Dispensing track direction adjusting method for multi-workpiece dispensing operation

Abstract

The invention discloses a dispensing track direction adjusting method for multi-workpiece dispensing operation. The dispensing track direction adjusting method comprises the following steps that 1, a controller of dispensing equipment obtains a dispensing operation advancing mode of a matrix array product from configuration of a dispensing process formula; 2, when the controller of the dispensing equipment acquires that the advancing mode of the dispensing operation of the matrix array product is S-shaped, judging whether the direction of the dispensing track line of the product can be adjusted or not: when the controller of the dispensing equipment acquires that the advancing mode of the dispensing operation of the matrix array product is Z-shaped, judging whether the direction of the dispensing track line of the product can be adjusted; 3, after the direction of the product dispensing track is adjusted, the matrix array products are subjected to dispensing operation according to the direction of a new product dispensing track, and if the direction of the product dispensing track is adjusted, the matrix array products are subjected to dispensing operation according to the direction of the new product dispensing track; and when the dispensing track direction of the product is not adjusted, the matrix array product is still subjected to dispensing operation according to the original dispensing track direction of the product. According to the method, the overall dispensing efficiency of the matrix array product can be remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of dispensing operations, and in particular to a method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operations. Background Art

[0002] The common dispensing paths are geometric trajectories such as line segments and broken lines. Multiple products are arranged in the form of a matrix array of products. The dispensing head adopts two path planning strategies: S-shaped (serpentine continuous) or Z-shaped (zigzag back and forth). When the dispensing trajectory line direction of a single product (such as from left to right) is opposite to the overall dispensing operation traveling direction of the dispensing head in the matrix array of products (such as from right to left), it will cause the dispensing path to need to constantly turn back, and the dispensing head needs to frequently turn back or adjust the direction to adapt to the product dispensing trajectory line direction, resulting in a large number of invalid repeated paths for the dispensing head and affecting the dispensing operation efficiency of the dispensing head.

[0003] Take Figure 1 the first row of the matrix array of products in Figure 2 and the second column of the matrix array of products in as an example. The product dispensing trajectory line direction is opposite to the dispensing head traveling direction, forcing the dispensing head to backtrack the path after completing the dispensing task of a single product, resulting in time loss and mechanical wear.

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, the present invention proposes a method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operations, which adjusts the adjustable trajectory line according to the product operation traveling direction and performs operations according to the adjusted trajectory line, which can improve the dispensing operation efficiency.

[0006] A method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operations according to an embodiment of the present invention is applicable to a dispensing device for performing dispensing operations on rectangular products in a matrix array of products. The dispensing operation traveling mode of the matrix array of products is an S-shaped dispensing operation or a Z-shaped dispensing operation. The matrix array of products operates horizontally or vertically. Horizontally corresponds to the rows in the matrix array of products, and vertically corresponds to the columns in the matrix array of products, that is, the matrix array of products can operate by rows or by columns; The method for adjusting the dispensing trajectory direction includes the following steps: Step 1, obtain the dispensing operation traveling mode: The dispensing process recipe is stored in the industrial control computer of the dispensing device, and the controller of the dispensing device obtains the dispensing operation traveling mode of the matrix array of products from the configuration of the dispensing process recipe; Step 2, determine whether the product dispensing trajectory line can be adjusted in direction: When the controller of the dispensing device obtains that the dispensing operation progress mode of the matrix array product is S-shaped, the controller of the dispensing device determines whether the dispensing trajectory line of the product can be adjusted in direction: If the controller of the dispensing device identifies that the dispensing trajectory line of the product is a line segment parallel to a single side of the product, the controller of the dispensing device determines that the direction of the dispensing trajectory line of the product can be adjusted, and adjusts the direction of the dispensing trajectory line of the product to be consistent with the S-shaped progress direction of the dispensing operation of the matrix array product; If the controller of the dispensing device identifies that the dispensing trajectory line of the product is a broken line, the controller of the dispensing device determines that the direction of the dispensing trajectory line of the product cannot be adjusted; When the controller of the dispensing device obtains that the dispensing operation progress mode of the matrix array product is Z-shaped, the controller of the dispensing device determines whether the dispensing trajectory line of the product can be adjusted in direction: If the controller of the dispensing device identifies that the dispensing trajectory line of the product is a line segment parallel to a single side of the product, the controller of the dispensing device determines that the direction of the dispensing trajectory line of the product can be adjusted, and adjusts the direction of the dispensing trajectory line of the product to be consistent with the Z-shaped progress direction of the dispensing operation of the matrix array product; If the controller of the dispensing device identifies that the dispensing trajectory line of the product is a broken line, the controller of the dispensing device determines that the direction of the dispensing trajectory line of the product cannot be adjusted; Step 3, perform the dispensing operation: When the controller of the dispensing device adjusts the dispensing trajectory direction of the product, the matrix array product performs the dispensing operation according to the new dispensing trajectory direction of the product; When the controller of the dispensing device does not adjust the dispensing trajectory direction of the product, the matrix array product still performs the dispensing operation according to the original dispensing trajectory direction of the product.

