Dispensing machine glue automatic replacement method, device and dispensing system

Abstract

The present application relates to a kind of glue dispensing machine glue automatic replacement method, device and glue dispensing system.The method comprises: in response to the glue dispensing machine glue replacement instruction of glue supply mechanism, control the glue self-moving device of the glue supply frame for carrying full glue pipe moves close to glue dispensing machine;When the glue self-moving device moves to the glue replacement position of glue dispensing machine, control glue replacement glue supply mechanism stops supplying glue to glue valve mechanism, and control the material taking and placing manipulator from glue replacement glue supply mechanism to replace the glue pipe, and place on the glue supply frame;Control the material taking and placing manipulator from the full glue pipe of the glue supply frame, and place on the glue replacement glue supply mechanism, and control glue replacement glue supply mechanism continues to supply glue to glue valve mechanism, complete glue automatic replacement.The present application can solve the problem that traditional manual replacement glue mode is inefficient, prone to glue mixing or contamination, often due to human operation error and affect product quality, unable to meet the requirements of high precision and high consistency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of glue dispensing machine, in particular to a glue dispensing machine glue automatic replacement method, device and glue dispensing system. BACKGROUND

[0002] The glue dispensing machine is an automatic equipment for precisely controlling fluid (such as glue) dispensing, which can drop or coat fluid on the surface or inside of products, and is widely used in electronic, automobile, medical, new energy and other fields. In the electronic field related to the production of circuit boards (PCB), the glue dispensing machine is a key equipment for precise glue coating, which can complete glue coating at a specified position with a preset shape, amount and precision, ensuring the electrical performance and mechanical reliability of the PCB. Moreover, during the glue dispensing production process of the circuit board by the glue dispensing machine, the glue dispensing machine needs to be replaced with a glue dispensing machine for supplying glue in time to ensure the normal continuous production of the glue dispensing machine.

[0003] In the traditional technology, the glue is usually replaced manually, that is, the glue-filled glue pipe is manually moved to the side of the glue dispensing machine, and the used glue pipe on the glue dispensing machine is manually disassembled, and then the glue-filled glue pipe is installed on the glue dispensing machine to supply glue for the glue dispensing machine. However, the traditional manual glue replacement method is not only low in efficiency, but also easy to cause glue mixing or pollution, and often affects product quality due to human operation errors, which cannot meet the strict requirements of modern electronic manufacturing for high precision and high consistency. Therefore, there is an urgent need for a glue dispensing machine automatic glue replacement technical solution to solve the above technical problems. SUMMARY

[0004] The present application provides a glue dispensing machine glue automatic replacement method, device and glue dispensing system, which can solve the problem that the traditional manual glue replacement method is low in efficiency, easy to cause glue mixing or pollution, and often affects product quality due to human operation errors, which cannot meet the strict requirements of modern electronic manufacturing for high precision and high consistency.

[0005] In order to solve the above technical problems, the present application provides a glue dispensing machine glue automatic replacement method applied to a glue dispensing system.

[0006] The glue dispensing system comprises a glue dispensing machine and a glue self-moving device.

[0007] The glue dispensing machine comprises a rack, a glue dispensing workbench arranged in the rack, a glue dispensing valve mechanism arranged on the glue dispensing workbench, and a glue replacement and supply mechanism connected with the glue dispensing valve mechanism.

[0008] The glue self-moving device comprises an AGV vehicle, a glue supply rack arranged on one side of the AGV vehicle, and a material taking and placing manipulator arranged on the other side of the AGV vehicle.

[0009] The method comprises:

[0010] In response to a glue replacement instruction of the glue supply mechanism of the glue dispenser, the glue self-moving device carrying the glue supply rack provided with the full glue pipe is controlled to move close to the glue dispenser;

[0011] When the glue self-moving device moves to a glue replacement position of the glue dispenser, the glue supply mechanism is controlled to stop supplying glue to the glue valve mechanism, and the material taking and placing manipulator is controlled to take the glue pipe to be replaced from the glue supply mechanism and place it on the glue supply rack;

[0012] The material taking and placing manipulator is controlled to take the full glue pipe from the glue supply rack and place it on the glue supply mechanism, and the glue supply mechanism is controlled to continue supplying glue to the glue valve mechanism, and the automatic glue replacement is completed.

[0013] In addition, the application further provides a glue automatic replacement device of a glue dispenser, which is applied to a glue dispensing system.

[0014] The glue dispensing system comprises a glue dispenser and a glue self-moving device.

[0015] The glue dispenser comprises a rack, a glue dispensing workbench arranged in the rack, a glue valve mechanism arranged on the glue dispensing workbench, and a glue replacement supply mechanism connected with the glue valve mechanism.

[0016] The glue self-moving device comprises an AGV vehicle, a glue supply rack arranged on one side of the AGV vehicle, and a material taking and placing manipulator arranged on the other side of the AGV vehicle.

[0017] The device comprises:

[0018] A glue automatic moving module is configured to control the glue self-moving device carrying the glue supply rack provided with the full glue pipe to move close to the glue dispenser in response to a glue replacement instruction of the glue supply mechanism of the glue dispenser.

[0019] A glue pipe automatic unloading module is configured to control the glue supply mechanism to stop supplying glue to the glue valve mechanism when the glue self-moving device moves to a glue replacement position of the glue dispenser, and control the material taking and placing manipulator to take the glue pipe to be replaced from the glue supply mechanism and place it on the glue supply rack.

