Method for achieving glue line consistency through valve switching mode

Abstract

The invention relates to the field of glue dispensing, and particularly discloses a method for realizing glue line consistency through a switch valve mode, which comprises the following steps of: 1, setting glue dispensing parameters and switch valve parameters according to product requirements, converting the corresponding parameters into a motion control instruction, and sending the motion control instruction to a motion control board card through a PCIe (Peripheral Component Interconnect Express) interface; 2, after receiving the motion control instruction, the motion control board card converts the motion control instruction into a pulse / direction signal through analysis and operation and transmits the pulse / direction signal to a driver, and after the driver receives the signal of the motion control board card, the driver executes the dispensing action according to the pulse width and direction of the signal; 3, the DD motor detects the position of the rotor in real time through an encoder in the dispensing process and converts the position into a digital signal to be fed back to a driver, the driver compares the actual position with the planned position after receiving the signal, the position deviation is calculated, the output signal of the driver is adjusted according to the position deviation, the rotating speed and the direction of the DD motor are controlled, and the glue dispensing process is completed. And the process is continuously repeated to form a closed-loop control system.

Description

Technical Field

[0001] The invention belongs to the field of glue dispensing, and in particular relates to a method for achieving glue line consistency by switching valves. Background Art

[0002] In the fields of electronics manufacturing, automotive manufacturing, medical equipment, etc., glue dispensing processes are widely used in product bonding, sealing, filling, potting, coating, dripping, and line coating. The requirements for glue line width, glue volume, and glue line consistency are becoming increasingly extreme. For example, in the mobile terminal industry, due to factors such as the small radius of the glue arc of some products and the limited speed of the DD motor, glue accumulation is prone to occur during the glue dispensing process, resulting in uneven glue lines. In particular, the consistency of glue width, glue height, and glue shape between the arc and the straight edge is poor, which seriously affects the quality and appearance of the product. Although existing technologies can improve this problem by adjusting the glue dispensing air pressure, speed, trajectory parameters, etc., the effect is limited, and the debugging parameters are numerous and the operation is complicated. Summary of the Invention

[0003] The present invention provides a method for achieving glue line consistency by means of a switch valve, which solves the problem of glue accumulation that easily occurs in arc glue dispensing, and provides a method for achieving glue line consistency by means of a switch valve, thereby achieving consistency in the glue shape of arcs and straight edges, and improving product quality and aesthetics.

[0004] To solve the above problems, the present invention provides a technical solution as follows: a method for achieving glue line consistency by switching valves, the steps of which are as follows: Step 1: setting dispensing parameters and switch valve parameters according to product requirements, and converting the corresponding parameters into motion control instructions, which are sent to the motion control board through the PCIe interface;

[0005] Step 2: After the motion control board receives the motion control command, it converts it into a pulse / direction signal through analysis and calculation and transmits it to the driver. After the driver receives the signal from the motion control board, it performs the dispensing action according to the signal pulse width and direction;

[0006] Step 3: During the dispensing process, the DD motor detects the position of the rotor in real time through the encoder and converts it into a digital signal to feed back to the driver. After receiving the signal, the driver compares the actual position with the planned position, calculates the position deviation, and adjusts the driver's output signal based on the position deviation to control the speed and direction of the DD motor. This process is repeated continuously to form a closed-loop control system.

[0007] Preferably, step 3 further includes step 31: the driver feeds back the actual position to the motion control board in the form of a digital signal. After the motion control board receives the signal fed back by the driver, it compares the actual position with the valve closing angle. When the actual position of the DD motor is consistent with the preset valve closing angle, the motion control board outputs a signal to the dispensing controller. After receiving the signal, the dispensing controller executes the valve closing action. At this time, the dispensing axis maintains a moving state according to the dispensing planned position.