[0007] The beneficial effect of the present invention is that, aiming at the problem that the trajectory line direction of the matrix array arranged product is opposite to the overall progress direction during dispensing, the present invention automatically identifies the trajectory line to be adjusted according to the matrix array arrangement mode and progress mode, corrects the progress direction adaptability of the adjustable trajectory line, and based on the optimized trajectory line, produces an efficient operation path, effectively eliminating the path redundancy caused by the need for the dispensing path to constantly turn back, reducing the idle stroke movement distance of the dispensing head, and significantly improving the overall dispensing efficiency of the matrix array product.

[0008] According to an embodiment of the present invention, in the second step, when the controller of the dispensing device obtains that the dispensing operation progress mode of the matrix array product is S-shaped and the matrix array product operates row by row, the logic for the controller of the dispensing device to determine whether to adjust the direction of the current dispensing trajectory segment of the products in this row is: If the overall advancing direction of any row of products in the matrix array product is from left to right and the direction of the current dispensing trajectory segment of the products in this row is also from left to right, then the direction of the current dispensing trajectory segment of the products in this row is not adjusted; If the overall advancing direction of any row of products in the matrix array product is from left to right and the direction of the current dispensing trajectory segment of the products in this row is from right to left, then the direction of the current dispensing trajectory segment of the products in this row is adjusted to from left to right; If the overall advancing direction of any row of products in the matrix array product is from right to left and the direction of the current dispensing trajectory segment of the products in this row is from left to right, then the direction of the current dispensing trajectory segment of the products in this row is adjusted to from right to left; If the overall advancing direction of any row of products in the matrix array product is from right to left and the direction of the current dispensing trajectory segment of the products in this row is also from right to left, then the direction of the current dispensing trajectory segment of the products in this row is not adjusted.

[0009] According to an embodiment of the present invention, in the second step, when the controller of the dispensing device obtains that the dispensing operation advancing mode of the matrix array product is S-shaped and the matrix array product operates by column, the logic for the controller of the dispensing device to judge whether to adjust the direction of the current dispensing trajectory segment of the products in this column is as follows: If the overall advancing direction of any column of products in the matrix array product is from front to back and the direction of the current dispensing trajectory segment of the products in this column is also from front to back, then the direction of the current dispensing trajectory segment of the products in this column is not adjusted; If the overall advancing direction of any column of products in the matrix array product is from front to back and the direction of the current dispensing trajectory segment of the products in this column is from back to front, then the direction of the current dispensing trajectory segment of the products in this column is adjusted to from front to back; If the overall advancing direction of any column of products in the matrix array product is from back to front and the direction of the current dispensing trajectory segment of the products in this column is from front to back, then the direction of the current dispensing trajectory segment of the products in this column is adjusted to from back to front; If the overall advancing direction of any column of products in the matrix array product is from back to front and the direction of the current dispensing trajectory segment of the products in this column is also from back to front, then the direction of the current dispensing trajectory segment of the products in this column is not adjusted.

[0010] According to an embodiment of the present invention, in the second step, when the controller of the dispensing device obtains that the dispensing operation advancing mode of the matrix array product is Z-shaped and the matrix array product operates by row, the logic for the controller of the dispensing device to judge whether to adjust the direction of the current dispensing trajectory segment of the products in this row is as follows: If the overall advancing direction of any row of products in the matrix array product is from left to right and the direction of the current dispensing trajectory segment of the products in this row is also from left to right, then the direction of the current dispensing trajectory segment of the products in this row is not adjusted; If the overall advancing direction of any row of products in the matrix array product is from left to right and the direction of the current dispensing trajectory segment of the products in this row is from right to left, then the direction of the current dispensing trajectory segment of the products in this row is adjusted to from left to right; If the overall advancing direction of any row of products in the matrix array product is from right to left and the direction of the current dispensing trajectory segment of the products in this row is from left to right, then the direction of the current dispensing trajectory segment of the products in this row is adjusted to from right to left; If the overall advancing direction of any row of products in the matrix array product is from right to left and the direction of the current dispensing trajectory segment of the products in this row is also from right to left, then the direction of the current dispensing trajectory segment of the products in this row is not adjusted.

