Gluing track formula generation method, gluing track control method, equipment and storage medium

Abstract

The invention discloses a gluing track formula generation method, a gluing track control method, equipment and a storage medium, and the method comprises the steps: obtaining a gluing type corresponding to at least one gluing point, and determining a to-be-configured parameter item template corresponding to each gluing type, the gluing type comprises any one of the following types: single-point gluing, linear gluing and reciprocating multi-line gluing; receiving user input information according to the to-be-configured parameter item template to determine a corresponding configured parameter list; calling a modular code component corresponding to the gluing type, and generating track control data of a corresponding gluing point in combination with the configured parameter list; and generating a gluing track formula based on the track control data of each gluing point. Therefore, various types of gluing tasks can be uniformly described and processed, rapid integration of different gluing process types in the same track formula is supported, and the adaptability to the gluing requirements of complex workpieces is improved.

Description

Technical Field

[0001] The present application relates to the field of industrial intelligent control technology, and in particular to a method for generating a glue coating trajectory formula, a glue coating trajectory control method, a device, and a storage medium. Background Art

[0002] Industrial automated gluing technology is widely used in applications such as electronic component packaging, automotive interior sealing, and mechanical parts dispensing. Its core function is to accurately and reliably apply the glue to the workpiece surface to ensure the assembly's sealing, structural strength, and aesthetics. With the continuous improvement of automation, gluing systems based on PLC control and three-axis motion platforms have become mainstream. Their basic process typically includes trajectory pre-programming, parameter setting, and motion execution.

[0003] Existing gluing systems are often optimized for continuous contours or single paths, such as edge-sealing ring gluing or simple linear dispensing. These systems effectively meet the needs of mass production of fixed workpiece shapes. However, in actual production, a single workpiece surface may involve multiple different types of complex gluing. Existing solutions often require writing and debugging PLC programs for each gluing type, resulting in heavy programming workloads, long debugging cycles, and the risk of errors introduced by program modifications, making it difficult to support the production line's requirements for flexibility and rapid switching.

[0004] To address the above issues, the industry has not yet proposed a better technical solution. Summary of the Invention

[0005] The embodiments of the present application provide a method for generating a glue coating trajectory formula, a glue coating trajectory control method, a device, a system and a storage medium, which are used to at least solve the problem of programming and adaptation difficulties of the current traditional glue coating system in complex glue coating path scenarios with multiple glue coating types.

[0006] In the first aspect, an embodiment of the present application provides a method for generating a gluing trajectory formula, comprising: obtaining a gluing type corresponding to at least one gluing point, and determining a parameter item template to be configured corresponding to each of the gluing types; the gluing type includes any one of the following: single-point gluing, straight-line gluing, and reciprocating multi-line gluing; receiving user input information according to the parameter item template to be configured to determine a corresponding configured parameter list; calling a modular code component corresponding to the gluing type, and generating trajectory control data of the corresponding gluing point in combination with the configured parameter list; generating a gluing trajectory formula based on the trajectory control data of each of the gluing points.

[0007] In the second aspect, an embodiment of the present application provides a method for controlling a gluing trajectory, comprising: when receiving a work order formula download request from a target gluing operation equipment, parsing the work order gluing workpiece information in the work order formula download request; querying the workpiece formula mapping relationship based on the work order gluing workpiece information to feed back a matching work order gluing trajectory formula to the target gluing operation equipment; the workpiece formula mapping relationship is used to maintain the association relationship between the gluing workpiece information and the gluing trajectory formula, wherein the gluing trajectory formula is generated by the gluing trajectory formula generation method described in any one of the above items of the present application.

[0008] In the third aspect, an embodiment of the present application provides a gluing trajectory control system, comprising a host computer and a gluing operation device; the gluing operation device is used to perform the following operations: obtaining the gluing type corresponding to at least one gluing point, and determining the parameter item template to be configured corresponding to each of the gluing types; the gluing type includes any one of the following: single-point gluing, straight-line gluing, and reciprocating multi-row gluing; receiving user input information according to the parameter item template to be configured to determine the corresponding configured parameter list; calling the modular code component corresponding to the gluing type, and combining the configured parameter list to generate the trajectory control data of the corresponding gluing point; generating a gluing trajectory formula based on the trajectory control data of each of the gluing points; the host computer is used to share the gluing trajectory formula in the gluing operation equipment group.

[0009] In a fourth aspect, an embodiment of the present application provides a storage medium, in which one or more programs including execution instructions are stored. The execution instructions can be read and executed by an electronic device (including but not limited to a computer, a server, or a network device, etc.) to execute any of the above-mentioned glue trajectory formula generation methods or glue trajectory control methods of the present application.

[0010] In a fifth aspect, an electronic device is provided, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any one of the above-mentioned glue coating trajectory formula generation methods or glue coating trajectory control methods of the present application.

[0011] In a sixth aspect, an embodiment of the present application further provides a computer program product, which includes a computer program stored on a storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes any one of the above-mentioned glue trajectory formula generation methods or glue trajectory control methods.