[0020] A glue pipe automatic loading module is configured to control the material taking and placing manipulator to take the full glue pipe from the glue supply rack and place it on the glue supply mechanism, and control the glue supply mechanism to continue supplying glue to the glue valve mechanism, and complete the automatic glue replacement.

[0021] In addition, the application further provides a glue dispensing system, which comprises:

[0022] The glue dispenser comprises a frame, a glue dispensing workbench arranged in the frame, a glue dispensing valve mechanism arranged on the glue dispensing workbench, and a glue replacement and supply mechanism connected with the glue dispensing valve mechanism.

[0023] The glue self-moving and conveying device comprises an AGV vehicle, a glue supply rack arranged on one side of the AGV vehicle, and a material taking and placing manipulator arranged on the other side of the AGV vehicle.

[0024] A controller is connected with the glue dispensing workbench, the glue dispensing valve mechanism, the glue replacement and supply mechanism, the AGV vehicle and the material taking and placing manipulator.

[0025] The controller is used to realize the glue automatic replacement method of the glue dispenser.

[0026] In addition, the application further provides a computer storage medium, which comprises at least one instruction, and the instruction is used to realize the method steps in the glue automatic replacement method of the glue dispenser when the instruction is executed by a computer.

[0027] The technical scheme provided by the application has the following beneficial effects:

[0028] When the glue in the glue replacement and supply mechanism of the glue dispenser needs to be replaced, the glue self-moving and conveying device can be controlled to automatically move the glue supply rack carrying the glue pipe filled with glue (i.e., the full glue pipe) to the side of the glue dispenser; the glue replacement and supply mechanism of the glue dispenser can be controlled to stop supplying glue to the glue dispensing valve mechanism, and the full glue pipe can be automatically detached and taken off by the glue replacement and supply mechanism and the material taking and placing manipulator, and the glue pipe to be replaced can be moved and stored on the glue supply rack by the material taking and placing manipulator; the full glue pipe stored on the glue supply rack can be taken and conveyed to the glue replacement and supply mechanism by the material taking and placing manipulator, the full glue pipe can be automatically positioned and installed by the glue replacement and supply mechanism, and the glue replacement and supply mechanism can be controlled to continue supplying glue to the glue dispensing valve mechanism.

[0029] In this way, the technical scheme provided by the application can realize automatic conveying of the full glue pipe and the glue pipe to be replaced, and automatic detachment of the glue pipe to be replaced and automatic installation of the full glue pipe. The glue replacement efficiency and the production efficiency of the glue dispenser can be improved by the automatic glue replacement mode, the glue mixing or pollution during the glue replacement process can be avoided, the product quality can be ensured by avoiding human operation errors, and the strict requirements of modern electronic manufacturing on high precision and high consistency can be met. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 The schematic diagram of the steps of the glue automatic replacement method of the glue dispensing machine according to the embodiments of the present application;

[0032] Figure 2 The schematic diagram of the three-dimensional structure of the glue dispensing system according to the embodiments of the present application;

[0033] Figure 3 The schematic diagram of the structure of the glue dispensing machine according to the embodiments of the present application;

[0034] Figure 4 The schematic diagram of the three-dimensional structure of the glue replacement and supply mechanism according to the embodiments of the present application Figure 1 ;

[0035] Figure 5 The schematic diagram of the three-dimensional structure of the glue replacement and supply mechanism according to the embodiments of the present application Figure 2 ;

[0036] Figure 6 The schematic diagram of the three-dimensional structure of the glue pipe according to the embodiments of the present application;

[0037] Figure 7 The schematic diagram of the three-dimensional structure of the glue automatic replacement device according to the embodiments of the present application;

[0038] Figure 8 The schematic diagram of the three-dimensional structure of the glue supply rack according to the embodiments of the present application;

[0039] Figure 9 The schematic diagram of the three-dimensional structure of the material taking and placing manipulator according to the embodiments of the present application;

[0040] Figure 10 The schematic diagram of the structure of the glue automatic replacement device of the glue dispensing machine according to the embodiments of the present application;

[0041] Figure 11 The schematic diagram of the structure of the glue dispensing system according to the embodiments of the present application.

[0042] In the figure: 10, glue dispensing system; 20, glue pipe; 22, glue pipe cover; 24, leak-proof joint; 100, glue dispenser; 102, machine frame; 104, glue dispensing workbench; 106, glue valve mechanism; 108, glue replacement and supply mechanism; 110, glue pipe clamping and positioning mechanism; 112, glue pipe lifting and adjusting structure; 1122, glue pipe lifting driving part; 1124, glue pipe lifting adjusting block; 114, glue pipe sensing and clamping structure; 1142, glue pipe sensing part; 1144, clamping driving part; 1146, glue pipe clamping jaw structure; 120, glue outlet connecting mechanism; 122, glue inlet joint; 130, glue discharge mechanism; 132, glue discharge lifting structure; 1322, glue discharge lifting driving part; 1324, glue discharge clamping block structure; 134, glue discharge adapter joint; 200, glue self-moving conveying device; 210, AGV vehicle; 220, glue supply rack; 222, rack body seat; 224, full pipe rack; 226, empty pipe rack; 230, material taking and placing manipulator; 232, multi-axis mechanical arm; 234, material taking and placing clamp jaw; 2342, clamp jaw main body; 2344, clamp jaw driving structure; 236, visual positioning module; 300, controller; 1000, glue dispenser glue automatic replacement device; 1002, glue automatic moving conveying module; 1004, glue pipe automatic unloading module; 1006, glue pipe automatic feeding module. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0044] As shown in Figure 1 , the present application proposes a glue dispenser glue automatic replacement method, applied to a glue dispensing system 10. As shown in Figure 2 , the glue dispensing system 10 can include a glue dispenser 100 and a glue self-moving conveying device 200. The glue self-moving conveying device 200 can convey a glue pipe 20 (as shown in Figure 5 ) to the glue dispenser 100, and the glue dispenser 100 can dispense glue on materials (such as circuit boards, etc.).