[0011] According to an embodiment of the present invention, in the second step, when the controller of the dispensing device obtains that the dispensing operation advancing mode of the matrix array product is Z-shaped and the matrix array product operates by column, the logic for the controller of the dispensing device to determine whether to adjust the direction of the current dispensing trajectory segment of the products in this column is as follows: If the overall advancing direction of any column of products in the matrix array product is from front to back and the direction of the current dispensing trajectory segment of the products in this column is also from front to back, then the direction of the current dispensing trajectory segment of the products in this column is not adjusted; If the overall advancing direction of any column of products in the matrix array product is from front to back and the direction of the current dispensing trajectory segment of the products in this column is from back to front, then the direction of the current dispensing trajectory segment of the products in this column is adjusted to from front to back; If the overall advancing direction of any column of products in the matrix array product is from back to front and the direction of the current dispensing trajectory segment of the products in this column is from front to back, then the direction of the current dispensing trajectory segment of the products in this column is adjusted to from back to front; If the overall advancing direction of any column of products in the matrix array product is from back to front and the direction of the current dispensing trajectory segment of the products in this column is also from back to front, then the direction of the current dispensing trajectory segment of the products in this column is not adjusted.

[0012] According to an embodiment of the present invention, in the second step, when the controller of the dispensing device obtains that the dispensing operation advancing mode of the matrix array product is neither S-shaped nor Z-shaped, the controller of the dispensing device will not adjust the direction of any product dispensing trajectory line.

[0013] According to an embodiment of the present invention, in the second step, the broken line is formed by at least two line segments connected end to end in sequence, and two adjacent line segments are perpendicular to each other.

[0014] According to an embodiment of the present invention, the broken line is a single right-angle broken line, one line segment of the single right-angle broken line is parallel to one side of the current rectangular product, and the other line segment of the single right-angle broken line is parallel to the other side of the current rectangular product.

[0015] According to an embodiment of the present invention, the broken line is a double right-angle broken line, the double right-angle broken line includes a first line segment, a second line segment and a third line segment connected end to end in sequence, the first line segment is parallel to the first side of the current rectangular product, the second line segment is parallel to the second side of the current rectangular product, the third line segment is parallel to the third side of the current rectangular product, wherein, the second side of the current rectangular product is perpendicular to its first side, and the third side of the current rectangular product is parallel to its first side.

[0016] According to an embodiment of the present invention, the broken line is a square-shaped broken line, the square-shaped broken line includes a first line segment, a second line segment, a third line segment and a fourth line segment connected end to end in sequence, the first line segment and the third line segment are parallel to each other, and both are parallel to a pair of opposite sides of the current rectangular product; the second line segment and the fourth line segment are parallel to each other, and both are parallel to the other pair of opposite sides of the current rectangular product.

[0017] Other features and advantages of the present invention will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0018] To make the above objectives, features and advantages of the present invention more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, describes them in detail as follows. Brief Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic diagram showing that in traditional dispensing operations, when the moving direction of some products is opposite to the direction of the dispensing trajectory line, the dispensing head needs to walk a lot of repeated paths. Figure 1 ; Figure 2It is a schematic diagram showing that in traditional dispensing operations, when the moving direction of some products is opposite to the dispensing trajectory line direction, the dispensing head needs to travel many repeated paths. Figure 2 ; Figure 3 It is a schematic diagram showing that the dispensing operation of the matrix array product of the present invention advances in an S shape and operates row by row; Figure 4 It is Figure 3 a schematic diagram after adjusting the dispensing trajectory direction; Figure 5 It is a schematic diagram showing that the dispensing operation of the matrix array product of the present invention advances in an S shape and operates column by column; Figure 6 It is Figure 5 a schematic diagram after adjusting the dispensing trajectory direction; Figure 7 It is a schematic diagram showing that the dispensing operation of the matrix array product of the present invention advances in a Z shape and operates row by row; Figure 8 It is Figure 7 a schematic diagram after adjusting the dispensing trajectory direction; Figure 9 It is a schematic diagram showing that the dispensing operation of the matrix array product of the present invention advances in a Z shape and operates column by column; Figure 10 It is Figure 9 a schematic diagram after adjusting the dispensing trajectory direction; Figure 11 It is a flowchart of the present invention. Detailed implementation manners

[0021] Now, the present invention will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is 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, so it cannot be understood as a limitation to the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more.

[0023] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "linkage" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] The following specifically describes a method for adjusting the dispensing trajectory direction of a multi-workpiece dispensing operation according to an embodiment of the present invention with reference to the drawings.

