Automatic glue filling method of multi-valve dispensing machine

Abstract

The present invention relates to the field of dispensing technology, and in particular to an automatic glue filling method for a multi-valve dispensing machine. The method comprises the following steps: real-time collection of information on the dispensing operation of each dispensing valve; when an abnormality occurs in a dispensing valve during the dispensing operation, latching the operation information of the dispensing product of the abnormal dispensing valve operation, obtaining the latched operation information of the abnormal dispensing valve, determining the dispensing area of ​​the abnormal dispensing valve as the area to be filled based on the latched operation information, and obtaining the glue filling operation parameters of the product to be filled in the area to be filled; obtaining the glue residue of each normal dispensing valve and determining the glue filling dispensing valve; performing operation coordinate correction on the glue filling operation parameters based on the coordinate position of the abnormal dispensing valve and the coordinate position of the glue filling dispensing valve, and controlling the glue filling dispensing valve to fill the product to be filled based on the glue filling operation parameters after the operation coordinate correction. The present invention has high glue filling efficiency, reduces labor costs, and can improve the product yield.

Description

Technical Field

[0001] The present invention relates to the technical field of product dispensing, and in particular to an automatic glue replenishing method for a multi-valve glue dispensing machine. Background Art

[0002] A dispensing machine is a process equipment used in product manufacturing. Its application covers processes such as bonding, potting, coating, sealing, filling, dispensing, and marking glue. The dispensing machine has a decisive impact on the efficiency, precision, and process of dispensing glue. Many products that require dispensing are arranged in an array in an operating area, and then dispensed through a dispensing valve.

[0003] During dispensing machine operation, the machine may encounter uncontrollable factors. For example, if a component related to the dispensing head experiences an anomaly, the system will immediately stop dispensing once it detects this condition. This can result in incomplete dispensing for some products. Typically, a product's dispensing process involves multiple tracks, some of which require repeated dispensing. Because the dispensing process is pre-configured within the dispensing system, when an anomaly occurs, the dispenser ensures the completion of the currently active track, meaning it completes the dispensing operation for the track in question. However, the remaining tracks may not be able to continue dispensing. Existing technology primarily relies on manual refilling. Operators must first check which tracks on which products have incomplete dispensing, then reprogram the process to refill the missed tracks. This method is not only time-consuming and inefficient, but also requires extremely careful operators and is prone to errors. For example, refilling missed tracks incorrectly, inaccurate tracks, or inappropriate amounts of glue can result in low product yields and high labor costs. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to solve the technical problems of the existing technology, which is not only time-consuming, inefficient in glue filling, prone to errors, resulting in low product yield, but also high labor costs. The present invention provides an automatic glue filling method for a multi-valve glue dispensing machine, which can automatically fill glue, improve glue filling efficiency, reduce labor costs, and improve product yield.

[0005] According to the automatic glue filling method of the multi-valve dispensing machine of the embodiment of the present invention, the number of dispensing valves is at least two, and each dispensing valve is controlled to perform a dispensing operation on the product to be dispensed in the corresponding dispensing area;

[0006] The automatic glue filling method comprises the following steps:

[0007] Collect the dispensing operation information of each dispensing valve in the corresponding dispensing area in real time. When one of the dispensing valves has an abnormality during the dispensing operation, control the abnormal dispensing valve to stop working, and lock the operation information of the dispensing product of the abnormal dispensing valve;

[0008] Obtaining latched operation information of the abnormal dispensing valve, determining the dispensing area of ​​the abnormal dispensing valve as the area to be filled based on the latched operation information, and obtaining filling operation parameters of the product to be filled in the area to be filled;

[0009] Obtain the remaining glue amount in the glue cylinder after each normal dispensing valve completes the dispensing operation in the corresponding dispensing area;

[0010] According to the glue remaining in the glue cylinder of each normal dispensing valve, select a normal dispensing valve used for the area to be glued as the glue dispensing valve;

[0011] Based on the coordinate position of the abnormal dispensing valve and the coordinate position of the glue dispensing valve, the glue dispensing valve is controlled to automatically dispense glue to the product to be dispensed based on the glue dispensing valve's corrected operating coordinates.