[0008] Step 32: The driver feeds back the actual position to the motion control board in the form of a digital signal. After receiving the signal fed back by the driver, the motion control board compares the actual position with the valve opening angle. When the actual position of the DD motor is consistent with the preset valve opening angle, the motion control board outputs a signal to the dispensing controller. After receiving the signal, the dispensing controller executes the valve opening action. At this time, the dispensing axis system maintains the motion state according to the dispensing planned position.

[0009] Preferably, the corresponding parameters in step 1 include dispensing trajectory, set dispensing position, dispensing air pressure and dispensing running speed, acceleration corresponding data.

[0010] Preferably; Step 2: After the motion control board receives the motion control instruction, it is converted into a pulse / direction signal through analysis and calculation and transmitted to the driver, wherein the steps of the analysis and calculation conversion process are as follows:

[0011] 4) Conversion of planning position to command signal;

[0012] 5) Calculation process

[0013] 6) Send pulse / direction signal;

[0014] The conversion from planned position to command signal is as follows: the motion control board receives the dispensing trajectory information sent from the PCIe interface. The dispensing trajectory information includes the position coordinates, speed, and acceleration parameters of each node on the dispensing path; and converts the dispensing trajectory information into command signals that the driver can understand - namely, pulse and direction signals.

[0015] Preferably; 2) the calculation process, the steps are as follows:

[0016] 21) Calculate the required number of pulses;

[0017] 22) Determine direction signal;

[0018] 23) Assign pulse sequence;

[0019] 24) Realize speed control; control the motor speed by adjusting the pulse frequency per unit time

[0020] Among them, 21) calculates the required number of pulses. First, calculate the total number of pulses required to reach the next target position from the current position. The current actual position is θact, the target position is θref, and each unit angle corresponds to N pulses. The required number of pulses P can be calculated by the following formula:

[0021] P=N×(θref-θact)

[0022] If θref is less than θact, reverse rotation is required. 23) Determine the direction signal: Determine the state of the direction signal based on the direction of change of the target position relative to the current position; if the target position is greater than the current position, set the direction signal to forward rotation; otherwise, it is reverse rotation.

[0023] Preferably; 23) distributes the pulse sequence, the motion control board will distribute the pulse according to the set speed and acceleration curve; the distributed pulse is gradually issued at predetermined time intervals to form a continuous but controlled pulse stream.

[0024] Preferably; 3) sending pulse / direction signals, the motion control board sends the calculated pulse sequence together with the corresponding direction signal to the driver through its output port; the driver receives these signals and drives the DD motor to rotate in the expected manner accordingly.

[0025] Preferably, the motion control board sends the calculated pulse sequence together with the corresponding direction signal to the driver through its output port; wherein the calculation is converted into a pulse / direction signal, including:

[0026] Parse commands from the PCIe interface (such as dispensing paths) into specific target locations;

[0027] Calculate the required number of pulses based on the difference between the current position and the target position;

[0028] Set the direction signal to indicate the direction of rotation;

[0029] Distribute pulse sequences according to the set speed and acceleration curves;

[0030] Finally, this information is transmitted to the driver in the form of pulse / direction signals to ensure that DD

[0031] The motor is able to accurately follow the planned path.

[0032] Preferably, in step 31, when executing the preset valve closing angle in the arc trajectory, check whether the actual position at this time has reached the planned position; the preset valve closing angle θ close , then the judgment condition can be written as:

[0033] If|θ act (t)-θclose <∈;

[0034] Here ∈ is a small positive threshold value, which is used to indicate the maximum allowable error range. If the above condition is met, that is, the difference between the actual position and the expected valve closing angle is less than the set threshold, then the two are considered to match.

