt program is triggered, the movement of the dispensing robot is stopped through the [STOPMOVE] instruction, and the current position data is saved to the storage module; After completing the position data saving, restart the dispensing robot through the [STARTMOVE] command; Use the [IDELETE] instruction to interrupt the current interrupt program to prevent it from entering an infinite loop.

4. The dispensing control system according to claim 3, characterized in that: The storage module (4) also stores a flag indicating whether it is the first calibration, which is used to determine whether the compensation value needs to be calculated.

5. The dispensing control system according to claim 4, characterized in that: The interrupt processing module (3) also includes interrupt programs in the X direction, the Y direction and the Z direction, which are respectively used to trigger position calibration in the corresponding direction when a sensor signal in the corresponding direction is received.

6. A dispensing control method based on interruption control, characterized in that: The dispensing control system as claimed in claim 5 comprises the following steps: S1, initialize the system, set the signal and the flag bit of whether it is the first calibration to 0; S2. Close all interrupt programs and set the initial value of the variable in the interrupt program to 0; S3, control the dispensing robot to return to the origin position, and plan the path from the origin to the calibration starting position and the starting point position; S4, using the interrupt processing module to receive the sensor signal and trigger the interrupt program to perform position calibration in the X direction; after the X direction position calibration is completed, taking the X direction position as the starting point, perform position calibration in the Y direction and the Z direction; S5. Determine whether a compensation value needs to be calculated based on the flag indicating whether it is the first calibration, and save the current position data or the compensation value; S6. After the calibration is completed, control the dispensing robot to return to the original position.

7. The dispensing control method according to claim 6, characterized in that: The following steps are also included: S71. When adding a new variety, the PLC control module receives external instructions, pulls up the first rubber head assignment signal of the added variety, and performs point debugging; S72. After debugging is completed, the first glue head assignment signal is pulled low, and the new variety glue head calibration signal is pulled high to achieve compatibility with the previous variety.

8. The control method according to claim 6, characterized in that: In step S71, the following sub-steps are also included: Use the current compensation value to subtract the XYZ value of the dispensing position to get the new dispensing position; Save new dispensing locations for later use.

9. The dispensing control method according to claim 6, characterized in that: The following steps are also included: During the position calibration process in the X, Y and Z directions, if the sensor signal is not received within the specified time, an alarm is triggered and the dispensing robot is controlled to return to the origin position.

10. The dispensing control method according to claim 6, characterized in that: Step S4: using the interrupt processing module to receive the sensor signal and trigger the interrupt program to perform position calibration in the X direction; After the X-direction position calibration is completed, the Y-direction and Z-direction position calibration is performed with the X-direction position as the starting point, including: S41, use the [CONNECT] instruction to associate the interrupt identifier with the interrupt program in the X direction, and use the [ISIGNALDI] instruction to associate the sensor signal with the interrupt identifier; S42, when receiving the sensor signal, triggering the interrupt program in the X direction, stopping the movement of the dispensing robot, saving the current position data in the X direction, and setting the calibration completion signal; S43, start the robot movement through the [STARTMOVE] instruction, and use the [IDELETE] instruction to interrupt the current interrupt program; S44, repeat steps S41 to S43, and perform position calibration in the Y direction and the Z direction respectively.

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