[0012] The beneficial effect of the present invention is that the automatic glue filling method of the multi-valve dispensing machine of the present invention can avoid the problems of long time consumption, low dispensing efficiency, and easy error, which leads to poor product quality, compared with the existing manual glue filling method. When an abnormality occurs in a certain dispensing valve during the dispensing operation, the operation information of the dispensing product can be latched, and glue can be filled based on the glue filling operation parameters of the abnormal dispensing valve through the normally working dispensing valve, thereby improving the glue filling efficiency, reducing labor costs, and improving the product yield.

[0013] According to one embodiment of the present invention, the multi-valve dispensing machine includes: a three-axis motion mechanism, the three-axis motion mechanism including a first drive mechanism driven along a first direction, a second drive mechanism driven along a second direction, and a plurality of third drive mechanisms driven along a third direction, the first drive mechanism being slidably disposed on the second drive mechanism, and the plurality of third drive mechanisms being slidably disposed on the first drive mechanism;

[0014] Each of the third driving mechanisms is connected to a dispensing valve.

[0015] According to one embodiment of the present invention, based on the coordinate position of the abnormal dispensing valve and the coordinate position of the dispensing valve, performing operation coordinate correction on the dispensing operation parameters of the product to be dispensing glue comprises the following steps:

[0016] Obtain the coordinate positions of the abnormal dispensing valve and the glue-replenishing dispensing valve in the first direction, calculate the coordinate difference between the abnormal dispensing valve and the glue-replenishing dispensing valve in the first direction, and correct the operating coordinates of the glue-replenishing dispensing valve when it moves to the area to be glued according to the coordinate difference.

[0017] According to one embodiment of the present invention, each Z-axis mounting assembly of the third driving mechanism is installed with a fine-tuning mechanism, the adjustment direction of the fine-tuning mechanism is consistent with the driving direction of the second driving mechanism, and the dispensing valve is installed on the fine-tuning mechanism;

[0018] Obtain the coordinate positions of the abnormal dispensing valve and the glue replenishing dispensing valve in the first direction and the second direction, determine the angle formed by the straight line formed by the two coordinate positions and the first driving mechanism, and calculate the coordinate difference and angle between the abnormal dispensing valve and the glue replenishing dispensing valve in the first direction and the second direction, and correct the operating coordinates of the glue replenishing dispensing valve when it moves to the area to be glued based on the coordinate difference and the angle.

[0019] According to one embodiment of the present invention, the coordinate values ​​of the glue filling operation parameters of the glue filling dispensing valve in the Z direction are corrected according to the tool setting height difference between the abnormal glue dispensing valve and the glue filling dispensing valve.

[0020] According to one embodiment of the present invention, the latched operation information of the abnormal dispensing valve includes: operation information of abnormal operation of the dispensing product and operation information of non-dispensing operation.

[0021] According to one embodiment of the present invention, obtaining the glue remaining amount in the glue cylinder after each normal dispensing valve completes the dispensing operation in the corresponding dispensing area includes:

[0022] Obtaining the remaining amount of glue in the rubber cylinder by means of a liquid level detector installed on the rubber cylinder;

[0023] Alternatively, the remaining glue amount in the rubber cylinder can be calculated by obtaining the number of needle strikes generated by the dispensing valve during the dispensing operation and combining it with the single glue output of the dispensing valve.

[0024] According to one embodiment of the present invention, the glue remaining amounts in the glue cylinders of the normal dispensing valves are compared, and the normal dispensing valve with the largest glue remaining amount in the glue cylinder is selected as the glue replenishing dispensing valve.

[0025] According to one embodiment of the present invention, when an abnormality occurs in one of the dispensing valves during the dispensing operation, the abnormal dispensing valve continues to perform a single dispensing operation on the single product to be dispensed currently in operation until the dispensing of the current single product to be dispensed is completed, and then the abnormal dispensing valve is controlled to stop operating.