[0012] The beneficial effects of the embodiments of the present application are: By abstractly modeling common gluing types and combining parameter template configuration mechanisms, modular code component invocation, and integrated trajectory recipe generation, the system achieves structured, parameterized, and automated processing of various gluing tasks. This enables unified description and processing of multiple gluing tasks, supporting the rapid integration of different gluing process types within the same trajectory recipe, improving adaptability to complex workpiece gluing requirements. Parameter templates guide users through configuration operations, reducing the threshold and cost of manual programming and simplifying system usage. Modular control components are used to generate trajectory control data, improving the efficiency and stability of trajectory generation and ensuring good code reusability and maintainability. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0014] Figure 1 A flowchart of an example of a method for generating a glue track recipe according to an embodiment of the present application is shown; Figure 2A A schematic diagram showing the effect of an example of single-point gluing on a workpiece; Figure 2B A schematic diagram showing the effect of an example of linear gluing of a workpiece; Figure 2C A schematic diagram showing the effect of an example of gluing a bow-shaped workpiece; Figure 2D A schematic diagram showing the effect of an example of Z-shaped gluing on a workpiece; Figure 3 An operational flow chart illustrating an example of constructing a configured parameter list for reciprocating multi-line gluing according to an embodiment of the present application is shown; Figure 4 An operational flow chart illustrating an example of constructing a configured parameter list based on user input information according to an embodiment of the present application is shown; Figure 5 A schematic diagram showing an example of an interface effect of a parameter configuration interface according to an embodiment of the present application is shown; Figure 6 A schematic diagram showing the effect of an example of a workpiece gluing path with a combination of multiple types of trajectories according to an embodiment of the present application is shown; Figure 7 A flowchart of an example of a method for controlling a gluing trajectory according to an embodiment of the present application is shown; Figure 8A system structure block diagram of an example of a gluing track control system according to an embodiment of the present application is shown; Figure 9 A schematic diagram of the system architecture of an example of a gluing trajectory control system according to an embodiment of the present application is shown; Figure 10 A data display interface diagram showing an example of glue application point information according to an embodiment of the present application is shown; Figure 11 This is a schematic structural diagram of an embodiment of an electronic device of the present application. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0016] It should also be noted that, in this document, the terms "include" and "comprising" include not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, the elements defined by the phrase "include..." do not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the elements.

[0017] In the technical solutions of this application, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved shall comply with the provisions of relevant laws and regulations and shall not violate public order and good morals.

[0018] It should be noted that the industrial gluing solutions in the current related technologies mostly focus on continuous contour gluing. However, in actual production, there are a large number of scenarios that require single-point gluing, straight-line gluing, and gluing with complex trajectories such as Z-shaped trajectories and bow-shaped trajectories. As a result, traditional gluing technology is difficult to meet such diverse and personalized gluing needs, and has obvious deficiencies in trajectory accuracy control and flexible switching.

[0019] Furthermore, traditional methods for managing gluing recipes often lack efficient and convenient storage and downloading capabilities, resulting in inconvenient recipe management, an inability to quickly respond to diverse recipe requirements during production, and significant limitations on recipe capacity. Furthermore, traditional gluing program programming lacks standardization, requiring extensive rewriting and modification of code for each new product's gluing path. This not only consumes significant manpower and time, but is also prone to programming errors, reducing production efficiency.

[0020] In view of this, Figure 1 A flowchart of an example of a method for generating a glue track recipe according to an embodiment of the present application is shown.

[0021] Regarding the execution subject of the method of the embodiment of the present application, it can be any controller or processor with computing or processing capabilities, such as gluing operation equipment. In view of the problems of high programming complexity, low process switching efficiency, and easy errors in existing industrial gluing systems when dealing with complex and changeable gluing tasks, a technical solution combining structuring, parameterization and modularization is proposed. By abstracting the gluing trajectory process into a variety of gluing types, and combining the parameter input, template configuration and automatic generation mechanism on the user side, efficient and stable trajectory control data generation and recipe output are achieved. As a result, not only the programming threshold and cost of the gluing trajectory formula are reduced, the efficiency and reliability of the gluing trajectory design are improved, but also the system's adaptability to complex and diversified gluing of workpieces is enhanced.

[0022] In some examples, the method of the embodiments of the present application can be integrated into an electronic device or terminal through software, hardware, or a combination of software and hardware, and the type of terminal or electronic device can be diverse, such as a mobile phone, tablet computer, desktop computer, or car terminal, etc.

[0023] like Figure 1 As shown, in step S110, the gluing type corresponding to at least one gluing point is obtained, and the parameter item template to be configured corresponding to each gluing type is determined. The gluing type includes any one of the following: single-point gluing, straight-line gluing, and reciprocating multi-line gluing.

[0024] Here, the system first identifies and models the target workpiece's gluing requirements. The gluing task on the workpiece is broken down into several gluing points, each corresponding to a specific gluing type, to accommodate diverse gluing operations on the same workpiece.

[0025] It should be understood that the gluing types of single-point gluing, straight-line gluing, and reciprocating multi-line gluing are merely examples of gluing types, and the gluing types may also be configured or adjusted according to actual gluing business requirements.

[0026] Specifically, single-point gluing is suitable for scenarios where gluing is only applied at a fixed position, such as solder point protection of electronic devices, sealing points of button components, etc.; linear gluing can be used for linear sealing or bonding at the edges and joints of structures, such as automotive interior trim strips and box edge sealing; reciprocating multi-line gluing is used for large-area, continuous and uniform gluing, such as heat conduction glue layer covering, panel reinforcement, etc.

[0027] Regarding the implementation details of the acquisition operation, it can be achieved through manual annotation and classification based on a graphical interface or structured recognition based on CAD import. In the example of graphical interface interaction, the operator marks the gluing points on the workpiece model in the graphical interface and manually selects the gluing type of each point, so that the system can automatically load the corresponding parameter template according to the selection result, such as path length, point spacing, gluing speed, etc. In the example of CAD structure recognition, the system reads the structural file of the workpiece (such as DXF, STEP, etc.) to automatically identify the gluing area and the corresponding type (such as through naming rules or layer identification), and quickly completes type determination and template matching. Thus, based on inputs such as gluing process drawings, CAD data or user graphical interaction interfaces, the gluing points on the workpiece surface and their corresponding gluing types are identified.

