A method for adjusting the direction of glue dispensing tracks in multi-workpiece glue dispensing operations

Abstract

The present invention discloses a method for adjusting the direction of a dispensing track for a multi-workpiece dispensing operation, comprising the following steps: 1. The controller of the dispensing device obtains a dispensing operation travel mode of a matrix array product from the configuration of a dispensing process recipe; 2. When the controller of the dispensing device obtains an S-shaped dispensing operation travel mode of the matrix array product, the controller determines whether the dispensing track line of the product can be adjusted in direction; 3. When the dispensing track direction of the product is adjusted, the matrix array product performs the dispensing operation in accordance with the new dispensing track direction; and when the dispensing track direction of the product is not adjusted, the matrix array product continues to perform the dispensing operation in accordance with the original dispensing track direction. This method can significantly improve the overall dispensing efficiency of the matrix array product.

Description

Technical Field

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

[0002] Dispensing paths often follow geometric paths, such as line segments and broken lines. When multiple products are arranged in a matrix array, the dispensing head employs either an S-shaped (serpentine) or Z-shaped (zigzag) path planning strategy. When the dispensing path of a single product (e.g., left to right) is opposite the overall dispensing direction of the dispensing head within the matrix array (e.g., right to left), the dispensing path will need to constantly fold back. The dispensing head will need to frequently fold back or adjust its direction to match the product's dispensing path, resulting in a large number of ineffective repetitive paths and impacting its dispensing efficiency.

[0003] by Figure 1 The first row of the matrix array product and Figure 2 Taking the second column of the matrix array products in the figure as an example, the direction of the product dispensing trajectory is opposite to the direction of travel of the dispensing head, forcing the dispensing head to retrace the path after completing the dispensing task of a single product, resulting in time loss and mechanical wear. Summary of the Invention

[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 direction of a dispensing track for a multi-workpiece dispensing operation, which adjusts the adjustable track line according to the product operation direction, and performs operations according to the adjusted track line, thereby improving the efficiency of the dispensing operation.

[0006] A method for adjusting the direction of a dispensing track for a multi-workpiece dispensing operation according to an embodiment of the present invention is applicable to a dispensing device for dispensing rectangular products in a matrix array product. The dispensing operation of the matrix array product is performed in an S-shaped dispensing operation or a Z-shaped dispensing operation. The matrix array product operates in a horizontal direction or a vertical direction, with the horizontal direction corresponding to the rows in the matrix array product and the vertical direction corresponding to the columns in the matrix array product. That is, the matrix array product can operate in rows or columns.

[0007] The method for adjusting the dispensing track direction includes the following steps:

[0008] Step 1: Get the dispensing operation mode:

[0009] The dispensing process recipe is stored in the industrial computer of the dispensing equipment, and the controller of the dispensing equipment obtains the dispensing operation mode of the matrix array product from the configuration of the dispensing process recipe;

[0010] Step 2: Determine whether the dispensing trajectory of the product can be adjusted in direction:

[0011] When the controller of the dispensing equipment obtains that the dispensing operation mode of the matrix array product is S-shaped, the controller of the dispensing equipment determines whether the dispensing trajectory line of the product can be adjusted in direction:

[0012] If the controller of the dispensing equipment identifies that the dispensing trajectory of the product is a line segment parallel to a single side of the product, the controller of the dispensing equipment determines that the direction of the dispensing trajectory of the product can be adjusted, and adjusts the direction of the dispensing trajectory of the product to be consistent with the S-shaped moving direction of the dispensing operation of the matrix array product;

[0013] If the controller of the dispensing equipment identifies that the dispensing trajectory line of the product is a broken line, the controller of the dispensing equipment determines that the direction of the dispensing trajectory line of the product cannot be adjusted;

[0014] When the controller of the dispensing equipment obtains that the dispensing operation mode of the matrix array product is Z-type, the controller of the dispensing equipment determines whether the dispensing trajectory line of the product can be adjusted in direction:

[0015] If the controller of the dispensing equipment identifies that the dispensing trajectory of the product is a line segment parallel to a single side of the product, the controller of the dispensing equipment determines that the direction of the dispensing trajectory of the product can be adjusted, and adjusts the direction of the dispensing trajectory of the product to be consistent with the Z-shaped travel direction of the dispensing operation of the matrix array product;

[0016] If the controller of the dispensing equipment identifies that the dispensing trajectory line of the product is a broken line, the controller of the dispensing equipment determines that the direction of the dispensing trajectory line of the product cannot be adjusted;

[0017] Step 3: Perform dispensing operation:

[0018] When the controller of the dispensing equipment adjusts the dispensing track direction of the product, the matrix array product will perform dispensing operations according to the new dispensing track direction of the product;

[0019] When the controller of the dispensing equipment does not adjust the direction of the product dispensing track, the matrix array product will still perform dispensing operations in the original product dispensing track direction.