[0026] According to one embodiment of the present invention, when the first driving mechanism is an X-direction driving mechanism, the second driving mechanism is a Y-direction driving mechanism;

[0027] Alternatively, when the first driving mechanism is a Y-direction driving mechanism, the second driving mechanism is an X-direction driving mechanism.

[0028] According to one embodiment of the present invention, obtaining the coordinate positions of the abnormal dispensing valve and the glue replenishing dispensing valve in the first direction includes:

[0029] Setting a reference point on the dispensing operation platform of the multi-valve dispensing machine;

[0030] Move each dispensing valve to the reference point to obtain a first reference coordinate of each dispensing valve;

[0031] Then obtain the starting position of each dispensing valve corresponding to the dispensing area;

[0032] The coordinate position of each dispensing valve in the first direction is obtained based on the first reference coordinate and the starting point position of the dispensing area corresponding to each dispensing valve.

[0033] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below with reference to the accompanying drawings and examples.

[0036] Figure 1 It is a schematic diagram of the method flow of embodiment 1 of the present invention.

[0037] Figure 2 It is a structural schematic diagram of a multi-valve dispensing machine according to embodiment 1 of the present invention.

[0038] In the figure, 31 is the first driving mechanism; 32 is the second driving mechanism; 33 is the third driving mechanism. DETAILED DESCRIPTION

[0039] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0041] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0042] Example 1

[0043] An embodiment of the present application provides an automatic glue replenishing method for a multi-valve dispensing machine, where the number of dispensing valves is at least two, and each dispensing valve is controlled to perform a dispensing operation on a product to be dispensed within a corresponding dispensing area.

[0044] The automatic glue filling method includes the following steps:

[0045] The dispensing operation information of each dispensing valve in the corresponding dispensing area is collected in real time. When one of the dispensing valves has an abnormality during the dispensing operation, the abnormal dispensing valve is controlled to stop operating, and the operation information of the dispensing product of the abnormal dispensing valve is locked.

[0046] It should be noted that in order to ensure the integrity of the ongoing dispensing trajectory, when one of the dispensing valves malfunctions during the dispensing operation, the abnormal dispensing valve will continue to perform a single dispensing operation on the single product to be dispensed currently in operation until the dispensing of the current single product to be dispensed is completed, and then the abnormal dispensing valve will be controlled to stop the operation.

[0047] Obtain the latched operation information of the abnormal dispensing valve, determine that the dispensing area of ​​the abnormal dispensing valve is the area to be filled based on the latched operation information, and obtain the filling operation parameters of the product to be filled in the area to be filled; wherein, the latched operation information of the abnormal dispensing valve includes: operation information of abnormal operation of the dispensing product and operation information of non-dispensing operation.

[0048] Obtain the remaining glue amount in the glue cylinder after each normal dispensing valve completes the dispensing operation in the corresponding dispensing area.

[0049] According to the remaining glue amount in the glue barrels of each normal dispensing valve, a normal dispensing valve used for the area to be refilled is selected as the refilling dispensing valve; if the remaining glue amount in the glue barrels of each normal dispensing valve is compared, the normal dispensing valve with the largest remaining glue amount in the glue barrel is selected as the refilling dispensing valve.

[0050] Based on the coordinate position of the abnormal dispensing valve and the coordinate position of the glue dispensing valve, the glue replenishing operation parameters of the product to be replenished are corrected in the operation coordinates, and the glue dispensing valve is controlled to automatically replenish the product to be replenished based on the glue replenishing operation parameters after the operation coordinate correction.

[0051] In this embodiment, the number of dispensing valves is at least two. Figure 2 As shown, the multi-valve dispensing machine includes a three-axis motion mechanism, which includes a first drive mechanism 31 that drives in a first direction, a second drive mechanism 32 that drives in a second direction, and multiple third drive mechanisms 33 that drive in a third direction. The first drive mechanism 31 is slidably mounted on the second drive mechanism 32, and the multiple third drive mechanisms 33 are slidably mounted on the first drive mechanism 31. Each third drive mechanism 33 is connected to a dispensing valve. The first direction is perpendicular to the second direction.