[0028] In step S120, user input information is received according to the template of the parameter item to be configured to determine a corresponding configured parameter list.

[0029] In some embodiments, after the glue type identification and template loading are completed, the user can be guided to enter specific parameter values ​​for each glue point according to the parameter items defined in the template, which can realize the conversion from the abstract definition of the glue type to executable control data.

[0030] It should be noted that due to the significant differences in the parameter items required for different gluing types (for example, single-point gluing does not require a path length parameter, while reciprocating gluing requires at least a specified number of rows), the system dynamically generates a parameter input interface through a template-driven mechanism, presenting only the fields required to be filled in for the current type. In addition, to ensure the engineering rationality and control consistency of parameter input, the system also performs constraint verification on the input values, for example, the gluing speed does not exceed the range supported by the operating equipment. Furthermore, the system records the configured parameters for each gluing point, organizes them in a list structure, and forms the input for subsequent module calls. In this way, the standardized and structured definition of gluing task parameters is achieved, and the intensity of manual intervention in the gluing parameter configuration process is reduced, thereby improving the configuration accuracy.

[0031] In step S130 , the modular code component corresponding to the glue application type is called, and combined with the configured parameter list, the trajectory control data of the corresponding glue application point is generated.

[0032] Here, the modular code component is a pre-written control logic block that is mapped one-to-one to the glue application type. Each component instantiates the code based on the parameter value, and uses the "code template + parameter filling" method to dynamically synthesize trajectory control instructions. For example, a fixed-point instruction is generated by combining the dwell time and the glue valve opening command with a single-point glue application component. In some embodiments, the glue application operation equipment can be a device that controls glue application through a PLC controller, and the corresponding modular code component is the PLC program code. Therefore, generating trajectory control instructions through modular control components reduces the threshold and burden of manual writing, and the generation process is standardized and reusable, avoiding the logical inconsistencies and safety hazards caused by manually writing or copying and pasting PLC code.

[0033] In step S140 , a gluing trajectory recipe is generated based on the trajectory control data of each gluing point.

[0034] In some embodiments, after obtaining the trajectory control data corresponding to each gluing point, the system needs to integrate all the data according to the actual gluing sequence and form a final trajectory recipe, which can record the complete gluing strategy for a workpiece.

[0035] For example, each trajectory recipe consists of multiple gluing segments, each describing the control parameters and execution instructions for a gluing point or path. Specifically, the system can combine these segments into an ordered trajectory sequence based on the gluing order set by the user (e.g., manually specified or automatically combined paths), creating a structured recipe data file. This allows for low-threshold and efficient configuration of gluing recipes for workpieces with multiple trajectories.

[0036] In some examples of the embodiments of the present application, the template of the parameter item to be configured corresponding to single-point gluing includes the coordinates of the gluing point and the single-point delay; and / or, the template of the parameter item to be configured corresponding to straight line gluing includes the coordinates of the starting point of the straight line, the coordinates of the end point of the straight line and the gluing speed; and / or, the template of the parameter item to be configured corresponding to reciprocating multiple lines of gluing includes the coordinates of the starting point of multiple lines, the coordinates of the end point of multiple lines, the gluing speed and the number of gluing lines.

[0037] Figure 2A A schematic diagram showing the effect of an example of single-point gluing on a workpiece.

[0038] Regarding single-point gluing, it is applicable to scenarios where glue is applied only at a fixed position. Path interpolation is not involved during the execution process. Only point positioning and single-point delay (or, glue valve opening time) need to be controlled. Single-point delay can effectively control the single-point output glue amount or glue area to meet the needs of more refined single-point gluing business.

[0039] Figure 2B A schematic diagram showing the effect of an example of linear gluing on a workpiece.

[0040] Regarding linear dispensing, it typically requires the glue to be applied evenly along a straight path. Therefore, while defining the motion path between the start and end points, it also requires a steady speed to keep the glue valve open. The start and end points can be selected by clicking on the graphics, importing coordinates, or automatically extracting the path segments. The dispensing speed can be specified directly by the user or automatically recommended by the system based on the characteristics of the currently selected glue (such as viscosity and flowability) and the nozzle model.

[0041] It should be noted that reciprocating multi-line gluing is primarily used for large-area coating. Its path is no longer a simple line segment, but rather consists of multiple, evenly spaced, continuous lines running in opposite directions, forming a dense gluing area. Furthermore, reciprocating multi-line gluing can be further subdivided into various gluing types, such as bow-shaped gluing, Z-shaped gluing, spiral filling gluing, and waveform scanning gluing, which are not limited here.

[0042] In the following description, the specific implementation details of the reciprocating multi-line gluing will be expanded by combining bow-shaped gluing and Z-shaped gluing as examples.

[0043] Figure 2C A schematic diagram showing the effect of an example of bow-shaped gluing on a workpiece.

[0044] like Figure 2C , which shows the effect of a unidirectional multi-line gluing trajectory formed on the surface of the workpiece after gluing in a bow-shaped manner, reflecting the structural characteristics of unidirectional gluing and intermittent return. For example, the gluing path performs the first section of straight gluing in a preset direction (for example, along the X-axis). After completing the first line, the gluing head returns to the starting end in a retracted manner, and after offsetting a fixed line spacing, repeats the next line of straight gluing. The gluing direction of each line remains consistent, that is, the colloid is always applied in the same direction, and the return path does not apply glue or only performs an empty line movement. The parameter configuration can specify the coordinates of the starting and ending points of multiple lines, the gluing speed, and the number of lines. The system automatically generates a complete trajectory control instruction containing the working line and the return segment based on these parameters.

[0045] Figure 2D A schematic diagram showing the effect of an example of Z-shaped gluing on a workpiece.