[0020] The beneficial effect of the present invention is that, in order to solve the problem that the direction of the trajectory line is opposite to the overall travel direction in the dispensing of matrix array arranged products, the present invention automatically identifies the trajectory line that needs to be adjusted according to the matrix array arrangement and travel mode, and performs adaptability correction on the travel direction of the adjustable trajectory line. Based on the optimized trajectory line, an efficient operation path is produced, which effectively eliminates the path redundancy caused by the need for continuous return of the dispensing path, reduces the idle movement distance of the dispensing head, and significantly improves the overall dispensing efficiency of the matrix array products.

[0021] According to one embodiment of the present invention, in the second step, when the controller of the dispensing device obtains that the dispensing operation of the matrix array product is in an S-shaped manner, and the matrix array product is operated in rows, the logic of the controller of the dispensing device to determine whether the direction of the current dispensing trajectory segment of the row of products is adjusted is:

[0022] If the overall moving direction of any row of products in the matrix array 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, the direction of the current dispensing trajectory segment of the products in this row will not be adjusted;

[0023] If the overall moving direction of any row of products in the matrix array 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;

[0024] If the overall moving direction of any row of products in the matrix array 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;

[0025] If the overall moving direction of any row of products in the matrix array products 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, the direction of the current dispensing trajectory segment of the products in this row will not be adjusted.

[0026] According to one embodiment of the present invention, in the second step, when the controller of the dispensing device obtains that the dispensing operation of the matrix array product is in an S-shaped manner, and the matrix array product is operated in columns, the logic of the controller of the dispensing device to determine whether the direction of the current dispensing trajectory segment of the column product is adjusted is:

[0027] If the overall moving direction of any column of products in the matrix array 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, the direction of the current dispensing trajectory segment of the products in this column will not be adjusted;

[0028] If the overall moving direction of any column of products in the matrix array 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 be from front to back;

[0029] If the overall moving direction of any column of products in the matrix array 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;

[0030] If the overall moving direction of any column of products in the matrix array products 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, the direction of the current dispensing trajectory segment of the products in this column will not be adjusted.

[0031] According to one embodiment of the present invention, in the second step, when the controller of the dispensing device obtains that the dispensing operation mode of the matrix array product is Z-shaped, and the matrix array product operates in rows, the logic of the controller of the dispensing device to determine whether the direction of the current dispensing trajectory segment of the product in the row is:

[0032] If the overall moving direction of any row of products in the matrix array 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, the direction of the current dispensing trajectory segment of the products in this row will not be adjusted;

[0033] If the overall moving direction of any row of products in the matrix array 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;

[0034] If the overall moving direction of any row of products in the matrix array 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;

[0035] If the overall moving direction of any row of products in the matrix array products 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, the direction of the current dispensing trajectory segment of the products in this row will not be adjusted.

[0036] According to one embodiment of the present invention, in the second step, when the controller of the dispensing device obtains that the dispensing operation mode of the matrix array product is Z-shaped, and the matrix array product operates in columns, the logic of the controller of the dispensing device to determine whether the direction of the current dispensing trajectory segment of the product in the column is:

[0037] If the overall moving direction of any column of products in the matrix array 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, the direction of the current dispensing trajectory segment of the products in this column will not be adjusted;

[0038] If the overall moving direction of any column of products in the matrix array 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 be from front to back;

[0039] If the overall moving direction of any column of products in the matrix array 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;

[0040] If the overall moving direction of any column of products in the matrix array products 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, the direction of the current dispensing trajectory segment of the products in this column will not be adjusted.

[0041] According to one embodiment of the present invention, in the second step, when the controller of the dispensing equipment obtains that the dispensing operation movement mode of the matrix array product is neither S-type nor Z-type, the controller of the dispensing equipment will not adjust the direction of any product dispensing trajectory line.