[0052] In this embodiment, the dispensing valves correspond to the third drive mechanisms 33 one by one, and the dispensing valves are installed on the corresponding third drive mechanisms. The multiple third drive mechanisms are slidably arranged on the first drive mechanism. At this time, each dispensing valve is on the same horizontal line, which can achieve synchronous operation of each dispensing valve on the dispensing product. Based on the coordinate position of the abnormal dispensing valve and the coordinate position of the dispensing valve, the operation coordinate correction of the dispensing operation parameters of the product to be dispensing is performed, which specifically includes the following steps:

[0053] The coordinate positions of the abnormal dispensing valve and the refilling dispensing valve in the first direction are obtained, and the coordinate difference between the abnormal dispensing valve and the refilling dispensing valve in the first direction is calculated. Based on the coordinate difference, the operating coordinates of the refilling dispensing valve when moving to the area to be refilled are corrected. This embodiment can correct the operating coordinates of the refilling operation parameters in the first direction (X or Y) of the refilling product.

[0054] Furthermore, obtaining the coordinate positions of the abnormal dispensing valve and the replenishing dispensing valve in the first direction includes:

[0055] Set a reference point on the dispensing work platform of the multi-valve dispensing machine.

[0056] Move each dispensing valve to a reference point to obtain the first reference coordinate of each dispensing valve.

[0057] Then obtain the starting position of the dispensing area corresponding to each dispensing valve.

[0058] The coordinate position of each dispensing valve in the first direction is obtained based on the first reference coordinate and the starting point position of the dispensing area corresponding to each dispensing valve.

[0059] In this embodiment, the third driving mechanism is a Z-direction driving mechanism. When the first driving mechanism 31 is an X-direction driving mechanism, the second driving mechanism 32 is a Y-direction driving mechanism; or when the first driving mechanism 31 is a Y-direction driving mechanism, the second driving mechanism 32 is an X-direction driving mechanism.

[0060] In this embodiment, the amount of glue in the glue cylinder after each dispensing valve completes the dispensing operation under normal operation is obtained, which includes:

[0061] The remaining amount of glue in the rubber cylinder is obtained through a liquid level detector installed on the rubber cylinder.

[0062] Alternatively, the remaining glue amount in the glue barrel is calculated by obtaining the number of strikes generated by the dispensing valve during the dispensing operation and the single glue output of the dispensing valve. Specifically, the consumed glue amount in the barrel is calculated based on the number of strikes generated by each dispensing valve during the dispensing operation and the glue output of the dispensing valve, and then the amount of glue remaining in the dispensing valve glue barrel is obtained by subtracting the consumed glue amount from the total glue amount. If the single glue output of the dispensing valve is G, and the number of strikes generated by the dispensing valve for the current dispensing area is N, then the amount of glue currently consumed by the dispensing valve in the glue barrel is G*N1. Wait for the next polling and repeat this step. If the number of strikes generated by the dispensing valve for the next dispensing area is N2, then the amount of glue consumed by the next dispensing valve in the glue barrel is G*N2. Let the total glue amount be G 总 , the amount of glue remaining in the glue cylinder is G 总 -G*N1-G*N2.

[0063] Compared with the existing manual glue filling method, the automatic glue filling method of the multi-valve dispensing machine of this embodiment can avoid the problems of long time consumption, low dispensing efficiency, and easy errors, which lead to poor product quality. When a certain dispensing valve has an abnormality during the dispensing operation, the operation information of the dispensing product can be latched, and glue can be filled based on the glue filling operation parameters of the abnormal dispensing valve through the normally working dispensing valve, thereby improving the glue filling efficiency, reducing labor costs, and improving the product yield.