[0045] Moreover, as shown in Figures 2 to 5As shown, the glue dispenser 100 can include a frame 102, a glue dispensing workbench 104 arranged in the frame 102, a glue dispensing valve mechanism 106 arranged on the glue dispensing workbench 104, and a glue replacement and supply mechanism 108 connected with the glue dispensing valve mechanism 106. The glue replacement and supply mechanism 108 can supply glue to the glue dispensing valve mechanism 106, so that the glue dispensing valve mechanism 106 dispenses glue on the material on the glue dispensing workbench 104. Moreover, as shown, Figure 2 and Figure 6 As shown, the glue automatic replacement device 200 can include an AGV (Automated Guided Vehicle) vehicle, a glue supply rack 220 arranged on one side of the AGV vehicle 210, and a material taking and placing manipulator 230 arranged on the other side of the AGV vehicle 210. The AGV vehicle 210 can automatically move the glue supply rack 220 and the material taking and placing manipulator 230, the material taking and placing manipulator 230 and the glue replacement and supply mechanism 108 can automatically disassemble and assemble the glue pipe 20 on the glue replacement and supply mechanism 108, and the glue supply rack 220 can carry the glue pipe 20.

[0046] Specifically, as shown, Figure 1 The glue automatic replacement method of the glue dispenser can include the following steps:

[0047] S100, in response to a glue replacement instruction of the glue replacement and supply mechanism 108 of the glue dispenser 100, controlling the glue automatic replacement device 200 carrying the glue supply rack 220 with the full glue pipe 20 to move close to the glue dispenser 100;

[0048] S200, when the glue automatic replacement device 200 moves to the glue replacement position of the glue dispenser 100, controlling the glue replacement and supply mechanism 108 to stop supplying glue to the glue dispensing valve mechanism 106, and controlling the material taking and placing manipulator 230 to take off the glue pipe 20 to be replaced from the glue replacement and supply mechanism 108 and place it on the glue supply rack 220;

[0049] S300, controlling the material taking and placing manipulator 230 to take the full glue pipe 20 from the glue supply rack 220 and place it on the glue replacement and supply mechanism 108, and controlling the glue replacement and supply mechanism 108 to continue supplying glue to the glue dispensing valve mechanism 106, completing the glue automatic replacement.

[0050] When the glue of the glue changing and supplying mechanism 108 of the glue dispenser 100 needs to be replaced, the glue self-moving device 200 can be controlled to automatically move the glue supply rack 220 carrying the glue pipe 20 full of glue (i.e., the full glue pipe 20) to the side of the glue dispenser 100; and the glue changing and supplying mechanism 108 of the glue dispenser 100 can be controlled to stop supplying glue to the glue valve mechanism 106, and the glue pipe 20 used up (i.e., the glue pipe 20 to be replaced) is automatically detached and removed by the glue changing and supplying mechanism 108 and the material taking and placing manipulator 230, and the glue pipe 20 to be replaced is moved and stored on the glue supply rack 220 by the material taking and placing manipulator 230; then the full glue pipe 20 stored on the glue supply rack 220 is taken and moved to the glue changing and supplying mechanism 108 by the material taking and placing manipulator 230, and the full glue pipe 20 is automatically installed and positioned by the glue changing and supplying mechanism 108, and the glue changing and supplying mechanism 108 can be controlled to continue supplying glue to the glue valve mechanism 106.

[0051] In this way, the full glue pipe 20 can be automatically moved and the glue pipe 20 to be replaced can be automatically moved, and the glue pipe 20 to be replaced can be automatically detached and the full glue pipe 20 can be automatically installed by the technical solutions provided by the present application. The glue changing efficiency and the production efficiency of the glue dispenser 100 can be improved by automatically changing glue, so that glue mixing or pollution is less likely to occur during the glue changing process, and human operation errors can be avoided to ensure product quality, which can meet the strict requirements of modern electronic manufacturing for high precision and high consistency.

[0052] Further, before the step S100 in response to the glue changing instruction of the glue changing and supplying mechanism 108 of the glue dispenser 100, the following steps can be included:

[0053] S102, acquiring the glue level value of the glue pipe 20 to be replaced on the glue changing and supplying mechanism 108 of the glue dispenser 100.

[0054] The glue pipe 20 is installed on the glue changing and supplying mechanism 108 of the glue dispenser 100, and the glue changing and supplying mechanism 108 can supply glue in the glue pipe 20 to the glue valve mechanism 106, so that the glue valve mechanism 106 sprays glue onto the material on the glue dispensing workbench 104. Moreover, a liquid level detection sensor can be arranged on the glue changing and supplying mechanism 108, which is used to detect the glue level in the glue pipe 20 on the glue changing and supplying mechanism 108, and can acquire the glue level value of the glue pipe 20 to be replaced on the glue changing and supplying mechanism 108 in real time.

[0055] S104, when the detected glue level value reaches the pre-warning liquid level value, controlling the glue changing and supplying mechanism 108 to issue a glue changing instruction.