[0046] like Figure 2D , which shows the effect of a continuous reciprocating gluing path on the workpiece surface after gluing in a zigzag pattern, presenting a serpentine gluing structure with no gaps between lines. For example, after completing the first straight line of gluing, the gluing head immediately reverses to apply the next line of gluing while maintaining the same line offset, forming a continuous, uninterrupted gluing path that alternates back and forth. For example, based on input parameters such as the starting point, end point, number of lines, and gluing speed, the zigzag path structure is dynamically constructed, ensuring smooth transitions at turns between lines to avoid glue line breakage or excessive accumulation.

[0047] Figure 3 An operational flow chart of an example of constructing a configured parameter list for reciprocating multi-line gluing according to an embodiment of the present application is shown.

[0048] like Figure 3 As shown, in step S310, when the gluing type is reciprocating multi-line gluing, the corresponding multi-line starting point coordinates, multi-line end point coordinates, gluing speed and number of gluing lines are determined according to the user input information. The reciprocating multi-line gluing includes bow-shaped gluing and / or Z-shaped gluing.

[0049] Here, the spatial range and direction of the reciprocating multi-line gluing are defined by multiple rows of starting point coordinates and multiple rows of ending point coordinates (such as the upper left corner and the lower right corner), and the gluing path density is defined according to the number of gluing rows, thereby completing the definition of the spatial boundary of the entire reciprocating area.

[0050] In step S320, based on the coordinates of the starting points of multiple rows, the coordinates of the ending points of multiple rows and the number of gluing rows, a preset reciprocating multi-row gluing positioning algorithm is called to calculate the coordinates of the reference points of each reciprocating gluing row.

[0051] In some embodiments, after configuring the region boundaries, speed, and number of lines, the system divides the glued area into specific lines by calling the corresponding trajectory positioning algorithm, thereby generating corresponding reference coordinates for each line. Here, the reference coordinates can be the coordinates of the typical line start and end points, as well as the position of the line midpoint or other important reference features, which should not be limited here.

[0052] Specifically, if the user selects a Z-shaped gluing pattern, the system reverses the direction of each row when generating the path, forming a serpentine path. If the user selects a bow-shaped gluing pattern, all gluing rows remain in the same direction, with idle return segments inserted in between. The control logic consists of a "working row + return segment" structure. Furthermore, if any row exceeds the workpiece boundary or the equipment's travel limit, the system automatically adjusts or issues an error message.

[0053] In some examples of the embodiments of the present application, in order to achieve more refined multi-line reciprocating gluing, it is also possible to adjust the gluing parameters of each line or a specific line.

[0054] More specifically, if coordinate adjustment information for the reference point coordinates of each line of gluing is detected, the reference point coordinates of each line of gluing are corrected based on the coordinate adjustment information. Furthermore, a configured parameter list is generated based on the user input information and the corrected reference point coordinates of each line of gluing.

[0055] Therefore, when coordinate adjustment information is detected (such as from a visual recognition system, workpiece displacement compensation data, or manually entered correction values ​​by the user), the system will automatically call the coordinate correction module to correct the original reference point coordinates, such as by performing a differential offset based on the row number index, thereby ensuring that each row of the gluing path better matches the actual surface topography of the workpiece or the local process design. This significantly enhances the system's responsiveness to flexible and personalized path requirements, avoiding gluing offsets, missed coating, or glue accumulation caused by deviations between the standard path and the actual fit.

[0056] In step S330, a configured parameter list is generated based on the user input information and the coordinates of the reference points of each line of reciprocating gluing.

[0057] In some embodiments, various input parameters (such as area boundaries, speed, number of lines, and gluing mode) are combined with the path coordinate data output by the positioning algorithm to generate a structured configured parameter list to drive the trajectory control module for path generation and execution.

[0058] Through the embodiments of the present application, the trajectory accuracy and consistency of multiple lines of glue coating paths are effectively guaranteed, providing conditions for matching the system with complex or large-area coating scenarios, and can achieve excellent results in various business application scenarios, such as sealing new energy vehicle battery modules, filling server chip heat dissipation modules, LED board potting, etc.

[0059] Figure 4 An operational flowchart of an example of constructing a configured parameter list based on user input information according to an embodiment of the present application is shown.

[0060] like Figure 4 As shown, in step S410, a parameter configuration interface of a corresponding glue type is displayed, and the parameter configuration interface includes a plurality of interactive controls rendered based on a template of a parameter item to be configured.

[0061] Based on the identified gluing type, the corresponding parameter template is dynamically loaded, and a matching set of interactive controls is rendered in the user interface, allowing users to view, enter, and adjust parameters in a graphical environment. The system generates a structured UI based on the predefined parameter template content for each gluing type (such as single-point gluing, linear gluing, and reciprocating multi-line gluing), and binds the controls to the underlying data model in real time. This eliminates the need for users to understand the underlying motion control logic or manually enter program code; parameter configuration can be completed through control input and selection, significantly lowering the operational barrier and improving configuration efficiency and accuracy.

[0062] In step S420, user input information is received based on each interactive control, thereby obtaining a corresponding configured parameter list.

[0063] After the control is rendered, the user enters parameter values ​​or makes operation selections through the interface. The system collects the input status of the control in real time and automatically binds all input values ​​to the back-end parameter structure model. The structure model organizes the parameter content according to the template definition and automatically summarizes it into a complete list of configured parameters when the user confirms or saves the configuration.

[0064] Through the embodiments of the present application, operators can efficiently configure various gluing tasks through the industrial automated gluing system without any programming knowledge, and convert user input into executable parameter structures, providing key data support for trajectory control, gluing formula generation and process simulation.