[0042] According to one 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.

[0043] According to one embodiment of the present invention, the fold line is a single right-angle fold line, one line segment of the single right-angle fold line is parallel to one side of the current rectangular product, and another line segment of the single right-angle fold line is parallel to the other side of the current rectangular product.

[0044] According to one embodiment of the present invention, the fold line is a double right-angle fold line, which includes a first line segment, a second line segment and a third line segment connected in sequence from end to end, 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, 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.

[0045] According to one embodiment of the present invention, the fold line is a U-shaped fold line, which includes a first line segment, a second line segment, a third line segment and a fourth line segment connected in sequence from end to end, the first line segment and the third line segment are parallel to each other, and both are parallel to a set 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 another set of opposite sides of the current rectangular product.

[0046] 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 purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0047] 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

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 This is a diagram showing that in traditional dispensing operations, when the direction of movement of some products is opposite to the direction of the dispensing trajectory, the dispensing head needs to take many repeated paths. Figure 1 ;

[0050] Figure 2 This is a diagram showing that in traditional dispensing operations, when the direction of movement of some products is opposite to the direction of the dispensing trajectory, the dispensing head needs to take many repeated paths. Figure 2 ;

[0051] Figure 3 This is a schematic diagram of the dispensing operation of the matrix array product of the present invention in an S-shaped manner and in rows;

[0052] Figure 4 yes Figure 3 Schematic diagram after adjusting the dispensing track direction;

[0053] Figure 5 This is a schematic diagram of the dispensing operation of the matrix array product of the present invention in an S-shaped manner and in columns;

[0054] Figure 6 yes Figure 5 Schematic diagram after adjusting the dispensing track direction;

[0055] Figure 7 This is a schematic diagram of the matrix array product dispensing operation of the present invention in a Z-shaped and row-based manner;

[0056] Figure 8 yes Figure 7 Schematic diagram after adjusting the dispensing track direction;

[0057] Figure 9 This is a schematic diagram of the matrix array product dispensing operation of the present invention in a Z-shaped and column-based manner;

[0058] Figure 10 yes Figure 9 Schematic diagram after adjusting the dispensing track direction;

[0059] Figure 11 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0060] 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.

[0061] 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.

[0062] 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.

[0063] A method for adjusting the direction of a dispensing track for a multi-workpiece dispensing operation according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0064] See Figures 3 to 11 The present invention provides a method for adjusting the direction of a dispensing track for a multi-workpiece dispensing operation, which is suitable for a dispensing device that performs dispensing operations on rectangular products in a matrix array product. The dispensing operation of the matrix array product proceeds in an S-type dispensing operation or a Z-type dispensing operation. The matrix array product operates horizontally or vertically, the horizontal direction corresponds to the rows in the matrix array product, and the vertical direction corresponds to the columns in the matrix array product, that is, the matrix array product can operate in rows or columns.

[0065] The method for adjusting the direction of a dispensing track of a multi-workpiece dispensing operation includes the following steps:

[0066] Step 1: Obtaining the dispensing operation mode: The dispensing process recipe is stored in the industrial computer of the dispensing equipment, and the controller of the dispensing equipment obtains the dispensing operation mode of the matrix array product from the configuration of the dispensing process recipe;

[0067] Step 2: Determine whether the dispensing trajectory of the product can be adjusted in direction:

[0068] When the controller of the dispensing equipment obtains that the dispensing operation mode of the matrix array product is S-shaped, the controller of the dispensing equipment determines whether the dispensing trajectory line of the product can be adjusted in direction:

[0069] If the controller of the dispensing equipment identifies that the dispensing trajectory of the product is a line segment parallel to a single side of the product, the controller of the dispensing equipment determines that the direction of the dispensing trajectory of the product can be adjusted, and adjusts the direction of the dispensing trajectory of the product to be consistent with the S-shaped moving direction of the dispensing operation of the matrix array product;

[0070] If the controller of the dispensing equipment identifies that the dispensing trajectory line of the product is a broken line, the controller of the dispensing equipment determines that the direction of the dispensing trajectory line of the product cannot be adjusted;