[0056] A pre-warning liquid level value can be set. When it is detected that the glue liquid level value of the glue pipe 20 to be replaced reaches the pre-warning liquid level value, it can be determined that the glue pipe 20 to be replaced needs to be replaced, at which time the liquid level detection sensor of the glue replacement and supply mechanism 108 can send a glue replacement instruction. When it is detected that the glue liquid level value of the glue pipe 20 to be replaced does not reach the pre-warning liquid level value, it can be determined that the glue pipe 20 to be replaced does not need to be replaced, at which time the glue replacement and supply mechanism 108 can continue to supply the glue in the glue pipe 20 to be replaced to the glue injection valve mechanism 106 for glue injection.

[0057] Moreover, in step S100, in response to the glue replacement instruction of the glue replacement and supply mechanism 108 of the glue injection machine 100, the glue self-moving conveying device 200 carrying the glue supply rack 220 provided with the full glue pipe 20 is controlled to move close to the glue injection machine 100, which can further include the following steps:

[0058] S110, a plurality of full glue pipes 20 are placed on the glue supply rack 220 of the glue self-moving conveying device 200 in advance.

[0059] Specifically, as shown in Figure 7 , a plurality of full glue pipes 20 can be moved to the glue supply rack 220 of the AGV vehicle 210 by the material taking and placing manipulator 230 (or other material conveying device) on the AGV vehicle 210 in advance, or the glue supply rack 220 carrying a plurality of full glue pipes 20 can be moved to the AGV vehicle 210 by the material taking and placing manipulator 230 (or other material conveying device) in advance.

[0060] Moreover, as shown in Figures 7 to 8 , the glue supply rack 220 can include a rack body seat 222 provided with an upper material loading station and a lower material unloading station on both sides, a full pipe rack 224 provided at the upper material loading station of the rack body seat 222, and an empty pipe rack 226 provided at the lower material unloading station. A plurality of full glue pipes 20 can be placed on the full pipe rack 224 in advance, and the empty pipe rack 226 can be empty and used for placing the glue pipe 20 to be replaced. Moreover, the material taking and placing manipulator 230 is arranged opposite to the full pipe rack 224 and the empty pipe rack 226, which facilitates pipe taking and pipe placing.

[0061] Further, the rack body seat 222 can include a base block arranged on the top surface of the AGV vehicle 210, and the top of the base block can be sequentially provided with a plurality of mounting surfaces in a stepped manner. The full pipe rack 224 and the empty pipe rack 226 can be detachably arranged on the plurality of mounting surfaces. Further, one side of each mounting surface is provided with a feeding station, and the other side is provided with a discharging station in parallel. One full pipe rack 224 can be arranged at the feeding station of one mounting surface, and one empty pipe rack 226 can be arranged at the discharging station of one mounting surface. By arranging the top surface of the rack body seat 222 in a stepped manner, the full pipe rack 224 and the empty pipe rack 226 on the top surface of the rack body seat 222 are also arranged in a stepped manner, so that the full glue pipe 20 on the full pipe rack 224 and the empty glue pipe 20 (the replaced glue pipe 20) on the empty pipe rack 226 are arranged in a stepped manner, facilitating the pipe taking and placing of the taking and placing manipulator 230.

[0062] S120, in response to the glue replacement instruction of the glue replacement and supply mechanism 108 of the glue dispenser 100, obtaining the position information of the glue dispenser 100 to be replaced with the glue pipe 20.

[0063] The control mechanism (such as the controller 300) of the glue dispenser 100 or the glue dispensing system 10 can send a close replacement instruction to the AGV vehicle 210 of the glue self-moving conveying device 200 in response to the glue replacement instruction sent by the glue replacement and supply mechanism 108, and also sends the position coordinates (i.e. the position information) of the glue dispenser 100 to the AGV vehicle 210 of the glue self-moving conveying device 200. In the initial state, the glue self-moving conveying device 200 can be parked at the device base station position for standby. The device base station position can realize charging, maintenance, etc. of the AGV vehicle 210 of the glue self-moving conveying device 200, and also can realize feeding of the full glue pipe 20 on the glue supply rack 220 and discharging of the empty glue pipe 20 on the AGV vehicle 210.

[0064] S130, according to the obtained position information of the glue dispenser 100 to be replaced with the glue pipe 20, controlling the glue self-moving conveying device 200 carrying the glue supply rack 220 provided with the full glue pipe 20 to move close to the glue dispenser 100.

[0065] After obtaining the position coordinates of the glue dispenser 100 to be replaced with the glue pipe 20, the AGV vehicle 210 of the glue self-moving conveying device 200 can carry the glue supply rack 220 provided with the full glue pipe 20 and the taking and placing manipulator 230 for replacing the glue pipe 20, and move close to the position coordinates, so that the glue self-moving conveying device 200 moves to the replacement position near the glue dispenser 100.

[0066] In addition, as Figures 3 to 5As shown, the glue changing and supplying mechanism 108 of the glue dispenser 100 can include a glue pipe clamping and positioning mechanism 110 arranged on the frame 102, a glue outlet connecting mechanism 120 and a gas supplying and glue discharging mechanism 130 arranged at two ends of the glue pipe clamping and positioning mechanism 110 respectively, and the glue outlet connecting mechanism 120 is connected with the glue valve mechanism 106. Therefore, in step S200, the control of the glue changing and supplying mechanism 108 to stop supplying glue to the glue valve mechanism 106, and the control of the material taking and placing robot 230 to take off the glue pipe 20 to be replaced from the glue changing and supplying mechanism 108 and place it on the glue supplying rack 220 can further include the following steps:

[0067] S210, control the gas supplying and glue discharging mechanism 130 of the glue changing and supplying mechanism 108 to stop supplying compressed gas to the glue pipe 20 to be replaced clamped by the glue pipe clamping and positioning mechanism 110, so that the glue pipe 20 to be replaced stops delivering glue through the glue outlet thereof to the glue outlet connecting mechanism 120 to stop supplying glue to the glue valve mechanism 106.