[0065] As a preferred implementation of this embodiment, the parameter configuration interface also includes a gluing head position synchronization control, which is used to track and synchronously display the position coordinates of the gluing head, thereby improving the accuracy of trajectory configuration and the intuitiveness of user operation. Specifically, when the gluing head is at the starting point of the trajectory, the gluing head position synchronization control displays the trajectory starting point reference coordinates; when the gluing head is at the end point of the trajectory, the gluing head position synchronization control displays the trajectory end point reference coordinates.

[0066] In some implementations, when an operator performs a positioning operation such as "move to the start point of the track" or "move to the end point of the track," the system can synchronously read the actual position of the glue applicator at that time and display the coordinate information of that position in real time in the control, thereby automatically generating the reference coordinates of the start or end point of the track, without the need for manual measurement or coordinate input. This significantly enhances the visual operation experience and spatial positioning accuracy during the path configuration process, while also improving the system's ability to provide feedback on actual working conditions, allowing operators to quickly set key points on the path based on the actual physical position, further enhancing the flexible adaptability of the glue applicator system and the efficiency of industrial field deployment.

[0067] Figure 5 A schematic diagram of an interface effect of an example of a parameter configuration interface according to an embodiment of the present application is shown.

[0068] like Figure 5 , which is used by users to configure the gluing path parameters and the gluing head position operation. On the left side of the interface is the gluing point number and type selection area. Users can select the gluing type (such as single point gluing, straight line gluing, bow gluing, Z-shaped gluing, etc.) through the drop-down menu and set the corresponding point number. Click the "Read" button to call the parameter information corresponding to the current number.

[0069] The manual motion control function of the gluing head is provided in the middle area of ​​the interface, including buttons such as "X right", "X left", "Y forward", "Y back", "Z up", and "Z down", which are respectively used to control the movement of the gluing head in the X, Y, and Z directions. Below them are the Jog speed setting box and the current position display box, which are convenient for users to refer to when configuring parameters or calibrating points. For example, when the operator moves the gluing head to the position of the starting point of the trajectory, the corresponding gluing position coordinates are displayed in real time in the current position display box. The user can use the corresponding coordinates as a reference and enter them on the left side of the interface as the coordinates of the starting point of the trajectory until the parameter settings of all gluing points are completed. Therefore, users are supported to record the current position as the starting point or end point of the trajectory, thereby realizing efficient binding of coordinate values ​​and gluing logic, and supporting users to complete precise gluing path configuration without code input.

[0070] Figure 6 A schematic diagram showing the effect of an example of a workpiece gluing path with a combination of multiple types of trajectories according to an embodiment of the present application is shown.

[0071] like Figure 6 As shown, the workpiece gluing area includes a path structure composed of multiple gluing types, including multiple single-point gluing locations (such as single point 1, single point 2, and single point 3), three straight gluing paths (Line 1, Line 2, and Line 3), and two independent "multi-line reciprocating gluing areas," each using a zigzag trajectory and a zigzag trajectory for filling and gluing. Through this embodiment of the application, unified modeling and path combination trajectory control for different gluing types on the same workpiece meet the diverse requirements for gluing accuracy, method, and sequence in complex process areas.

[0072] In some examples of the embodiments of the present application, the gluing trajectory recipe is sent to a host computer so that the gluing trajectory recipe is shared in a gluing operation equipment group through the host computer.

[0073] Specifically, after the gluing trajectory recipe is generated, it can be sent to a host computer (e.g., a computer, server, or cloud platform) via a communication interface for centralized management. The host computer, acting as the production line's coordination and control center, receives the recipe, stores and categorizes it, and distributes it to multiple gluing machines based on production scheduling requirements. This enables unified recipe distribution and multi-device reuse, eliminating repeated configuration and debugging on each device. This significantly improves configuration efficiency and management consistency, and enhances the operational efficiency and quality consistency of the entire gluing system under conditions of mass production and product diversification.

[0074] Figure 7 A flowchart of an example of a method for controlling a gluing trajectory according to an embodiment of the present application is shown.

[0075] Regarding the execution entity of the method of the embodiment of the present application, it can be any controller or processor with computing or processing capabilities, such as a host computer, to effectively support the needs of multi-station collaboration, flexible switching, and rapid response in modern gluing production lines, and improve the level of intelligent production line scheduling and path control management efficiency.

[0076] In step S710, when a work order recipe download request of a target gluing operation device is received, the work order gluing workpiece information in the work order recipe download request is parsed.

[0077] Here, the host computer is deployed in the production line's central control system, responsible for coordinating the work order scheduling and route recipe distribution of multiple gluing equipment. When the host computer receives a work order recipe download request from any target gluing equipment, the system first parses the message using the specified communication protocol and extracts the workpiece's unique identification information contained in the request, such as the workpiece code, model number, station number, and batch. This allows the host computer to centrally perform standardized processing and efficient forwarding of work order requests within the production line, eliminating the need for edge devices (i.e., gluing equipment) to handle complex business logic, reducing their operational burden and alleviating resource processing pressure on the gluing equipment.

[0078] In step S720, the workpiece recipe mapping relationship is queried based on the work order gluing workpiece information to feed back the matching work order gluing trajectory recipe to the target gluing operation equipment. The workpiece recipe mapping relationship is used to maintain the association between the gluing workpiece information and the gluing trajectory recipe.

[0079] Here, the gluing track formula is generated by the gluing track formula generation method of any of the above embodiments of the present application.