[0071] When the controller of the dispensing equipment obtains that the dispensing operation mode of the matrix array product is Z-type, the controller of the dispensing equipment determines whether the dispensing trajectory line of the product can be adjusted in direction:

[0072] If the controller of the dispensing equipment identifies that the dispensing trajectory of the product is a line segment parallel to a single side of the product, the controller of the dispensing equipment determines that the direction of the dispensing trajectory of the product can be adjusted, and adjusts the direction of the dispensing trajectory of the product to be consistent with the Z-shaped travel direction of the dispensing operation of the matrix array product;

[0073] If the controller of the dispensing equipment identifies that the dispensing trajectory line of the product is a broken line, the controller of the dispensing equipment determines that the direction of the dispensing trajectory line of the product cannot be adjusted;

[0074] Step 3: Perform dispensing operation:

[0075] When the controller of the dispensing equipment adjusts the dispensing track direction of the product, the matrix array product will perform dispensing operations according to the new dispensing track direction of the product;

[0076] When the controller of the dispensing equipment does not adjust the direction of the product dispensing track, the matrix array product will still perform dispensing operations in the original product dispensing track direction.

[0077] The present invention determines whether there is a trajectory line that needs to be adjusted based on the operation configuration of the matrix array product, S-shaped movement or Z-shaped movement, adjusts the adjustable trajectory line according to the product operation direction, and operates according to the adjusted trajectory line, which can improve the efficiency of the dispensing operation.

[0078] Preferably, in step 2, when the controller of the dispensing device obtains that the dispensing operation movement mode of the matrix array product is neither S-type nor Z-type, the controller of the dispensing device will not adjust the direction of any product dispensing trajectory line.

[0079] It should be noted that the automatic reversal function of the product dispensing trajectory line is only suitable for a trajectory section that is opposite to the direction of the dispensing operation; for the broken line type trajectory, the automatic reversal function of the product dispensing trajectory line is not supported.

[0080] 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 details are as follows:

[0081] The fold line is a single right-angle fold line, one line segment of the single right-angle fold line is parallel to one side of the current rectangular product, and the other line segment of the single right-angle fold line is parallel to the other side of the current rectangular product.

[0082] Alternatively, the fold line is a double right-angle fold line, which includes a first line segment, a second line segment, and a third line segment connected end to end, 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, 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.

[0083] Alternatively, the fold line is a U-shaped fold line, which includes a first line segment, a second line segment, a third line segment and a fourth line segment connected in sequence end to end, the first line segment and the third line segment are parallel to each other, and both are parallel to a set 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 another set of opposite sides of the current rectangular product.

[0084] See Figure 3 and Figure 4 In step 2, when the controller of the dispensing device obtains that the dispensing operation mode of the matrix array product is S-shaped and the matrix array product operates in rows, the logic of the controller of the dispensing device to determine whether the direction of the current dispensing trajectory segment of the product in the row is:

[0085] If the overall moving direction of any row of products in the matrix array 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, the direction of the current dispensing trajectory segment of the products in this row will not be adjusted;

[0086] If the overall moving direction of any row of products in the matrix array 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;

[0087] If the overall moving direction of any row of products in the matrix array 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;

[0088] If the overall moving direction of any row of products in the matrix array products 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, the direction of the current dispensing trajectory segment of the products in this row will not be adjusted.

[0089] See Figure 3 The number of rows of the matrix array product is three, the number of columns is four, the dispensing operation mode of the matrix array product is S-shaped, and the matrix array product operates in rows. The specific instructions are as follows:

[0090] The overall moving direction of the first row of products in the matrix array (the row of products located at the top of the figure) 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 ).

[0091] The overall moving direction of the second row of products in the matrix array (the row of products in the middle of the figure) is from left to right. The direction of the current dispensing trajectory segment of the second row of products is from right to left. Adjust the direction of the current dispensing trajectory segment of the second row of products to from left to right (see Figure 4 ).

[0092] The overall moving direction of the third row of products in the matrix array (the row of products at the bottom of the figure) is from right to left, and the direction of the current dispensing trajectory segment of the third row of products is also from right to left. The direction of the current dispensing trajectory segment of the third row of products is not adjusted (see Figure 4 ).