[0025] See Figures 3 to 11 , a method for adjusting the dispensing trajectory direction of a multi-workpiece dispensing operation of the present invention is applicable to a dispensing device for performing a dispensing operation on rectangular products in a matrix array product. The dispensing operation of the matrix array product is in an S-shaped dispensing operation or a Z-shaped dispensing operation. The matrix array product operates horizontally or vertically. Horizontally corresponds to the rows in the matrix array product, and vertically corresponds to the columns in the matrix array product, that is, the matrix array product can operate by rows or by columns.

[0026] The method for adjusting the dispensing trajectory direction of the multi-workpiece dispensing operation includes the following steps: Step 1, obtain the dispensing operation progress mode: The dispensing process formula is stored in the industrial control computer of the dispensing device, and the controller of the dispensing device obtains the dispensing operation progress mode of the matrix array product from the configuration of the dispensing process formula; Step 2, determine whether the product dispensing trajectory line can be adjusted in direction: When the controller of the dispensing device obtains that the dispensing operation progress mode of the matrix array product is S-shaped, the controller of the dispensing device determines whether the product dispensing trajectory line can be adjusted in direction: If the controller of the dispensing device identifies that the product dispensing trajectory line is a line segment parallel to a single side of the product, the controller of the dispensing device determines that the direction of the product dispensing trajectory line can be adjusted, and adjusts the direction of the product dispensing trajectory line to be consistent with the S-shaped progress direction of the dispensing operation of the matrix array product; If the controller of the dispensing device identifies that the product dispensing trajectory line is a broken line, the controller of the dispensing device determines that the direction of the product dispensing trajectory line cannot be adjusted; When the controller of the dispensing device obtains that the dispensing operation progress mode of the matrix array product is Z-shaped, the controller of the dispensing device determines whether the product dispensing trajectory line can be adjusted in direction: When the controller of the dispensing device recognizes that the product dispensing trajectory line is a line segment parallel to a single side of the product, the controller of the dispensing device determines that the direction of the product dispensing trajectory line can be adjusted, and adjusts the direction of the product dispensing trajectory line to be consistent with the Z-shaped traveling direction of the dispensing operation of the matrix array product; When the controller of the dispensing device recognizes that the product dispensing trajectory line is a broken line, the controller of the dispensing device determines that the direction of the product dispensing trajectory line cannot be adjusted; Step 3, perform the dispensing operation: After the controller of the dispensing device adjusts the direction of the product dispensing trajectory, the matrix array product performs the dispensing operation according to the new product dispensing trajectory direction; When the controller of the dispensing device does not adjust the direction of the product dispensing trajectory, the matrix array product still performs the dispensing operation according to the original product dispensing trajectory direction.

[0027] According to the operation configuration of the matrix array product, S-shaped traveling or Z-shaped traveling, the present invention determines whether there is a trajectory line that needs to be adjusted, adjusts the adjustable trajectory line according to the product operation traveling direction, and performs the operation according to the adjusted trajectory line, which can improve the dispensing operation efficiency.

[0028] Preferably, in Step 2, when the controller of the dispensing device obtains that the dispensing operation traveling mode of the matrix array product is neither S-shaped nor Z-shaped, the controller of the dispensing device will not adjust the direction of any product dispensing trajectory line.

[0029] It should be added that the function of automatically reversing the product dispensing trajectory line is only suitable for a section of the trajectory that is opposite to the dispensing operation traveling direction; for the broken line type of trajectory, the function of automatically reversing the product dispensing trajectory line is not supported.

[0030] Preferably, in Step 2, the broken line is formed by at least two line segments connected end to end in sequence, and two adjacent line segments are perpendicular to each other. The specific description is as follows: The broken line is a single right-angle broken line. One line segment in the single right-angle broken line is parallel to one side of the current rectangular product, and the other line segment in the single right-angle broken line is parallel to the other side of the current rectangular product.

[0031] Or, the broken line is a double right-angle broken line, which includes a first line segment, a second line segment, and a third line segment connected end to end in sequence. The first line segment is parallel to the first side of the current rectangular product, the second line segment is parallel to the second side of the current rectangular product, and the third line segment is parallel to the third side of the current rectangular product. Among them, the second side of the current rectangular product is perpendicular to its first side, and the third side of the current rectangular product is parallel to its first side.

[0032] Alternatively, the broken line is a square-shaped broken line, which includes a first line segment, a second line segment, a third line segment, and a fourth line segment connected end to end in sequence. The first line segment is parallel to the third line segment, and both are parallel to a pair of opposite sides of the current rectangular product; the second line segment is parallel to the fourth line segment, and both are parallel to the other pair of opposite sides of the current rectangular product.