[0035] When the matching state is confirmed, the motion control board will send a valve closing instruction to the dispensing controller, and the motion control board will trigger the dispensing controller to execute the valve closing operation. Preferably; Step 32: When executing a preset valve opening angle in the arc trajectory, check whether the actual position at this time has reached the planned position; the preset valve opening angle β close , then the judgment condition can be written as:

[0036] If│β act (t)-β close │<∈

[0037] Here, ∈ is a positive threshold value, which is used to indicate the maximum allowable error range. If the above conditions are met, that is, the difference between the actual position and the expected valve opening angle is less than the set threshold, the two are considered to match. When the matching state is determined, the motion control board will send a valve opening instruction to the dispensing controller, and the motion control board will trigger the dispensing controller to perform the valve opening operation.

[0038] Compared with the prior art, the beneficial effect is that, by adopting the above-mentioned scheme, the present invention determines the angle of the switch valve according to the glue line effect, and realizes reducing the glue output at the arc position by precisely controlling the switch valve mode, solving the problem of easy glue accumulation in arc glue dot dispensing, and making the arc consistent with the straight edge glue line. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments or technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 It is a schematic diagram of the process of the present invention;

[0041] Figure 2 This is one of the schematic diagrams of Example 2 of the present invention;

[0042] Figure 3 This is an example of embodiment 2 of the present invention. Figure 2 . DETAILED DESCRIPTION

[0043] To facilitate understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described in this specification. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0044] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "fixed," "integrally formed," "left," "right," and similar expressions used in this specification are for illustrative purposes only. In the drawings, elements with similar structures are indicated by the same reference numerals.

[0045] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which the present invention pertains. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present invention.

[0046] like Figure 1 As shown, one embodiment of the present invention is as follows: Step 1: setting dispensing parameters and switch valve parameters according to product requirements, and converting the corresponding parameters into motion control instructions, and sending them to the motion control board through the PCIe interface;

[0047] It should be noted that the corresponding parameters include dispensing trajectory, setting dispensing position (i.e. planned position, also known as target position), setting dispensing air pressure and dispensing speed, acceleration and other parameters.

[0048] Step 2: After the motion control board receives the motion control command, it converts it into a pulse / direction signal through analysis and calculation and transmits it to the driver. After the driver receives the signal from the motion control board, it performs the dispensing action according to the signal pulse width and direction;

[0049] It should be noted that the driver is a DD motor driver;

[0050] Converted into pulse / direction signals through analysis and calculation and transmitted to the driver: the planned position is transmitted to the DD motor driver

[0051] The parsing and operation conversion process is as follows:

[0052] 1) Conversion of planning position to command signal

[0053] The motion control board receives the dispensing trajectory information sent from the PCIe interface. This information includes the position coordinates, speed, acceleration and other parameters of each node on the dispensing path. In order to enable the DD motor to move according to the preset trajectory, the position information must be converted to

[0054] This is converted into command signals—pulse and direction signals—that a specific driver can understand. Pulse signals are used to indicate the angular rotation of a stepper or servo motor. Each pulse represents a fixed angle increment, and the motor's speed is controlled by varying the number of pulses sent per unit time.

[0055] Direction signal: determines the direction of motor rotation, usually a binary value (for example, high level means clockwise, low level means counterclockwise).

[0056] 2) Calculation process

[0057] The motion control board performs the following operations to generate the correct pulse / direction signal combination: ⑤. Calculate the required number of pulses

[0058] First, calculate the total number of pulses required to reach the next target position from the current position. Assuming the current actual position is θact, the target position is θref, and each unit angle corresponds to N pulses, the required number of pulses P can be calculated using the following formula:

[0059] P=N×(θref-θact)

[0060] It should be noted here that if θref is less than θact, it means that reverse rotation is required, and the setting of the direction signal must also be considered.

[0061] B. Determine direction signal

[0062] The direction signal is determined based on the direction of change of the target position relative to the current position. If the target position is greater than the current position, the direction signal is set to forward rotation; otherwise, it is set to reverse rotation.