[0064] Example 2

[0065] The difference between the embodiment of the present application and the embodiment 1 is that, based on the coordinate position of the abnormal dispensing valve and the coordinate position of the dispensing valve for filling, the operation coordinate correction of the filling operation parameters of the product to be filled further includes the following steps:

[0066] The Z-axis mounting assembly of each third drive mechanism 33 is equipped with a fine-tuning mechanism, the adjustment direction of the fine-tuning mechanism is consistent with the driving direction of the second drive mechanism 32, and the dispensing valve is installed on the fine-tuning mechanism. The set fine-tuning mechanism can realize the synchronous and asynchronous operation of each dispensing valve on the dispensing product.

[0067] The coordinate positions of the abnormal dispensing valve and the refilling dispensing valve in the first and second directions are obtained, the angle formed by the line formed by the two coordinate positions and the first drive mechanism 31 is determined, and the coordinate difference and angle between the abnormal dispensing valve and the refilling dispensing valve in the first and second directions are calculated. Based on the coordinate difference and angle, the operating coordinates of the refilling dispensing valve when moving to the area to be refilled are corrected. This embodiment can correct the operating coordinates of the refilling operation parameters of the refilling product in the first and second directions (X and Y directions), further improving the accuracy of the operation in the area to be refilled.

[0068] It should be noted that when the driving direction of the second driving mechanism 32 is X, the adjustment direction of the fine adjustment mechanism is X; when the driving direction of the second driving mechanism 32 is Y, the adjustment direction of the fine adjustment mechanism is Y.

[0069] Example 3

[0070] The embodiment of the present application differs from embodiment 1 or embodiment 2 in that, based on the coordinate position of the abnormal dispensing valve and the coordinate position of the dispensing valve for filling, performing operation coordinate correction on the filling operation parameters of the product to be filled further includes the following steps:

[0071] Based on the tool height difference between the abnormal dispensing valve and the refilling valve, the Z coordinate values ​​of the refilling operating parameters of the refilling valve are corrected to ensure height consistency between the abnormal dispensing valve and the refilling valve. This embodiment can correct the refilling operating parameters of the refilling product in the first and third directions (X and Z), or in the first, second, and third directions (X, Y, and Z).

[0072] Further, take the number of dispensing valves as four as an example to further illustrate, such as Figure 2As shown, taking the first driving mechanism 31 as an X-direction driving mechanism and the second driving mechanism as a Y-direction driving mechanism as an example, four third driving mechanisms 33 are slidingly arranged on the first driving mechanism 31, and the third driving mechanism 33 is a Z-direction driving mechanism. Each third driving mechanism 33 includes: a Y-axis fine-tuning mechanism and a Z-axis dispensing mechanism. The Y-axis fine-tuning mechanism is slidably installed on the first driving mechanism 31 and can move along the X direction. The Z-axis dispensing mechanism is installed on the Y-axis fine-tuning mechanism. The Y-axis fine-tuning mechanism is used to drive the Z-axis dispensing mechanism to move along the Y direction. The Z-axis dispensing mechanism includes: a Z-axis driving module, a Z-axis mounting assembly and a dispensing valve. The Z-axis driving module is connected to the Y-axis fine-tuning mechanism; the Z-axis mounting assembly is connected to the Z-axis driving module, and the Z-axis driving module can drive the Z-axis mounting assembly to move along the Z direction; the dispensing valve is installed on the Z-axis mounting assembly.

[0073] It should be noted that the specific structure of the four-valve dispensing machine in this embodiment has been disclosed in the patent document with application number 202410766627.1, and will not be repeated here for the sake of brevity.

[0074] Based on the coordinate position of the abnormal dispensing valve and the coordinate position of the dispensing valve for filling, the following steps are included to correct the operation coordinates of the filling operation parameters of the product to be filled:

[0075] First, the coordinate positions of the abnormal dispensing valve and the glue replenishing dispensing valve in the first direction are obtained, and the coordinate difference between the abnormal dispensing valve and the glue replenishing dispensing valve in the X direction is calculated. According to the coordinate difference, the X-axis operation coordinate of the glue replenishing dispensing valve moving to the area to be glued is corrected.