[0093] See Figure 5 and Figure 6 In step 2, when the controller of the dispensing device obtains that the dispensing operation mode of the matrix array product is S-shaped and the matrix array product operates in columns, the logic of the controller of the dispensing device to determine whether the direction of the current dispensing trajectory segment of the column product is adjusted is:

[0094] If the overall moving direction of any column of products in the matrix array 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, the direction of the current dispensing trajectory segment of the products in this column will not be adjusted;

[0095] If the overall moving direction of any column of products in the matrix array 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 be from front to back;

[0096] If the overall moving direction of any column of products in the matrix array 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;

[0097] If the overall moving direction of any column of products in the matrix array products 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, the direction of the current dispensing trajectory segment of the products in this column will not be adjusted.

[0098] See Figure 5 The number of rows of the matrix array product is four, and the number of columns is three. The dispensing operation mode of the matrix array product is S-shaped. The matrix array product operates in columns. The specific instructions are as follows:

[0099] The overall moving direction of the first column of products in the matrix array (the column on the left in the figure) is from back to front, and the direction of the current dispensing trajectory segment of the first column of products is also from back to front. The direction of the current dispensing trajectory segment of the first column of products is not adjusted (see Figure 6 ).

[0100] The overall moving direction of the second column of products in the matrix array (the column of products in the middle of the figure) is from front to back, and the direction of the current dispensing trajectory segment of the second column of products is from back to front. Adjust the direction of the current dispensing trajectory segment of the second column of products to front to back (see Figure 6 ).

[0101] The overall moving direction of the third column of products in the matrix array (the column on the right in the figure) is from back to front, and the direction of the current dispensing trajectory segment of the third column of products is also from back to front. The direction of the current dispensing trajectory segment of the third column of products is not adjusted (see Figure 6 ).

[0102] See Figure 7 and Figure 8 In step 2, when the controller of the dispensing device obtains that the dispensing operation mode of the matrix array product is Z-type and the matrix array product operates in rows, the logic of the controller of the dispensing device to determine whether the direction of the current dispensing trajectory segment of the product in the row is:

[0103] If the overall moving direction of any row of products in the matrix array 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, the direction of the current dispensing trajectory segment of the products in this row will not be adjusted;

[0104] If the overall moving direction of any row of products in the matrix array 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;

[0105] If the overall moving direction of any row of products in the matrix array 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;

[0106] If the overall moving direction of any row of products in the matrix array products 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, the direction of the current dispensing trajectory segment of the products in this row will not be adjusted.

[0107] See Figure 7 The number of rows of the matrix array product is three, the number of columns is four, the dispensing operation mode of the matrix array product is Z-type, and the matrix array product operates in rows. The specific instructions are as follows:

[0108] The overall moving direction of the first row of products in the matrix array (the row of products located at the top of the figure) is from left to right. The direction of the current dispensing trajectory segment of the first row of products is also from left to right. The direction of the current dispensing trajectory segment of the first row of products is not adjusted (see Figure 8 ).

[0109] The overall moving direction of the second row of products in the matrix array (the row of products in the middle of the figure) is from right to left. The direction of the current dispensing trajectory segment of the second row of products is from left to right. Adjust the direction of the current dispensing trajectory segment of the second row of products to from right to left (see Figure 8 ).

[0110] The overall moving direction of the third row of products in the matrix array (the row of products at the bottom of the figure) is from left to right. The direction of the current dispensing trajectory segment of the third row of products is also from left to right. The direction of the current dispensing trajectory segment of the third row of products is not adjusted (see Figure 8 ).

[0111] See Figure 9 and Figure 10 In step 2, when the controller of the dispensing device obtains that the dispensing operation mode of the matrix array product is Z-type and the matrix array product operates in columns, the logic of the controller of the dispensing device to determine whether the direction of the current dispensing trajectory segment of the column product is adjusted is:

[0112] If the overall moving direction of any column of products in the matrix array 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, the direction of the current dispensing trajectory segment of the products in this column will not be adjusted;

[0113] If the overall moving direction of any column of products in the matrix array 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 be from front to back;

[0114] If the overall moving direction of any column of products in the matrix array 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;

[0115] If the overall moving direction of any column of products in the matrix array products 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, the direction of the current dispensing trajectory segment of the products in this column will not be adjusted.