[0063] C. Assigning Pulse Sequences

[0064] The motion control board distributes these pulses according to a programmed velocity and acceleration profile. This means that rather than sending all pulses at once, they are gradually issued at predetermined intervals, creating a continuous but controlled pulse stream. This helps ensure smooth acceleration, uniform motion, and deceleration to a stop, avoiding the jerky forces caused by sudden starts or stops.

[0065] D. Achieve speed control

[0066] Motor speed is controlled by adjusting the pulse frequency per unit time. A higher pulse frequency corresponds to a faster speed, while a lower frequency slows down the motor. PWM (Pulse Width Modulation) technology can also be used to further refine speed control.

[0067] 3) Send pulse / direction signal

[0068] After completing the above calculations, the motion control board sends the calculated pulse sequence along with the corresponding direction signal through its output port to the driver. The driver receives these signals and uses them to drive the DD motor to rotate in the desired manner, thereby achieving precise position control. The process of converting the calculation into pulse / direction signals involves the following aspects:

[0069] Parse commands from the PCIe interface (such as dispensing paths) into specific target locations;

[0070] Calculate the required number of pulses based on the difference between the current position and the target position;

[0071] ●Set appropriate direction signal to indicate the direction of rotation;

[0072] ●Distribute pulse sequences according to the set speed and acceleration curves;

[0073] This information is ultimately transmitted to the driver in the form of pulse / direction signals to ensure that the DD motor can accurately track the planned path.

[0074] This process ensures highly precise and smooth motion control even under complex trajectories, which is crucial for improving dispensing accuracy and glue line consistency.

[0075] Step 3: During the dispensing process, in order to accurately control the on-off valve, the DD motor detects the rotor position (angle) in real time through the encoder and converts it into a digital signal to feed back to the driver. After receiving the signal, the driver compares the actual position (actual angle) with the planned position (planned angle), calculates the position deviation, and adjusts the driver's output signal based on the position deviation to control the speed and direction of the DD motor. This process is repeated continuously to form a closed-loop control system, so that the actual position of the DD motor is consistent with the planned position, thereby ensuring that the valve is opened or closed at a precise position.

[0076] It should be noted that: in order to ensure that the actual position of the DD motor can be as close to the planned position as possible and stably track the given dispensing trajectory; the output signal of the driver is adjusted according to the position deviation;

[0077] Current position deviation e(t) = actual position θact(t) - planned position θref(t);

[0078] The control signal u(t) is calculated based on the current position error e(t), the previous accumulated error, and the rate of change of the error to adjust the signal output by the driver to the DD motor, thereby controlling the speed and direction of the motor. The control signal formula is as follows:

[0079]

[0080] Kp is the proportional gain, which directly amplifies the error.

[0081] ·K i is the integral gain, which is used to eliminate static error.

[0082] ·K d is the derivative gain, which predicts future trends and reduces overshoot;

[0083] Proportional term K p e (t) directly reflects the magnitude of the current error; if there is a large gap between the current position and the target position, the proportional term will generate a large correction force, prompting the DD motor to move quickly toward the target position;

[0084] Integral Item All errors over time are accumulated. This helps to gradually accumulate small persistent errors until they are completely corrected. The integral action can effectively eliminate static errors and ensure accurate positioning even at low speed or when stopped;

[0085] differential term The rate of change of the predicted error, i.e., the likely future trend, helps suppress the impact of rapid changes, reduces overshoot, and improves system stability. When encountering sudden directional changes during dispensing, the differential term can help smooth the transition and avoid additional displacement caused by inertia.

[0086] During the dispensing process, the PID controller continuously monitors the actual position of the DD motor and compares it with the preset planned position. Once a deviation is detected, the DD motor's action is corrected by adjusting the output signal of the driver. Specifically:

[0087] ●When speeding up or slowing down is required: the proportional term will respond quickly, generating enough driving force to accelerate or decelerate the motor and move it toward the target position.

[0088] When approaching the target position but there is still a slight deviation: the integral term starts to play a role, gradually eliminating the remaining small errors to ensure the final positioning accuracy.