[0076] Secondly, the coordinate positions of the abnormal dispensing valve and the glue replenishing dispensing valve in the first direction and the second direction are obtained, the angle formed by the straight line formed by the two coordinate positions and the first driving mechanism 31 is determined, and the coordinate difference and angle between the abnormal dispensing valve and the glue replenishing dispensing valve in the X direction and Y direction are calculated. According to the coordinate difference and the angle, the Y-axis operation coordinate of the glue replenishing dispensing valve to move to the area to be glued is corrected.

[0077] Finally, according to the difference in tool setting height between the abnormal dispensing valve and the glue replenishing dispensing valve, the coordinate value of the glue replenishing dispensing valve's glue replenishing operation parameters in the Z direction is corrected. For example, the tool setting height of the abnormal dispensing valve is H1, the tool setting height of the glue replenishing dispensing valve is H2, and the difference in height between the Z-axis drive module of the abnormal dispensing valve and the Z-axis drive module of the glue replenishing dispensing valve is H1-H2. When the height of the glue discharge track point of the abnormal dispensing valve is Z1, switch to the glue replenishing dispensing valve for dispensing. The height of the glue discharge track point of the glue replenishing dispensing valve is: Z2=Z1-(H1-H2).

[0078] Example 4

[0079] An embodiment of the present application provides a multi-valve dispensing machine, which adopts the automatic glue filling method of the multi-valve dispensing machine as described above.

[0080] With the above-described preferred embodiments of the present invention as inspiration, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. An automatic glue filling method for a multi-valve glue dispensing machine, characterized in that: The multi-valve dispensing machine comprises a first driving mechanism (31) driven along a first direction, a second driving mechanism (32) driven along a second direction, and a plurality of third driving mechanisms (33) driven along a third direction, wherein the Z-axis mounting assembly of each of the third driving mechanisms (33) is mounted with a fine-tuning mechanism, the adjustment direction of the fine-tuning mechanism being consistent with the driving direction of the second driving mechanism (32), the dispensing valves being mounted on the fine-tuning mechanism, the number of the dispensing valves being at least two, and each dispensing valve being controlled to perform a dispensing operation on a product to be dispensed in a corresponding dispensing area; The automatic glue filling method comprises the following steps: S1. Real-time collection of dispensing operation information of each dispensing valve in the corresponding dispensing area. When an abnormality occurs in one of the dispensing valves during the dispensing operation, the abnormal dispensing valve is controlled to stop operating, and the operation information of the dispensing product operated by the abnormal dispensing valve is locked; S2. Obtaining the latched operation information of the abnormal dispensing valve, determining the dispensing area of ​​the abnormal dispensing valve as the area to be filled based on the latched operation information, and obtaining the filling operation parameters of the product to be filled in the area to be filled; S3, obtaining the glue remaining amount in the glue cylinder after each normal dispensing valve completes the dispensing operation in the corresponding dispensing area; S4. Based on the glue remaining amount in the glue cylinder of each normal dispensing valve, select a normal dispensing valve for the area to be glued as the glue dispensing valve; S5. Based on the coordinate position of the abnormal dispensing valve and the coordinate position of the dispensing valve for dispensing glue, correct the operating coordinates of the dispensing operation parameters of the product to be dispensing glue, and control the dispensing valve for dispensing glue to automatically dispense glue to the product to be dispensing glue based on the dispensing operation parameters after the corrected operating coordinates. When the first driving mechanism (31) is an X-direction driving mechanism and the second driving mechanism (32) is a Y-direction driving mechanism, S5 specifically includes the following steps: S5-1-1. First, obtain the coordinate positions of the abnormal dispensing valve and the glue replenishing dispensing valve in the first direction, calculate the coordinate difference between the abnormal dispensing valve and the glue replenishing dispensing valve in the X direction, and correct the X-axis operation coordinate of the glue replenishing dispensing valve to move to the area to be glued according to the coordinate difference; S5-1-2. Secondly, the coordinate positions of the abnormal dispensing valve and the glue replenishing dispensing valve in the first direction and the second direction are obtained, the angle formed by the straight line formed by the two coordinate positions and the first driving mechanism (31) is determined, and the coordinate difference and angle between the abnormal dispensing valve and the glue replenishing dispensing valve in the X direction and the Y direction are calculated, and the Y-axis operation coordinate of the glue replenishing dispensing valve when it moves to the area to be glued is corrected according to the coordinate difference and the angle; S5-1-3. Finally, according to the tool setting height difference between the abnormal dispensing valve and the dispensing valve for filling glue, the coordinate value of the dispensing valve for filling glue operation in the Z direction is corrected; When the first driving mechanism (31) is a Y-direction driving mechanism and the second driving mechanism (32) is an X-direction driving mechanism, S5 specifically includes the following steps: S5-2-1. First, obtain the coordinate positions of the abnormal dispensing valve and the glue replenishing dispensing valve in the first direction, calculate the coordinate difference between the abnormal dispensing valve and the glue replenishing dispensing valve in the Y direction, and correct the Y-axis operation coordinate of the glue replenishing dispensing valve when it moves to the area to be glued according to the coordinate difference; S5-2-2, secondly, obtaining the coordinate positions of the abnormal dispensing valve and the glue replenishing dispensing valve in the first direction and the second direction, determining the angle formed by the straight line formed by the two coordinate positions and the first driving mechanism (31), and calculating the coordinate difference and angle between the abnormal dispensing valve and the glue replenishing dispensing valve in the Y direction and the X direction, and correcting the X-axis operation coordinate of the glue replenishing dispensing valve when it moves to the area to be glued according to the coordinate difference and the angle; S5-2-3. Finally, according to the tool setting height difference between the abnormal dispensing valve and the glue dispensing valve, the coordinate value of the glue dispensing valve's glue dispensing operation parameter in the Z direction is corrected.