[0068] Before the glue pipe 20 to be replaced clamped by the glue pipe clamping and positioning mechanism 110 is disassembled, it is necessary to stop supplying gas to it and discharging glue outward. Therefore, the gas supplying and glue discharging mechanism 130 supplying compressed gas to the glue pipe 20 to be replaced can be first cut off or stopped to supply gas to the glue pipe 20 to be replaced, and the glue in the glue pipe 20 to be replaced is extruded out by compressed gas, so that the glue pipe 20 to be replaced stops delivering glue through the glue outlet thereof to the glue outlet connecting mechanism 120, thereby stopping supplying glue to the glue valve mechanism 106 through the glue outlet connecting mechanism 120.

[0069] S220, control the gas supplying and glue discharging mechanism 130 of the glue changing and supplying mechanism 108 to separate from the top of the glue pipe 20 to be replaced clamped by the glue pipe clamping and positioning mechanism 110, and control the glue pipe clamping and positioning mechanism 110 to move to separate the glue outlet of the glue pipe 20 to be replaced from the glue outlet connecting mechanism 120.

[0070] When the gas supplying and glue discharging mechanism 130 works, the glue pipe cover 22 at the top of the glue pipe 20 to be replaced clamped by the glue pipe clamping and positioning mechanism 110 is in a butt joint state with the gas supplying and glue discharging mechanism 130, and the leak-proof connector 24 at the glue outlet of the glue pipe 20 to be replaced is also in a butt joint state with the glue outlet connecting mechanism 120, so that the gas supplying and glue discharging mechanism 130 can deliver compressed gas from the glue pipe cover 22 at the top of the glue pipe 20 to be replaced into the glue pipe 20 to be replaced, extrude the glue in the glue pipe 20 to be replaced, and deliver the glue from the leak-proof connector 24 at the bottom of the glue outlet of the glue pipe 20 to be replaced into the glue outlet connecting mechanism 120.

[0071] Before the dismounting of the to-be-replaced glue pipe 20 clamped by the glue pipe clamping and positioning mechanism 110, the two ends of the to-be-replaced glue pipe 20 can be first separated from the air supply and glue discharge mechanism 130 and the glue outlet connecting mechanism 120 respectively, and only the glue pipe clamping and positioning mechanism 110 clamps the to-be-replaced glue pipe 20.

[0072] S230, control the material taking and placing manipulator 230 to move to the to-be-replaced glue pipe 20 clamped by the glue pipe clamping and positioning mechanism 110 and clamp the to-be-replaced glue pipe 20.

[0073] After the two ends of the to-be-replaced glue pipe 20 are separated from the air supply and glue discharge mechanism 130 and the glue outlet connecting mechanism 120 respectively, the material taking and placing manipulator 230 of the glue self-moving conveying equipment 200 located at the glue replacing position can be moved to the glue pipe clamping and positioning mechanism 110, so that the material taking and placing manipulator 230 clamps the to-be-replaced glue pipe 20.

[0074] S240, control the glue pipe clamping and positioning mechanism 110 to loosen the clamping of the to-be-replaced glue pipe 20, and control the material taking and placing manipulator 230 to take the to-be-replaced glue pipe 20 from the glue replacing and supplying mechanism 108 and move and place it on the glue supplying rack 220.

[0075] After the to-be-replaced glue pipe 20 is clamped by the material taking and placing manipulator 230, the glue pipe clamping and positioning mechanism 110 can loosen the clamping of the to-be-replaced glue pipe 20, so that the material taking and placing manipulator 230 can take the to-be-replaced glue pipe 20 from the glue pipe clamping and positioning mechanism 110 and move and place it on the empty pipe rack 226 on the AGV vehicle 210, thereby completing the dismounting of the to-be-replaced glue pipe 20 on the glue pipe clamping and positioning mechanism 110.

[0076] Further, as shown in Figures 3 to 5 the glue pipe clamping and positioning mechanism 110 can include a glue pipe lifting and adjusting structure 112 arranged on the rack, and a glue pipe sensing and clamping structure 114 arranged on the glue pipe lifting and adjusting structure 112; the glue outlet connecting mechanism 120 can include a glue inlet connector 122 arranged on the bottom side of the rack or the glue pipe clamping and positioning mechanism 110, used for abutting with the leak-proof connector 24 at the glue outlet of the bottom of the glue pipe 20; the air supply and glue discharge mechanism 130 can include a glue discharge lifting structure 132 arranged on the top side of the glue pipe clamping and positioning mechanism 110, a glue discharge adapter connector 134 connected with the glue discharge lifting structure 132, and a glue discharge gas source connected with the glue discharge adapter connector 134, the glue discharge adapter connector 134 being used for abutting with the air inlet on the glue pipe cover 22 on the top of the glue pipe 20.