[0033] See Figure 3 and Figure 4 , in the second step, when the controller of the dispensing device obtains that the dispensing operation travel mode of the matrix array product is S-shaped and the matrix array product operates row by row, the logic for the controller of the dispensing device to determine whether to adjust the direction of the current dispensing trajectory segment of this row of products is as follows: If the overall travel direction of any row of products in the matrix array product is from left to right and the direction of the current dispensing trajectory segment of this row of products is also from left to right, then the direction of the current dispensing trajectory segment of this row of products is not adjusted; If the overall travel direction of any row of products in the matrix array product is from left to right and the direction of the current dispensing trajectory segment of this row of products is from right to left, then the direction of the current dispensing trajectory segment of this row of products is adjusted to from left to right; If the overall travel direction of any row of products in the matrix array product is from right to left and the direction of the current dispensing trajectory segment of this row of products is from left to right, then the direction of the current dispensing trajectory segment of this row of products is adjusted to from right to left; If the overall travel direction of any row of products in the matrix array product is from right to left and the direction of the current dispensing trajectory segment of this row of products is also from right to left, then the direction of the current dispensing trajectory segment of this row of products is not adjusted.

[0034] See Figure 3 , the number of rows of the matrix array product is three, the number of columns is four, the dispensing operation travel mode of the matrix array product is S-shaped, and the matrix array product operates row by row. The specific description is as follows: The overall travel direction of the first row of products (the row of products located at the upper part in the figure) in the matrix array product is from right to left, and the direction of the current dispensing trajectory segment of the first row of products is also from right to left. The direction of the current dispensing trajectory segment of the first row of products is not adjusted (see Figure 4 ).

[0035] The overall travel direction of the second row of products (the row of products located in the middle in the figure) in the matrix array product is from left to right, and the direction of the current dispensing trajectory segment of the second row of products is from right to left. The direction of the current dispensing trajectory segment of the second row of products is adjusted to from left to right (see Figure 4 ).

[0036] The overall traveling direction of the products in the third row of the matrix array product (the row of products at the lower part in the figure) is from right to left, and the direction of the current dispensing trajectory segment of the products in the third row is also from right to left. Do not adjust the direction of the current dispensing trajectory segment of the products in the third row (see Figure 4 ).

[0037] See Figure 5 and Figure 6 , in the second step, when the controller of the dispensing device obtains that the traveling mode of the dispensing operation of the matrix array product is S-shaped and the matrix array product operates by column, the logic for the controller of the dispensing device to judge whether to adjust the direction of the current dispensing trajectory segment of this column of products is as follows: If the overall traveling direction of any column of products in the matrix array product is from front to back and the direction of the current dispensing trajectory segment of this column of products is also from front to back, then do not adjust the direction of the current dispensing trajectory segment of this column of products; If the overall traveling direction of any column of products in the matrix array product is from front to back and the direction of the current dispensing trajectory segment of this column of products is from back to front, then adjust the direction of the current dispensing trajectory segment of this column of products to from front to back; If the overall traveling direction of any column of products in the matrix array product is from back to front and the direction of the current dispensing trajectory segment of this column of products is from front to back, then adjust the direction of the current dispensing trajectory segment of this column of products to from back to front; If the overall traveling direction of any column of products in the matrix array product is from back to front and the direction of the current dispensing trajectory segment of this column of products is also from back to front, then do not adjust the direction of the current dispensing trajectory segment of this column of products.

[0038] See Figure 5 , the number of rows of the matrix array product is four and the number of columns is three. The traveling mode of the dispensing operation of the matrix array product is S-shaped and the matrix array product operates by column. The specific description is as follows: The overall traveling direction of the products in the first column of the matrix array product (the column of products on the left side in the figure) is from back to front, and the direction of the current dispensing trajectory segment of the products in the first column is also from back to front. Do not adjust the direction of the current dispensing trajectory segment of the products in the first column (see Figure 6 ).

[0039] The overall traveling direction of the products in the second column of the matrix array product (the column of products in the middle in the figure) is from front to back, and the direction of the current dispensing trajectory segment of the products in the second column is from back to front. Adjust the direction of the current dispensing trajectory segment of the products in the second column to from front to back (see Figure 6 ).

[0040] The overall traveling direction of the products in the third column of the matrix array product (the column of products on the right side in the figure) is from back to front. The direction of the current dispensing trajectory segment of the products in the third column is also from back to front, and the direction of the current dispensing trajectory segment of the products in the third column is not adjusted (see Figure 6 ).