[0080] In some implementations, the host computer will access and query a pre-established workpiece recipe mapping table based on the extracted workpiece information. This mapping table, centrally maintained by the system, records the unique or multi-dimensional relationships between various workpieces and their corresponding gluing trajectory recipes. For example, it maps the workpiece number + process version to a specific trajectory recipe file path or recipe ID. This allows the host computer to quickly retrieve eligible gluing trajectory recipes through key field matching and feed the recipe content (structured path data) back to the requesting device. This enables unified distribution and version control of trajectory recipes, ensuring that each device in the production line uses the same path recipe when processing the same workpiece, improving consistency and process quality control capabilities.

[0081] Figure 8 A system structure block diagram of an example of a gluing trajectory control system according to an embodiment of the present application is shown.

[0082] like Figure 8As shown, the gluing trajectory control system 800 includes a host computer 810 and a gluing operation device 820. The gluing operation device 810 is used to perform the following operations: Obtaining a gluing type corresponding to at least one gluing point, and determining a parameter item template to be configured corresponding to each of the gluing types; the gluing type includes any one of the following: single-point gluing, straight-line gluing, and reciprocating multi-line gluing; Receive user input information according to the parameter item template to be configured to determine a corresponding configured parameter list; Calling the modular code component corresponding to the glue application type and generating trajectory control data of the corresponding glue application point in combination with the configured parameter list; generating a gluing trajectory recipe based on the trajectory control data of each of the gluing points; The host computer 820 is used to share the gluing trajectory formula in the gluing operation equipment group.

[0083] Figure 9 A schematic diagram of the system architecture of an example of a gluing trajectory control system according to an embodiment of the present application is shown.

[0084] like Figure 9 As shown in the figure, the gluing trajectory control system includes a host computer, a PLC controller and a gluing actuator. These parts cooperate with each other through a communication link to complete the generation, sharing, scheduling and execution of the gluing trajectory. It is suitable for flexible industrial production environments that support multiple gluing path types (such as single point, straight line, Z-shaped, bow-shaped, etc.).

[0085] The PLC controller, serving as the system's core control unit, is responsible for executing trajectory configuration and building the glue path recipe logic. The controller is pre-installed with multiple glue path generation modules. Upon receiving user instructions or task requests, it dynamically combines single-point, straight-line, Z-shaped, and bow-shaped path modules based on workpiece requirements to generate a complete glue path recipe. It then controls the XYZ three-axis mechanism in real time to drive the glue head along the specified trajectory, while simultaneously collecting position feedback information during execution to achieve closed-loop precision control.

[0086] The gluing actuator, comprised of a three-axis motion platform and a gluing head assembly, is controlled in real time by a PLC controller to perform three-dimensional path movement and gluing operations. The actuator feeds position information during operation back to the PLC, which assists the controller in adjusting output logic to ensure smoothness and positioning accuracy along the gluing path.

[0087] A C# visualization program is deployed on the host computer, primarily for data management and shared distribution of glue coating recipes. Once the PLC constructs the recipe, it is sent to the host computer via a communication protocol (such as S7.NET), where it is stored and managed, and synchronized to other target control devices as needed, enabling recipe sharing across multiple stations or equipment groups. The host computer also provides auxiliary functions such as recipe browsing, selection, version switching, and task distribution, supporting efficient production line scheduling and process switching.

[0088] In system deployment, the PC (or industrial computer), PLC controller and gluing actuator are connected via Ethernet cables or other industrial communication buses. High-precision motion control data interaction is achieved between the PLC and the three-axis servo control unit through a dedicated field bus (such as Profinet), which can widely adapt to the gluing operation needs of multiple paths, multiple batches and multiple devices.

[0089] In this system, recipe uploading and downloading are handled by the host computer program, forming a key link in recipe sharing and device distribution within the trajectory control system. Once the PLC controller has completed entering recipes for all glue application points, the user can access the recipe management interface through the host computer program, select the corresponding recipe, and click the "Upload" button. The host computer program reads the recipe data from the PLC controller using the S7.NET communication protocol, generates a corresponding CSV file using the recipe name as the file name, and saves it to a designated directory on the PC's hard drive, achieving localized and persistent storage of the recipe.

[0090] When executing the recipe distribution process, the host computer program can automatically match the corresponding recipe based on the current order information obtained from the MES system, or the user can manually select the target recipe in the recipe management interface and click the "Download" button. After the system parses the selected recipe file, it writes its contents item by item to the target PLC controller through the communication interface. Upon receiving, the controller completes the update of the internal data structure and prepares the trajectory for subsequent gluing operations. This supports flexible process scheduling modes that can adapt to order-driven work order execution in automated production lines, as well as manual selection for process switching and multi-machine synchronous deployment.

[0091] The gluing trajectory control system provided in the embodiment of the present application supports the construction of gluing formulas and the gluing execution process based on trajectory presets. Specifically, the operator can enter the trajectory setting interface through the HMI (human-machine interface), select preset path types such as single point, straight line, Z-shaped, bow-shaped, etc. according to the gluing requirements of the workpiece, and complete the configuration of the corresponding points and parameters. After the path setting is completed, the configured trajectory data will be written to the PLC controller for storage. Subsequently, the user can select the target recipe in the recipe management interface through the C# host computer program, click the "Upload" button, extract and save the trajectory data saved in the current PLC as a CSV format file, and save it in the PC directory for subsequent recipe sharing and calling.

[0092] During the gluing execution phase, the PLC controller reads the selected recipe's trajectory parameters and sends instructions to the gluing actuator based on the path type and control logic. The actuator's XYZ servo drive, in response to these instructions, drives the gluing head along the configured path, while simultaneously controlling the opening and closing of the glue valve at a predetermined rhythm to achieve precise gluing of the workpiece surface. Throughout this process, the actuator continuously collects gluing head position information and provides real-time feedback to the PLC, enabling the controller to dynamically correct the motion path, establishing a closed-loop control mechanism to ensure accurate and stable trajectory execution.