[0089] When encountering sharp turns or other complex path changes: The derivative term senses the upcoming change in advance and smoothly handles the speed and direction adjustments at the corner, ensuring the entire movement process is smooth and error-free.

[0090] It can quickly respond to errors, effectively eliminate static errors, and predict future trends, ensuring that the DD motor always moves precisely along the predetermined trajectory, providing a solid technical guarantee for achieving high-quality dispensing. By properly setting the Kp, Ki, and Kd parameters, control performance can be optimized according to specific dispensing requirements, improving system stability and reliability.

[0091] The above algorithm and steps not only enable rapid error response but also effectively eliminate static errors and predict future trends, ensuring that the DD motor always moves precisely along the predetermined trajectory, providing a solid technical foundation for high-quality dispensing. By properly setting the Kp, Ki, and Kd parameters, control performance can be optimized based on specific dispensing requirements, improving system stability and reliability.

[0092] Step 31: The driver feeds back the actual position to the motion control board in the form of a digital signal. After receiving the feedback signal from the driver, the motion control board compares the actual position with the valve closing angle. When the actual position of the DD motor is consistent with the preset valve closing angle, the motion control board outputs a signal to the dispensing controller. After receiving the signal, the dispensing controller executes the valve closing action. At this time, the dispensing axis maintains the motion state according to the dispensing planned position (i.e., the dispensing controller closes the valve and the motion is maintained);

[0093] It should be noted that when the system runs to a specific time point, such as when executing a preset valve closing angle in the arc trajectory, it is checked whether the actual position at this time has reached the planned position. For example, the preset valve closing angle θ close , then the judgment condition can be written as:

[0094] If|θ act (t)-θ close |<∈;

[0095] Here ∈ is a small positive threshold value that represents the maximum allowable error range. If the above condition is met, that is, the difference between the actual position and the expected valve closing angle is less than the set threshold, then the two are considered to match;

[0096] When the matching status is determined, the motion control board will send a valve closing instruction to the dispensing controller, and the motion control board will trigger the dispensing controller to perform the valve closing operation.

[0097] If the above conditions are not met, that is, the difference between the actual position and the expected closing angle is greater than the set threshold; keep the valve open or try to reposition the actuator.

[0098] Step 32: The driver feeds back the actual position to the motion control board in the form of a digital signal. After receiving the feedback signal from the driver, the motion control board compares the actual position with the valve opening angle. When the actual position of the DD motor is consistent with the preset valve opening angle, the motion control board outputs a signal to the dispensing controller. After receiving the signal, the dispensing controller executes the valve opening action. At this time, the dispensing axis maintains the motion state according to the dispensing planned position (i.e., the dispensing controller opens the valve and the motion is maintained);

[0099] It should be noted that when the system runs to a specific time point, such as when executing a preset valve opening angle in the arc trajectory, it is checked whether the actual position at this time has reached the planned position. For example, the preset valve opening angle β close , then the judgment condition can be written as:

[0100] If│β act (t)-β close │<∈

[0101] Here ∈ is a positive threshold value, which is used to indicate the maximum allowable error range. If the above condition is met, that is, the difference between the actual position and the expected valve opening angle is less than the set threshold, then the two are considered to match;

[0102] When the matching status is determined, the motion control board will send a valve opening instruction to the dispensing controller, and the motion control board will trigger the dispensing controller to perform the valve opening operation.

[0103] If the above conditions are not met, that is, the difference between the actual position and the expected valve closing angle is greater than the set threshold; keep the valve closed or try to reposition the actuator.

[0104] Implementation example Figure 2-3 As shown: Set a dispensing trajectory (i.e. planned position), set parameters such as speed, acceleration, and air pressure, set the arc valve closing angle to 20 degrees, the valve opening angle to 70 degrees, and start dispensing at the straight edge 0 degree open valve state. When entering the arc dispensing:

[0105] ⑤ When the DD motor is dispensing glue from 0 degrees straight edge and turning from 0 degrees to 20 degrees, the dispensing controller is in the valve open state.