[0041] See Figure 7 and Figure 8 , in the second step, when the controller of the dispensing device obtains that the traveling mode of the dispensing operation of the matrix array product is Z-shaped and the matrix array product operates row by row, the logic for the controller of the dispensing device to determine whether to adjust the direction of the current dispensing trajectory segment of the products in this row is as follows: If the overall traveling direction of the products in any row of the matrix array product is from left to right and the direction of the current dispensing trajectory segment of the products in this row is also from left to right, then the direction of the current dispensing trajectory segment of the products in this row is not adjusted; If the overall traveling direction of the products in any row of the matrix array product is from left to right and the direction of the current dispensing trajectory segment of the products in this row is from right to left, then the direction of the current dispensing trajectory segment of the products in this row is adjusted to from left to right; If the overall traveling direction of the products in any row of the matrix array product is from right to left and the direction of the current dispensing trajectory segment of the products in this row is from left to right, then the direction of the current dispensing trajectory segment of the products in this row is adjusted to from right to left; If the overall traveling direction of the products in any row of the matrix array product is from right to left and the direction of the current dispensing trajectory segment of the products in this row is also from right to left, then the direction of the current dispensing trajectory segment of the products in this row is not adjusted.

[0042] See Figure 7 , the number of rows of the matrix array product is three and the number of columns is four. The traveling mode of the dispensing operation of the matrix array product is Z-shaped and the matrix array product operates row by row. The specific description is as follows: The overall traveling direction of the products in the first row of the matrix array product (the row of products at the top in the figure) is from left to right. The direction of the current dispensing trajectory segment of the products in the first row is also from left to right, and the direction of the current dispensing trajectory segment of the products in the first row is not adjusted (see Figure 8 ).

[0043] The overall traveling direction of the products in the second row of the matrix array product (the row of products in the middle in the figure) is from right to left. The direction of the current dispensing trajectory segment of the products in the second row is from left to right, and the direction of the current dispensing trajectory segment of the products in the second row is adjusted to from right to left (see Figure 8 ).

[0044] The overall traveling direction of the products in the third row of the matrix array product (the row of products at the lower part in the figure) is from left to right, and the direction of the current dispensing trajectory segment of the products in the third row is also from left to right. Do not adjust the direction of the current dispensing trajectory segment of the products in the third row (see Figure 8 ).

[0045] See Figure 9 and Figure 10 , in the second step, when the controller of the dispensing device obtains that the traveling mode of the dispensing operation of the matrix array product is Z-shaped and the matrix array product operates by column, the logic for the controller of the dispensing device to judge whether to adjust the direction of the current dispensing trajectory segment of this column of products is as follows: If the overall traveling direction of any column of products in the matrix array product is from front to back and the direction of the current dispensing trajectory segment of this column of products is also from front to back, then do not adjust the direction of the current dispensing trajectory segment of this column of products; If the overall traveling direction of any column of products in the matrix array product is from front to back and the direction of the current dispensing trajectory segment of this column of products is from back to front, then adjust the direction of the current dispensing trajectory segment of this column of products to from front to back; If the overall traveling direction of any column of products in the matrix array product is from back to front and the direction of the current dispensing trajectory segment of this column of products is from front to back, then adjust the direction of the current dispensing trajectory segment of this column of products to from back to front; If the overall traveling direction of any column of products in the matrix array product is from back to front and the direction of the current dispensing trajectory segment of this column of products is also from back to front, then do not adjust the direction of the current dispensing trajectory segment of this column of products.

[0046] See Figure 9 , the number of rows of the matrix array product is four and the number of columns is three. The traveling mode of the dispensing operation of the matrix array product is Z-shaped and the matrix array product operates by column. The specific description is as follows: The overall traveling direction of the products in the first column of the matrix array product (the column of products on the left side in the figure) is from front to back, and the direction of the current dispensing trajectory segment of the products in the first column is also from front to back. Do not adjust the direction of the current dispensing trajectory segment of the products in the first column (see Figure 10 ).

[0047] The overall traveling direction of the products in the second column of the matrix array product (the column of products in the middle in the figure) is from back to front, and the direction of the current dispensing trajectory segment of the products in the second column is from front to back. Adjust the direction of the current dispensing trajectory segment of the products in the second column to from back to front (see Figure 10 ).

[0048] The overall traveling direction of the products in the third column of the matrix array product (the column of products on the right side in the figure) is from front to back. The direction of the current dispensing trajectory segment of the products in the third column is also from front to back, without adjusting the direction of the current dispensing trajectory segment of the products in the third column (see Figure 10 ).

[0049] The method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operations according to the present invention aims at the problem that the direction of the trajectory line is opposite to the overall traveling direction in the dispensing of matrix array arranged products. It automatically identifies the trajectory lines that need to be adjusted according to the matrix array arrangement mode and traveling mode, makes an adaptability correction of the traveling direction for the adjustable trajectory lines, generates an efficient operation path based on the optimized trajectory lines, effectively eliminates the path redundancy caused by the need for the dispensing path to constantly turn back, reduces the idle stroke moving distance of the dispensing head, and significantly improves the overall dispensing efficiency of the matrix array products.