2. The automatic glue filling method of the multi-valve glue dispensing machine according to claim 1, characterized in that: The first driving mechanism (31) is slidably arranged on the second driving mechanism (32), and a plurality of third driving mechanisms (33) are slidably arranged on the first driving mechanism (31); Each of the third driving mechanisms (33) is connected to a dispensing valve.

3. The automatic glue filling method of the multi-valve glue dispensing machine according to claim 1, characterized in that: The latched operation information of the abnormal dispensing valve includes: operation information of abnormal operation of the dispensing product and operation information of non-dispensing operation.

4. The automatic glue filling method of the multi-valve glue dispensing machine according to claim 1, characterized in that: Obtaining the remaining glue amount in the glue cylinder after each normal dispensing valve completes the dispensing operation in the corresponding dispensing area includes: Obtaining the remaining amount of glue in the rubber cylinder by means of a liquid level detector installed on the rubber cylinder; Alternatively, the remaining glue amount in the rubber cylinder can be calculated by obtaining the number of needle strikes generated by the dispensing valve during the dispensing operation and combining it with the single glue output of the dispensing valve.

5. The automatic glue filling method of the multi-valve glue dispensing machine according to claim 1, characterized in that: Compare the glue remaining in the glue cylinders of each normal dispensing valve, and select the normal dispensing valve with the largest glue remaining in the glue cylinder as the glue replenishing dispensing valve.

6. The automatic glue filling method of the multi-valve glue dispensing machine according to claim 1, characterized in that: When one of the dispensing valves malfunctions during the dispensing operation, the abnormal dispensing valve continues to perform a single dispensing operation on the single product to be dispensed currently in operation until the dispensing of the current single product to be dispensed is completed, and then the abnormal dispensing valve is controlled to stop operating.

7. The automatic glue filling method of the multi-valve glue dispensing machine according to claim 1, characterized in that: Obtaining the coordinate positions of the abnormal dispensing valve and the glue replenishing dispensing valve in the first direction includes: Setting a reference point on the dispensing operation platform of the multi-valve dispensing machine; Move each dispensing valve to the reference point to obtain a first reference coordinate of each dispensing valve; Then obtain the starting position of each dispensing valve corresponding to the dispensing area; The coordinate position of each dispensing valve in the first direction is obtained based on the first reference coordinate and the starting point position of the dispensing area corresponding to each dispensing valve.

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