[0116] See Figure 9 The number of rows of the matrix array product is four, the number of columns is three, the dispensing operation mode of the matrix array product is Z-type, and the matrix array product operates in columns. The specific instructions are as follows:

[0117] The overall moving direction of the first column of products in the matrix array (the column on the left in the figure) is from front to back, and the direction of the current dispensing trajectory segment of the first column of products is also from front to back. The direction of the current dispensing trajectory segment of the first column of products is not adjusted (see Figure 10 ).

[0118] The overall moving direction of the second column of products in the matrix array (the product in the middle of the figure) is from back to front. The direction of the current dispensing trajectory segment of the second column of products is from front to back. Adjust the direction of the current dispensing trajectory segment of the second column of products to from back to front (see Figure 10 ).

[0119] The overall moving direction of the third column of products in the matrix array (the column on the right in the figure) is from front to back, and the direction of the current dispensing trajectory segment of the third column of products is also from front to back. The direction of the current dispensing trajectory segment of the third column of products is not adjusted (see Figure 10 ).

[0120] The method for adjusting the direction of the dispensing trajectory for multi-workpiece dispensing operations of the present invention addresses the problem that the direction of the trajectory line is opposite to the overall travel direction in the dispensing of matrix array arranged products. The method automatically identifies the trajectory line that needs to be adjusted according to the matrix array arrangement and travel mode, and performs adaptability correction on the travel direction of the adjustable trajectory line. An efficient operation path is produced based on the optimized trajectory line, effectively eliminating path redundancy caused by the need for continuous reversal of the dispensing path, reducing the idle movement distance of the dispensing head, and significantly improving the overall dispensing efficiency of the matrix array products.

[0121] With the above-described preferred embodiments of the present invention as a guide, 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. A method for adjusting the direction of a dispensing track for a multi-workpiece dispensing operation, characterized in that: Glue dispensing equipment suitable for performing glue dispensing operations on rectangular products in a matrix array product. The glue dispensing operation of the matrix array product is carried out in an S-shaped glue dispensing operation or a Z-shaped glue dispensing operation. The matrix array product is operated horizontally or vertically. The horizontal direction corresponds to the rows in the matrix array product, and the vertical direction corresponds to the columns in the matrix array product. That is, the matrix array product can be operated in rows or columns. The method for adjusting the dispensing track direction includes the following steps: Step 1: Get the dispensing operation mode: The dispensing process recipe is stored in the industrial computer of the dispensing equipment, and the controller of the dispensing equipment obtains the dispensing operation mode of the matrix array product from the configuration of the dispensing process recipe; Step 2: Determine whether the dispensing trajectory of the product can be adjusted in direction: When the controller of the dispensing equipment obtains that the dispensing operation mode of the matrix array product is S-shaped, the controller of the dispensing equipment determines whether the dispensing trajectory line of the product can be adjusted in direction: If the controller of the dispensing equipment identifies that the dispensing trajectory of the product is a line segment parallel to a single side of the product, the controller of the dispensing equipment determines that the direction of the dispensing trajectory of the product can be adjusted, and adjusts the direction of the dispensing trajectory of the product to be consistent with the S-shaped moving direction of the dispensing operation of the matrix array product; If the controller of the dispensing equipment identifies that the dispensing trajectory line of the product is a broken line, the controller of the dispensing equipment determines that the direction of the dispensing trajectory line of the product cannot be adjusted; When the controller of the dispensing equipment obtains that the dispensing operation mode of the matrix array product is Z-type, the controller of the dispensing equipment determines whether the dispensing trajectory line of the product can be adjusted in direction: If the controller of the dispensing equipment identifies that the dispensing trajectory of the product is a line segment parallel to a single side of the product, the controller of the dispensing equipment determines that the direction of the dispensing trajectory of the product can be adjusted, and adjusts the direction of the dispensing trajectory of the product to be consistent with the Z-shaped travel direction of the dispensing operation of the matrix array product; If the controller of the dispensing equipment identifies that the dispensing trajectory line of the product is a broken line, the controller of the dispensing equipment determines that the direction of the dispensing trajectory line of the product cannot be adjusted; Step 3: Perform dispensing operation: When the controller of the dispensing equipment adjusts the dispensing track direction of the product, the matrix array product will perform dispensing operations according to the new dispensing track direction of the product; When the controller of the dispensing equipment does not adjust the direction of the product dispensing track, the matrix array product will still perform dispensing operations in the original product dispensing track direction.