[0093] When the system requires a new product's gluing process, the user creates a corresponding recipe entry in the host computer program and completes the path configuration and parameter entry through the HMI. After completing the path setting, the upload function saves the trajectory data in the PLC as a new CSV recipe file. Upon receiving the work order assigned by the MES system, the host computer automatically loads the corresponding recipe file and writes the data to the PLC via the communication protocol. The PLC then drives the actuator based on the recipe content to complete the gluing task, enabling rapid switching between different products and process expansion without modifying the control program or reprogramming.

[0094] Figure 10 A data display interface diagram of an example of glue application point information according to an embodiment of the present application is shown.

[0095] like Figure 10 As shown in the figure, it shows the detailed parameter data of each point in the gluing trajectory recipe. The gluing recipe can store data of multiple (such as 100) combinations of gluing points with different functions and present them in a table form. Each group of "glue data[n]" represents a data structure unit of a gluing point or path segment. Each structure unit contains field information such as point number (point number), trajectory type (model), start and end coordinates (X1pos, Y1pos, Z1pos, X2pos, Y2pos, Z2pos), movement speed (Speed), number of path rows (number of rows) and delay parameter (dealy).

[0096] In actual use, operators or debuggers can use this interface to view the trajectory configuration parameters of each glue application point, including the spatial coordinates of the three axes (X, Y, and Z) and the corresponding process control parameters, to ensure the correct path logic and sequence of each point. In addition, the table also displays the storage offset address (offset) and data type (type) of each parameter in the PLC data block, which facilitates low-level address mapping verification and debugging and tracing.

[0097] In the embodiments of this application, by constructing a glue dispensing control system that supports multiple path combinations (such as single-point, straight-line, Z-shaped, and bow-shaped) and their flexible configuration, the system's adaptability to complex process scenarios is significantly enhanced, covering diverse application requirements from precision electronic component fixing to large-area structural sealing. Furthermore, recipe data is centrally managed on the host computer using a standard format (CSV) and efficiently synchronized with the PLC via a communication mechanism, supporting rapid upload, download, and sharing. This further improves recipe call efficiency and production line switching response speed, making it particularly suitable for manufacturing environments with multiple products operating in parallel and rapid process iteration.

[0098] Furthermore, the system utilizes a standardized control architecture, enabling deployment of new products with minimal effort, requiring only trajectory parameter settings. This eliminates the complexity of frequent code rewrites in traditional solutions and effectively reduces programming and debugging costs. Combined with a position feedback closed-loop control mechanism, it enables high-precision replication and dynamic correction of the gluing path, ensuring consistent and stable gluing quality. The system also supports visual monitoring and analysis of trajectory and execution data, facilitating real-time management and process optimization, further enhancing the intelligent level and operational efficiency of the production system.

[0099] Through the embodiments of the present application, multi-track combined gluing control, efficient management of recipe data and standardized program architecture are integrated into the gluing trajectory control system, breaking through the path limitation of the traditional gluing system based on continuous contours, realizing precise control and flexible switching of single point, straight line, Z-shaped, bow-shaped and their combined trajectories, and significantly improving the system's adaptability to complex processes. At the same time, relying on the efficient communication mechanism between the PC and the PLC, a recipe management system based on the CSV format is constructed to realize centralized storage, rapid call and automatic distribution of recipes, greatly improving the efficiency of process switching. Through the introduction of standardized programming modes, the system supports the "zero code" deployment of new product paths, reduces maintenance costs and error risks, and provides strong support for the flexibility, modularization and engineering practicality of gluing operations.

[0100] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of combined actions, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application. In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0101] In some embodiments, the embodiments of the present application also provide a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes any one of the above-mentioned glue trajectory formula generation methods or glue trajectory control methods.

[0102] In some embodiments, an embodiment of the present application also provides an electronic device, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute a glue coating trajectory recipe generation method or a glue coating trajectory control method.

[0103] The apparatus of the embodiment of the present application described above can be used to execute the method for generating a glue coating trajectory recipe or the method for controlling a glue coating trajectory of the embodiment of the present application, and accordingly achieve the technical effects achieved by the method for generating a glue coating trajectory recipe or the method for controlling a glue coating trajectory of the embodiment of the present application, which will not be described in detail here. In the embodiment of the present application, the relevant functional modules can be implemented by a hardware processor.

[0104] Figure 11 This is a hardware structure diagram of an electronic device for executing a method for generating a glue coating track recipe or a method for controlling a glue coating track provided by another embodiment of the present application. Figure 11 As shown, the device includes: One or more processors 1110 and memory 1120, Figure 11 A processor 1110 is taken as an example.

[0105] The device for executing the method for generating a glue coating trajectory recipe or the method for controlling a glue coating trajectory may further include: an input device 1130 and an output device 1140 .

[0106] The processor 1110, the memory 1120, the input device 1130 and the output device 1140 may be connected via a bus or other means. Figure 11 The bus connection is taken as an example.

[0107] Memory 1120, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the method for generating a gluing trajectory recipe or the method for controlling a gluing trajectory in the embodiments of the present application. Processor 1110 executes the non-volatile software programs, instructions, and modules stored in memory 1120 to execute various server functional applications and data processing, thereby implementing the method for generating a gluing trajectory recipe or the method for controlling a gluing trajectory in the aforementioned method embodiments.

[0108] The memory 1120 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created based on the use of the device, etc. In addition, the memory 1120 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 1120 may optionally include a memory remotely located relative to the processor 1110, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0109] The input device 1130 may receive input digital or character information and generate signals related to user settings and function control of the device. The output device 1140 may include a display device such as a display screen.