[0106] ② When the DD motor rotates to 20 degrees, the motion control board receives the actual position signal fed back by the driver and compares the actual position with the valve closing angle. When the actual position of the DD motor is consistent with the preset valve closing angle, the motion control board outputs a signal to the dispensing controller. After receiving the signal, the dispensing controller executes the valve closing action. At this time, the dispensing axis maintains the motion state according to the dispensing planned position (that is, the dispensing controller is in the valve closing state and the motion is maintained);

[0107] ③When the DD motor rotates from 20 degrees to 70 degrees, the dispensing controller is in the valve-off state and the movement is maintained;

[0108] ④ When the DD motor rotates to 70 degrees, the motion control board receives the actual position signal fed back by the driver and compares the actual position with the valve opening angle. When the actual position of the DD motor is consistent with the preset valve opening angle, the motion control board outputs a signal to the dispensing controller. After receiving the signal, the dispensing controller executes the valve opening action. At this time, the dispensing axis maintains the motion state according to the dispensing planned position (that is, the dispensing controller is in the valve opening state and the motion is maintained);

[0109] ⑤ During the process of DD motor dispensing from 70 degrees to 90 degrees and straight edge dispensing, it is in the open valve state and the movement is maintained.

[0110] The switch valve angle is determined according to the glue line effect, and the glue output at the arc position is reduced by accurately controlling the switch valve mode, solving the problem of easy glue accumulation in arc gluing, and making the arc consistent with the straight edge glue line.

[0111] It should be noted that the above-mentioned technical features are further combined with each other to form various embodiments not listed above, which are all regarded as the scope of the present invention; and, for ordinary technicians in this field, they can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A method for achieving glue line consistency by switching valves, characterized in that; The steps are as follows: Step 1: According to product requirements, set dispensing parameters and switch valve parameters, and convert the corresponding parameters into motion control instructions, and send them to the motion control board through the PCIe interface; Step 2: After the motion control board receives the motion control command, it converts it into a pulse / direction signal through analysis and calculation and transmits it to the driver. After the driver receives the signal from the motion control board, it performs the dispensing action according to the signal pulse width and direction; Step 3: During the dispensing process, the DD motor detects the position of the rotor in real time through the encoder and converts it into a digital signal to feed back to the driver. After receiving the signal, the driver compares the actual position with the planned position, calculates the position deviation, and adjusts the output signal of the driver according to the position deviation to control the speed and direction of the DD motor. This process is repeated continuously to form a closed-loop control system.

2. A method for achieving glue line consistency by switching valves according to claim 1, characterized in that; Step 3 also include Step 31: The driver feeds back the actual position to the motion control board in the form of a digital signal. After receiving the feedback signal from the driver, the motion control board compares the actual position with the valve closing angle. When the actual position of the DD motor is consistent with the preset valve closing angle, the motion control board outputs a signal to the dispensing controller. After receiving the signal, the dispensing controller executes the valve closing action. At this time, the dispensing axis keeps moving according to the dispensing planned position. Step 32: The driver feeds back the actual position to the motion control board in the form of a digital signal. After receiving the feedback signal from the driver, the motion control board compares the actual position with the valve opening angle. When the actual position of the DD motor is consistent with the preset valve opening angle, the motion control board outputs a signal to the dispensing controller. After receiving the signal, the dispensing controller executes the valve opening action. At this time, the dispensing axis system maintains the moving state according to the dispensing planned position.

3. A method for achieving glue line consistency by switching valves according to claim 1, characterized in that; The corresponding parameters in step 1 include dispensing trajectory, set dispensing position, dispensing air pressure, dispensing running speed, and acceleration data.