[0077] Therefore, in step S210, the control of the air supply and glue discharge mechanism 130 of the glue replacing and supplying mechanism 108 to stop supplying compressed gas to the to-be-replaced glue pipe 20 clamped by the glue pipe clamping and positioning mechanism 110 can further include the following steps:

[0078] The air supply and air discharge mechanism 130 of the glue replacement and air supply mechanism 108 is controlled to cut off or stop the compressed air source from supplying compressed air to the air inlet on the glue pipe cover 22 on the top of the glue pipe 20 to be replaced, which is clamped by the glue pipe clamping and positioning mechanism 110, so as to stop the supply of compressed air to the inside of the glue pipe 20 to be replaced.

[0079] Further, in step S220, the air supply and air discharge mechanism 130 of the glue replacement and air supply mechanism 108 is controlled to separate from the top of the glue pipe 20 to be replaced, which is clamped by the glue pipe clamping and positioning mechanism 110, and the glue pipe clamping and positioning mechanism 110 is controlled to move to separate the glue outlet of the glue pipe 20 to be replaced from the glue outlet connection mechanism 120, which can further include the following steps:

[0080] S222, after the air discharge source of the air supply and air discharge mechanism 130 of the glue replacement and air supply mechanism 108 stops supplying compressed air to the air inlet on the glue pipe cover 22 on the top of the glue pipe 20 to be replaced, which is clamped by the glue pipe clamping and positioning mechanism 110, the air discharge lifting structure 132 is controlled to drive the air discharge adapter 134 to move up and down to separate the air inlet on the glue pipe cover 22 on the top of the glue pipe 20 to be replaced, which is clamped by the glue pipe sensing and clamping structure 114 of the glue pipe clamping and positioning mechanism 110.

[0081] That is, after the air discharge source of the air supply and air discharge mechanism 130 is controlled to cut off or stop the supply of compressed air to the glue pipe 20 to be replaced through the air discharge adapter 134, the air discharge lifting structure 132 is controlled to drive the air discharge adapter 134 to move away from the air inlet on the glue pipe cover 22 on the top of the glue pipe 20 to be replaced, so that the air inlet on the glue pipe cover 22 on the top of the glue pipe 20 to be replaced is separated from the air inlet on the glue pipe cover 22 on the top of the glue pipe 20 to be replaced.

[0082] S224, the glue pipe lifting and adjusting structure 112 of the glue pipe clamping and positioning mechanism 110 is controlled to drive the glue pipe sensing and clamping structure 114 to move up and down, so that the leak-proof connector 24 at the glue outlet at the bottom of the glue pipe 20 to be replaced, which is clamped by the glue pipe sensing and clamping structure 114, is separated from the glue inlet connector 122 of the glue outlet connection mechanism 120.

[0083] After the air discharge adapter 134 is separated from the top of the glue pipe 20 to be replaced, the glue pipe sensing and clamping structure 114 clamping the glue pipe 20 to be replaced is driven by the glue pipe lifting and adjusting structure 112 to move, so that the leak-proof connector 24 at the glue outlet at the bottom of the glue pipe 20 to be replaced is separated from the glue inlet connector 122, so that the bottom of the glue pipe 20 to be replaced is separated from the glue outlet connection mechanism 120, so that the two ends of the glue pipe 20 to be replaced are in a separated state, so as to be taken off from the glue pipe sensing and clamping structure 114.

[0084] Further, as Figures 3 to 5As shown, the glue discharging lifting structure 132 can include a glue discharging lifting driving member 1322 arranged on the rack 102, and a glue discharging clamping block structure 1324 connected with the driving end of the glue discharging lifting driving member 1322, and the glue discharging adapter joint 134 is clamped on the glue discharging clamping block structure 1324. Therefore, in step S222, the glue discharging lifting structure 132 is controlled to drive the glue discharging adapter joint 134 to move up and down, which can further include the following steps:

[0085] The glue discharging lifting driving member 1322 of the glue discharging lifting structure 132 is controlled to drive the glue discharging clamping block structure 1324 to move up and down along the rack 102, and drive the glue discharging adapter joint 134 clamped on the glue discharging clamping block structure 1324 to move up and down, so that the glue discharging adapter joint 134 moves away from the air inlet on the glue pipe cover 22 on the top of the glue pipe 20 to be replaced clamped by the glue pipe sensing and clamping structure 114.

[0086] Moreover, the glue discharging adapter joint 134 can be fixedly clamped on the glue discharging clamping block structure 1324, or detachably clamped on the glue discharging clamping block structure 1324, or clamped on the glue discharging clamping block structure 1324 by movable clamping jaws. Moreover, the glue discharging clamping block structure 1324 can include a glue discharging clamping block seat slidingly arranged on the rack 102 and connected with the glue discharging lifting driving member 1322, and a clamping block main body protrudingly arranged on the side surface of the glue discharging clamping block seat, and the glue discharging adapter joint 134 can be clamped in the clamping gap at the end of the clamping block main body. The glue discharging clamping block seat can be driven by the glue discharging lifting driving member 1322 to slide up and down, and drive the clamping block main body and the glue discharging adapter joint 134 clamped thereon to move up and down.

[0087] Moreover, the glue discharging adapter joint 134 can include a glue discharging adapter main body arranged on the glue discharging lifting structure 132, an air inlet joint protrudingly arranged on the top or side surface of the glue discharging adapter main body, and an air outlet joint protrudingly arranged on the bottom of the glue discharging adapter main body, the air inlet joint is connected with the glue discharging gas source, and the air outlet joint is used to be connected with or separated from the air inlet arranged on the glue pipe cover 22 on the top of the glue pipe 20.