[0110] The one or more modules are stored in the memory 1120 and, when executed by the one or more processors 1110, perform the gluing track formula generation method or the gluing track control method in any of the above method embodiments.

[0111] The above-mentioned product can execute the method provided in the embodiment of this application, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in this embodiment, please refer to the method provided in the embodiment of this application.

[0112] The electronic devices of the embodiments of the present application exist in various forms, including but not limited to: (1) Mobile communication devices: These devices are characterized by their mobile communication capabilities and are primarily designed to provide voice and data communications. These terminals include smartphones (e.g., iPhones), multimedia phones, feature phones, and low-end phones.

[0113] (2) Ultra-mobile personal computer devices: These devices fall under the category of personal computers, have computing and processing capabilities, and generally also have mobile Internet access. These terminals include PDAs, MIDs, and UMPCs, such as the iPad.

[0114] (3) Portable entertainment devices: These devices can display and play multimedia content. These devices include audio and video players (such as iPods), handheld game consoles, e-books, smart toys, and portable car navigation devices.

[0115] (4) Server: A device that provides computing services. The server consists of a processor, hard disk, memory, system bus, etc. The server is similar to a general computer architecture, but because it needs to provide highly reliable services, it has higher requirements in terms of processing power, stability, reliability, security, scalability, and manageability.

[0116] (5) Other electronic devices with data interaction functions.

[0117] In some embodiments, this application further provides a mobile platform equipped with the computer device described in any embodiment of this application. Mobile platforms include, but are not limited to, vehicles, tracked robots, bipedal robots, quadrupedal robots, etc., where the vehicles may be passenger cars, pickup trucks, and vans. It should be noted that the above are merely examples, and this application does not limit the specific form of the mobile platform.

[0118] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0119] Through the description of the above embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a general hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the relevant technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for generating a glue coating track formula, comprising: Obtaining a gluing type corresponding to at least one gluing point, and determining a parameter item template to be configured corresponding to each of the gluing types; The gluing type includes any one of the following: single-point gluing, straight-line gluing, and reciprocating multi-line gluing; receiving user input information according to the template of the parameter item to be configured to determine a corresponding configured parameter list; Calling the modular code component corresponding to the glue application type and generating trajectory control data of the corresponding glue application point in combination with the configured parameter list; Based on the trajectory control data of each of the gluing points, a gluing trajectory recipe is generated.

2. The method according to claim 1, wherein The parameter item template to be configured corresponding to the single-point gluing includes the gluing point coordinates and single-point delay; And / or, the parameter item template to be configured corresponding to the straight line gluing includes the straight line starting point coordinates, the straight line end point coordinates and the gluing speed; And / or, the parameter item template to be configured corresponding to the reciprocating multi-line gluing includes multi-line starting point coordinates, multi-line end point coordinates, gluing speed and number of gluing lines.

3. The method according to claim 2, wherein: The receiving user input information according to the template of the parameter item to be configured to determine the corresponding configured parameter list includes: When the gluing type is reciprocating multi-line gluing, the corresponding multi-line starting point coordinates, multi-line ending point coordinates, gluing speed and number of gluing lines are determined according to the user input information; the reciprocating multi-line gluing includes bow gluing and / or Z-shaped gluing; According to the multi-line starting point coordinates, multi-line ending point coordinates and the number of gluing lines, the preset reciprocating multi-line gluing positioning algorithm is called to calculate the reference point coordinates of each reciprocating gluing line; A configured parameter list is generated according to the user input information and the coordinates of the reference points of the reciprocating gluing lines.

4. The method according to any one of claims 1 to 3, wherein The receiving user input information according to the template of the parameter item to be configured to determine the corresponding configured parameter list includes: Displaying a parameter configuration interface for a corresponding glue type; the parameter configuration interface includes a plurality of interactive controls rendered based on the template of the parameter item to be configured; User input information is received based on each of the interactive controls, thereby obtaining a corresponding configured parameter list.

5. The method according to claim 4, wherein the parameter configuration interface further comprises a glue head position synchronization control, wherein: Before receiving user input information based on each of the interactive controls to obtain a corresponding configured parameter list, the method further includes: The current position coordinates of the gluing head are acquired, and the position coordinates are displayed through the gluing head position synchronization control.

6. The method according to claim 1, wherein After generating a gluing trajectory recipe based on the trajectory control data of each of the gluing points, the method further includes: The gluing track formula is sent to a host computer so that the gluing track formula is shared in a gluing operation equipment group through the host computer.

7. A method for controlling a gluing trajectory, comprising: When receiving a work order recipe download request from a target gluing operation device, parsing the work order gluing workpiece information in the work order recipe download request; Querying a workpiece recipe mapping relationship based on the work order gluing workpiece information to feed back a matching work order gluing trajectory recipe to the target gluing operation equipment; The workpiece recipe mapping relationship is used to maintain the association relationship between the gluing workpiece information and the gluing track recipe, wherein the gluing track recipe is generated by the gluing track recipe generation method according to any one of claims 1-6.

8. A gluing trajectory control system, including a host computer and gluing operation equipment; The gluing equipment is used to perform the following operations: Obtaining a gluing type corresponding to at least one gluing point, and determining a parameter item template to be configured corresponding to each of the gluing types; the gluing type includes any one of the following: single-point gluing, straight-line gluing, and reciprocating multi-line gluing; receiving user input information according to the template of the parameter item to be configured to determine a corresponding configured parameter list; Calling the modular code component corresponding to the glue application type and generating trajectory control data of the corresponding glue application point in combination with the configured parameter list; generating a gluing trajectory recipe based on the trajectory control data of each of the gluing points; The host computer is used to share the gluing trajectory formula in the gluing operation equipment group.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory, wherein: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program / instruction stored thereon, wherein: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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