4. A method for achieving glue line consistency by switching valves according to claim 1, characterized in that; Step 2: After the motion control board receives the motion control command, it converts it into a pulse / direction signal through analysis and calculation and transmits it to the driver. The steps of the analysis and calculation conversion process are as follows: 1) Conversion of planning position to command signal; 2) Operation process; 3) Send pulse / direction signal; Among them, 1) the conversion from planned position to command signal is specifically as follows: the motion control board receives the dispensing trajectory information sent from the PCIe interface, and the dispensing trajectory information includes the position coordinates, speed, and acceleration parameters of each node on the dispensing path; and converts the dispensing trajectory information into command signals that can be understood by the driver, namely pulse and direction signals.

5. A method for achieving glue line consistency by switching valves according to claim 4, characterized in that; 2) The calculation process, the steps are as follows: 21) Calculate the required number of pulses; 22) Determine the direction signal; 23) assigning pulse sequences; 24) Realize speed control; control the motor speed by adjusting the pulse frequency per unit time Among them, 21) calculates the required number of pulses. First, the total number of pulses required to reach the next target position from the current position is calculated. The current actual position is θact, the target position is θref, and each unit angle corresponds to N pulses. The required number of pulses P can be calculated by the following formula: P = N × (θref - θact) If θref is less than θact, reverse rotation is required. 22) Determine the direction signal: Determine the state of the direction signal based on the direction of change of the target position relative to the current position; if the target position is greater than the current position, set the direction signal to forward rotation; otherwise, set it to reverse rotation.

6. A method for achieving glue line consistency by switching valves according to claim 5, characterized in that; 23) Allocate pulse sequence. The motion control board will allocate pulses according to the set speed and acceleration curve. The allocated pulses are gradually issued at predetermined time intervals to form a continuous but controlled pulse stream.

7. A method for achieving glue line consistency by switching valves according to claim 4, characterized in that; 3) Send pulse / direction signal. The motion control board sends the calculated pulse sequence together with the corresponding direction signal to the driver through its output port; the driver receives these signals and drives the DD motor to rotate in the expected manner accordingly.

8. A method for achieving glue line consistency by switching valves according to claim 7, characterized in that; The motion control board sends the calculated pulse sequence together with the corresponding direction signal to the driver through its output port; the calculation is converted into pulse / direction signal, including: Parse the commands from the PCIe interface (such as dispensing path) into specific target locations; According to the difference between the current position and the target position, the required number of pulses is calculated; Set the direction signal to indicate the direction of rotation; Distribute pulse sequences according to the set speed and acceleration curves; This information is ultimately transmitted to the driver in the form of pulse / direction signals, ensuring that the DD motor can accurately track the planned path.

9. A method for achieving glue line consistency by switching valves according to claim 2, characterized in that; In step 31, when executing the preset valve closing angle in the arc trajectory, check whether the actual position at this time has reached the planned position; the preset valve closing angle θ close , then the judgment condition can be written as: If|θ act (t)-θ close |<∈ Here ∈ is a small positive threshold value, which is used to indicate the maximum allowable error range; if the above condition is met, that is, the difference between the actual position and the expected valve closing angle is less than the set threshold, then the two are considered to match; When the matching status is determined, the motion control board will send a valve closing instruction to the dispensing controller, and the motion control board will trigger the dispensing controller to perform the valve closing operation.

10. A method for achieving glue line consistency by switching valves according to claim 2, characterized in that; Step 32: When executing a preset valve opening angle in the arc trajectory, check whether the actual position at this time has reached the planned position; the preset valve opening angle β close , then the judgment condition can be written as: If│b act (t)-β close │<∈ Here ∈ is a positive threshold value, which is used to indicate the maximum allowable error range. If the above conditions are met, that is, the difference between the actual position and the expected valve opening angle is less than the set threshold, the two are considered to match. When the matching state is determined, the motion control board will send a valve opening instruction to the dispensing controller, and the motion control board will trigger the dispensing controller to perform the valve opening operation.

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