[0088] In addition, as shown, Figures 3 to 5 The glue pipe lifting adjusting structure 112 can include a glue pipe lifting driving member 1122 arranged on the rack 102, and a glue pipe lifting adjusting block 1124 connected with the driving end of the glue pipe lifting driving member 1122, the glue pipe lifting adjusting block 1124 is slidingly arranged on the rack 102, and the glue pipe sensing and clamping structure 114 can be arranged on the glue pipe lifting adjusting block 1124, and the glue inlet joint 122 is protrudingly arranged on the bottom of the glue pipe lifting driving member 1122. Therefore, in step S224, the glue pipe lifting adjusting structure 112 of the glue pipe clamping and positioning mechanism 110 is controlled to drive the glue pipe sensing and clamping structure 114 to move up and down, which can further include the following steps:

[0089] The glue pipe lifting driving member 1122 of the glue pipe lifting adjusting mechanism 112 of the glue pipe clamping and positioning mechanism 110 drives the glue pipe lifting adjusting block 1124 to move vertically, drives the glue pipe sensing and clamping mechanism 114 on the glue pipe lifting adjusting block 1124 and the replaced glue pipe 20 clamped thereby to move vertically, and drives the leakproof joint 24 at the bottom of the replaced glue pipe 20 to move away from the glue inlet joint 122 of the glue outlet connecting mechanism 120.

[0090] Furthermore, the glue inlet joint 122 can include a glue inlet head body protruding from the bottom side of the glue pipe clamping and positioning mechanism 110, and a first detachable connecting structure arranged on the glue inlet head body. Furthermore, the glue inlet head body can be provided with a glue inlet cavity which can be connected with the one-way valve joint of the leakproof joint 24 arranged at the glue outlet of the glue pipe 20, and the first detachable connecting structure can be matched with the second detachable connecting structure arranged on the leakproof joint 24. By connecting or separating the first detachable connecting structure on the glue inlet joint 122 with the second detachable connecting structure on the leakproof joint 24, the glue inlet joint 122 can be connected with or separated from the leakproof joint 24 at the glue outlet of the glue pipe 20. Furthermore, the first detachable connecting structure and the second detachable connecting structure can be magnetic attraction structures or buckle structures matched with each other.

[0091] In addition, as shown in Figure 7 and Figure 9 The taking and placing mechanical arm 230 can include a multi-axis mechanical arm 232 arranged on the AGV vehicle 210, and a taking and placing clamp jaw 234 and a visual positioning module 236 arranged on the multi-axis mechanical arm 232, and the taking and placing clamp jaw 234 and the visual positioning module 236 are arranged opposite to the glue supply rack 220. Therefore, in step S230, the control of the taking and placing mechanical arm 230 moving to the replaced glue pipe 20 clamped by the glue pipe clamping and positioning mechanism 110 and clamping the replaced glue pipe 20 can further include the following steps:

[0092] S232, the multi-axis mechanical arm 232 of the taking and placing mechanical arm 230 drives the taking and placing clamp jaw 234 to move close to the glue pipe sensing and clamping mechanism 114 of the glue pipe clamping and positioning mechanism 110.

[0093] After the glue pipe cover 22 at the top of the replaced glue pipe 20 clamped by the glue pipe sensing and clamping mechanism 114 is separated from the glue discharging adapter 134, and the leakproof joint 24 at the glue outlet at the bottom of the replaced glue pipe 20 is separated from the glue inlet joint 122, the multi-axis mechanical arm 232 drives the taking and placing clamp jaw 234 to move close to the pipe body of the replaced glue pipe 20 clamped by the glue pipe sensing and clamping mechanism 114.

[0094] S234, when the taking and placing clamp jaw 234 moves close to the replaced glue pipe 20 clamped by the glue pipe sensing and clamping mechanism 114, the glue pipe clamping position of the replaced glue pipe 20 is located and obtained by the visual positioning module 236.

[0095] When the taking and placing material clamping jaw 234 approaches the to-be-replaced rubber tube 20 clamped by the rubber tube sensing and clamping structure 114, the to-be-replaced rubber tube 20 can be visually positioned by the visual positioning module 236, so as to facilitate the taking and placing material clamping jaw 234 to further approach the to-be-replaced rubber tube 20. Moreover, when the multi-axis mechanical arm 232 drives the taking and placing material clamping jaw 234 to move from the initial position to approach the to-be-replaced rubber tube 20, the to-be-replaced rubber tube 20 can also be visually positioned by the visual positioning module 236, and the visual positioning of the to-be-replaced rubber tube 20 can be continuously corrected in the process of continuously approaching the to-be-replaced rubber tube 20, so as to facilitate the taking and placing material clamping jaw 234 to accurately grasp the to-be-replaced rubber tube 20. Moreover, the visual positioning module 236 can include a camera module arranged at the end of the multi-axis mechanical arm 232.

[0096] S236, control the multi-axis mechanical arm 232 to drive the taking and placing material clamping jaw 234 to move to the rubber tube clamping position, and control the taking and placing material clamping jaw 234 to clamp the to-be-replaced rubber tube 20.

[0097] After the taking and placing material clamping jaw 234 is moved to the rubber tube clamping position by the multi-axis mechanical arm 232, the to-be-replaced rubber tube 20 clamped by the rubber tube sensing and clamping structure 114 can be clamped by the taking and placing material clamping jaw 234. Moreover, the taking and placing material clamping jaw 234 can include a clamping jaw body 2342 arranged at the end of the multi-axis mechanical arm 232 and a clamping jaw driving structure 2344 connected with the clamping jaw body 2342 and used for driving the clamping jaw body 2342 to clamp or release the rubber tube 20. Moreover, the taking and placing material clamping jaw 234 can further include a positioning plate protrudingly arranged at the end of the multi-axis mechanical arm 232, and the clamping jaw body 2342 is arranged below the positioning plate. The end of the positioning plate can be concavely provided with a positioning groove, and the positioning groove is in up-down correspondence with the clamping gap of the clamping jaw body 2342. When the rubber tube 20 is clamped or released by the clamping jaw body 2342, the rubber tube 20 can be positioned by the positioning groove on the positioning plate above the clamping jaw body 2342, so that the clamping or releasing of the rubber tube 20 is more stable and accurate.