[0050] Inspired by the ideal embodiments of the present invention as described above, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operation, characterized in that A dispensing device applicable to dispensing operations on rectangular products in a matrix array product. The dispensing operation travel mode of the matrix array product is an S-shaped dispensing operation or a Z-shaped dispensing operation. The matrix array product operates horizontally or vertically. Horizontally corresponds to the rows in the matrix array product, and vertically corresponds to the columns in the matrix array product. That is, the matrix array product can operate by rows or by columns; The dispensing trajectory direction adjustment method includes the following steps: Step 1: Obtain the dispensing operation travel mode: The dispensing process formula is stored in the industrial control computer of the dispensing device. The controller of the dispensing device obtains the dispensing operation travel mode of the matrix array product from the configuration of the dispensing process formula; Step 2: Determine whether the product dispensing trajectory line can be adjusted in direction: When the controller of the dispensing device obtains that the dispensing operation travel mode of the matrix array product is S-shaped, the controller of the dispensing device determines whether the product dispensing trajectory line can be adjusted in direction: If the controller of the dispensing device identifies that the product dispensing trajectory line is a line segment parallel to a single side of the product, the controller of the dispensing device determines that the direction of the product dispensing trajectory line can be adjusted and adjusts the direction of the product dispensing trajectory line to be consistent with the S-shaped travel direction of the dispensing operation of the matrix array product; If the controller of the dispensing device identifies that the product dispensing trajectory line is a broken line, the controller of the dispensing device determines that the direction of the product dispensing trajectory line cannot be adjusted; When the controller of the dispensing device obtains that the dispensing operation travel mode of the matrix array product is Z-shaped, the controller of the dispensing device determines whether the product dispensing trajectory line can be adjusted in direction: If the controller of the dispensing device identifies that the product dispensing trajectory line is a line segment parallel to a single side of the product, the controller of the dispensing device determines that the direction of the product dispensing trajectory line can be adjusted and adjusts the direction of the product dispensing trajectory line to be consistent with the Z-shaped travel direction of the dispensing operation of the matrix array product; If the controller of the dispensing device identifies that the product dispensing trajectory line is a broken line, the controller of the dispensing device determines that the direction of the product dispensing trajectory line cannot be adjusted; Step 3: Execute the dispensing operation: When the controller of the dispensing device adjusts the direction of the product dispensing trajectory, the matrix array product performs the dispensing operation according to the new product dispensing trajectory direction; When the controller of the dispensing device does not adjust the direction of the product dispensing trajectory, the matrix array product still performs the dispensing operation according to the original product dispensing trajectory direction.

2. A method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operation according to claim 1, characterized in that, in In the said Step 2, when the controller of the dispensing device obtains that the dispensing operation travel mode of the matrix array product is S-shaped and the matrix array product operates by rows, the logic for the controller of the dispensing device to determine whether to adjust the direction of the current dispensing trajectory segment of the products in this row is: If the overall travel direction of any row of products in the matrix array product is from left to right and the direction of the current dispensing trajectory segment of the products in this row is also from left to right, then do not adjust the direction of the current dispensing trajectory segment of the products in this row; If the overall travel direction of any row of products in the matrix array product is from left to right and the direction of the current dispensing trajectory segment of the products in this row is from right to left, then adjust the direction of the current dispensing trajectory segment of the products in this row to from left to right; If the overall advancing direction of any row of products in the matrix array product is from right to left and the direction of the current dispensing trajectory segment of the products in this row is from left to right, then adjust the direction of the current dispensing trajectory segment of the products in this row to from right to left; If the overall advancing direction of any row of products in the matrix array product is from right to left and the direction of the current dispensing trajectory segment of the products in this row is also from right to left, then do not adjust the direction of the current dispensing trajectory segment of the products in this row.

3. A method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operation according to claim 1, characterized in that, in In the second step, when the controller of the dispensing device obtains that the dispensing operation advancing mode of the matrix array product is S-shaped and the matrix array product operates by columns, the logic for the controller of the dispensing device to judge whether to adjust the direction of the current dispensing trajectory segment of the products in this column is as follows: If the overall advancing direction of any column of products in the matrix array product is from front to back and the direction of the current dispensing trajectory segment of the products in this column is also from front to back, then do not adjust the direction of the current dispensing trajectory segment of the products in this column; If the overall advancing direction of any column of products in the matrix array product is from front to back and the direction of the current dispensing trajectory segment of the products in this column is from back to front, then adjust the direction of the current dispensing trajectory segment of the products in this column to from front to back; If the overall advancing direction of any column of products in the matrix array product is from back to front and the direction of the current dispensing trajectory segment of the products in this column is from front to back, then adjust the direction of the current dispensing trajectory segment of the products in this column to from back to front; If the overall advancing direction of any column of products in the matrix array product is from back to front and the direction of the current dispensing trajectory segment of the products in this column is also from back to front, then do not adjust the direction of the current dispensing trajectory segment of the products in this column.