2. The method for adjusting the direction of the dispensing track of a multi-workpiece dispensing operation according to claim 1 is characterized in that In the second step, when the controller of the dispensing device obtains that the dispensing operation mode of the matrix array product is S-shaped, and the matrix array product operates in rows, the logic of the controller of the dispensing device to determine whether the direction of the current dispensing trajectory segment of the product in the row is: If the overall moving direction of any row of products in the matrix array 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, the direction of the current dispensing trajectory segment of the products in this row will not be adjusted; If the overall moving direction of any row of products in the matrix array 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 moving direction of any row of products in the matrix array 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 moving direction of any row of products in the matrix array products 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, the direction of the current dispensing trajectory segment of the products in this row will not be adjusted.

3. The method for adjusting the direction of the dispensing track of a multi-workpiece dispensing operation according to claim 1, wherein In the second step, when the controller of the dispensing device obtains that the dispensing operation mode of the matrix array product is S-shaped, and the matrix array product operates in columns, the logic of the controller of the dispensing device to determine whether the direction of the current dispensing trajectory segment of the column product is adjusted is: If the overall moving direction of any column of products in the matrix array 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, the direction of the current dispensing trajectory segment of the products in this column will not be adjusted; If the overall moving direction of any column of products in the matrix array 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 be from front to back; If the overall moving direction of any column of products in the matrix array 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 moving direction of any column of products in the matrix array products 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, the direction of the current dispensing trajectory segment of the products in this column will not be adjusted.

4. The method for adjusting the direction of the dispensing track of a multi-workpiece dispensing operation according to claim 1, wherein In the second step, when the controller of the dispensing device obtains that the dispensing operation mode of the matrix array product is Z-shaped, and the matrix array product operates in rows, the logic of the controller of the dispensing device to determine whether the direction of the current dispensing trajectory segment of the product in the row is: If the overall moving direction of any row of products in the matrix array 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, the direction of the current dispensing trajectory segment of the products in this row will not be adjusted; If the overall moving direction of any row of products in the matrix array 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 moving direction of any row of products in the matrix array 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 moving direction of any row of products in the matrix array products 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, the direction of the current dispensing trajectory segment of the products in this row will not be adjusted.

5. The method for adjusting the direction of glue dispensing track in a multi-workpiece glue dispensing operation according to claim 1, wherein In the second step, when the controller of the dispensing device obtains that the dispensing operation mode of the matrix array product is Z-shaped, and the matrix array product operates in columns, the logic of the controller of the dispensing device to determine whether the direction of the current dispensing trajectory segment of the column product is adjusted is: If the overall moving direction of any column of products in the matrix array 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, the direction of the current dispensing trajectory segment of the products in this column will not be adjusted; If the overall moving direction of any column of products in the matrix array 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 be from front to back; If the overall moving direction of any column of products in the matrix array 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 moving direction of any column of products in the matrix array products 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, the direction of the current dispensing trajectory segment of the products in this column will not be adjusted.

6. The method for adjusting the direction of glue dispensing track in a multi-workpiece glue dispensing operation according to claim 1, wherein In the second step, when the controller of the dispensing device obtains that the dispensing operation movement 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 the dispensing trajectory line of any product.

7. The method for adjusting the direction of glue dispensing tracks in a multi-workpiece glue dispensing operation according to claim 1, wherein: 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. The method for adjusting the direction of glue dispensing tracks in a multi-workpiece glue dispensing operation according to claim 7, wherein: The fold line is a single right-angle fold line, one line segment of the single right-angle fold line is parallel to one side of the current rectangular product, and the other line segment of the single right-angle fold line is parallel to the other side of the current rectangular product.

9. The method for adjusting the direction of glue dispensing tracks in a multi-workpiece glue dispensing operation according to claim 7, wherein: The fold line is a double right-angle fold line, which includes a first line segment, a second line segment and a third line segment connected in sequence end to end, 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, 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.

10. The method for adjusting the direction of glue dispensing tracks in a multi-workpiece glue dispensing operation according to claim 7, wherein: The fold line is a U-shaped fold line, which includes a first line segment, a second line segment, a third line segment and a fourth line segment connected in sequence from end to end. The first line segment and the third line segment are parallel to each other, and both are parallel to a set 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 another set of opposite sides of the current rectangular product.

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