4. A method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operation according to claim 1, characterized in that, in In the second step, when the controller of the dispensing device obtains that the dispensing operation advancing mode of the matrix array product is Z-shaped and the matrix array product operates by rows, the logic for the controller of the dispensing device to judge whether to adjust the direction of the current dispensing trajectory segment of the products in this row is as follows: If the overall advancing direction of any row of products in the matrix array product is from left to right and the direction of the current dispensing trajectory segment of the products in this row is also from left to right, then do not adjust the direction of the current dispensing trajectory segment of the products in this row; If the overall advancing direction of any row of products in the matrix array product is from left to right and the direction of the current dispensing trajectory segment of the products in this row is from right to left, then adjust the direction of the current dispensing trajectory segment of the products in this row to from left to right; If the overall advancing direction of any row of products in the matrix array product is from right to left and the direction of the current dispensing trajectory segment of the products in this row is from left to right, then adjust the direction of the current dispensing trajectory segment of the products in this row to from right to left; If the overall advancing direction of any row of products in the matrix array product is from right to left and the direction of the current dispensing trajectory segment of the products in this row is also from right to left, then do not adjust the direction of the current dispensing trajectory segment of the products in this row.

5. A method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operation according to claim 1, characterized in that, in In the second step, when the controller of the dispensing device obtains that the dispensing operation travel mode of the matrix array product is Z-shaped and the matrix array product operates column by column, the logic for the controller of the dispensing device to determine whether to adjust the direction of the current dispensing trajectory segment of the products in this column is as follows: If the overall travel direction of any column of products in the matrix array product is from front to back and the direction of the current dispensing trajectory segment of the products in this column is also from front to back, then the direction of the current dispensing trajectory segment of the products in this column is not adjusted; If the overall travel direction of any column of products in the matrix array product is from front to back and the direction of the current dispensing trajectory segment of the products in this column is from back to front, then the direction of the current dispensing trajectory segment of the products in this column is adjusted to from front to back; If the overall travel direction of any column of products in the matrix array product is from back to front and the direction of the current dispensing trajectory segment of the products in this column is from front to back, then the direction of the current dispensing trajectory segment of the products in this column is adjusted to from back to front; If the overall travel direction of any column of products in the matrix array product is from back to front and the direction of the current dispensing trajectory segment of the products in this column is also from back to front, then the direction of the current dispensing trajectory segment of the products in this column is not adjusted.

6. A method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operation according to claim 1, characterized in that, in In the second step, when the controller of the dispensing device obtains that the dispensing operation travel mode of the matrix array product is neither S-shaped nor Z-shaped, the controller of the dispensing device will not adjust the direction of any product dispensing trajectory line.

7. A method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operation according to claim 1, characterized in that, In the second step, the broken line is formed by at least two line segments connected end to end in sequence, and two adjacent line segments are perpendicular to each other.

8. A method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operation according to claim 7, characterized in that The broken line is a single right-angled broken line. One line segment in the single right-angled broken line is parallel to one side of the current rectangular product, and the other line segment in the single right-angled broken line is parallel to the other side of the current rectangular product.

9. A method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operation according to claim 7, characterized in that The broken line is a double right-angled broken line. The double right-angled broken line includes a first line segment, a second line segment, and a third line segment connected end to end in sequence. The first line segment is parallel to the first side of the current rectangular product, the second line segment is parallel to the second side of the current rectangular product, and the third line segment is parallel to the third side of the current rectangular product. Among them, the second side of the current rectangular product is perpendicular to its first side, and the third side of the current rectangular product is parallel to its first side.

10. A method for adjusting the dispensing trajectory direction of multi-workpiece dispensing operation according to claim 7, characterized in that, The broken line is a square-shaped broken line. The square-shaped broken line includes a first line segment, a second line segment, a third line segment, and a fourth line segment connected end to end in sequence. The first line segment is parallel to the third line segment, and both are parallel to a pair of opposite sides of the current rectangular product; the second line segment is parallel to the fourth line segment, and both are parallel to the other pair of opposite sides of the current rectangular product.

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