[0098] Further, as shown in Figure 9 the clamping jaw driving structure 2344 can include a driving cylinder structure arranged at the end of the multi-axis mechanical arm 232; the clamping jaw body 2342 can include a clamping jaw seat arranged at the end of the multi-axis mechanical arm 232, and two clamping jaw plates movably arranged on the clamping jaw seat, and the driving cylinder structure is connected with at least one of the two clamping jaw plates and used for driving the two clamping jaw plates to approach or move away from each other.

[0099] Further, in step S240, the control of the rubber tube clamping positioning mechanism 110 to release the clamping of the rubber tube 20 to be replaced, and the control of the material taking and placing manipulator 230 to take the rubber tube 20 to be replaced from the rubber tube replacing and supplying mechanism 108 and move and place it on the rubber tube supplying rack 220, can further include the following steps:

[0100] S242, when the leak stopper 24 at the outlet of the bottom of the rubber tube 20 to be replaced clamped by the rubber tube sensing clamping structure 114 is separated from the rubber inlet joint 122, and the air inlet on the rubber tube cover 22 on the top of the rubber tube 20 to be replaced is separated from the rubber outlet adapter joint 134, the control of the rubber tube sensing clamping structure 114 to release the clamping of the rubber tube 20 to be replaced.

[0101] After the rubber tube 20 to be replaced clamped by the rubber tube sensing clamping structure 114 is clamped by the material taking and placing gripper 234 of the material taking and placing manipulator 230, the rubber tube sensing clamping structure 114 can be released to facilitate the removal of the rubber tube 20 to be replaced from the rubber tube sensing clamping structure 114 by the material taking and placing manipulator 230. Further, as shown in the figure, the rubber tube sensing clamping structure 114 can include a clamping driving member 1144 provided on the rubber tube lifting adjusting structure 112, and a rubber tube gripper structure 1146 movably provided on the rubber tube lifting adjusting structure 112, the clamping driving member 1144 is connected with the rubber tube gripper structure 1146 for driving the rubber tube gripper structure 1146 to clamp or release the rubber tube 20. Figures 3 to 5

[0102] S244, the control of the multi-axis manipulator 232 of the material taking and placing manipulator 230 to drive the material taking and placing gripper 234 clamping the rubber tube 20 to be replaced to move from the rubber tube sensing clamping structure 114 to a position close to the rubber tube supplying rack 220, so that the rubber tube 20 to be replaced is taken off from the rubber tube sensing clamping structure 114 of the rubber tube replacing and supplying mechanism 108.

[0103] After the rubber tube 20 to be replaced is clamped by the material taking and placing gripper 234, the material taking and placing gripper 234 and the rubber tube 20 to be replaced clamped thereby can be driven by the multi-axis manipulator 232 to move in a direction away from the rubber tube sensing clamping structure 114 of the rubber tube gripper structure 1146, and the rubber tube 20 to be replaced can be moved in a direction towards the empty tube rack 226 of the rubber tube supplying rack 220.

[0104] S246, when the material taking and placing gripper 234 clamping the rubber tube 20 to be replaced moves close to the rubber tube supplying rack 220, the empty tube placement position on the rubber tube supplying rack 220 is located by the visual positioning module 236.

[0105] ​When the taking and placing gripper 234 clamps the glue pipe 20 to be replaced close to the empty pipe rack 226 on the glue supply rack 220, the empty pipe rack 226 can be visually positioned by the visual positioning module 236, and the empty glue pipe placement position on the empty pipe rack 226 where no empty glue pipe 20 is placed is positioned, so as to place the glue pipe 20 to be replaced at the empty glue pipe placement position.

[0106] S248, control the multi-axis mechanical arm 232 to drive the taking and placing gripper 234 to move the clamped glue pipe 20 to be replaced to the empty glue pipe placement position, and control the taking and placing gripper 234 to place the glue pipe 20 to be replaced at the empty glue pipe placement position of the glue supply rack 220.

[0107] As shown in the drawings, Figure 8 On each empty pipe rack 226, a plurality of empty glue pipe placement positions can be arranged side by side, and the taking and placing gripper 234 can be driven by the multi-axis mechanical arm 232 to place the glue pipe 20 to be replaced one by one at the plurality of empty glue pipe placement positions in sequence from left to right or from right to left. Moreover, on the plurality of empty pipe racks 226 arranged in steps, the glue pipe 20 to be replaced can be placed on the empty pipe rack 226 at the highest position first, and then gradually placed on the empty pipe rack 226 at the lowest position first, until all the empty pipe racks 226 are filled.

[0108] In addition, as shown in the drawings, Figures 3 to 5 The glue pipe sensing and clamping structure 114 can include a glue pipe sensing piece 1142 arranged on the glue pipe lifting and adjusting structure 112, a clamping driving piece 1144 connected with the glue pipe sensing piece 1142, and a glue pipe gripper structure 1146 movably arranged on the glue pipe lifting and adjusting structure 112, and the clamping driving piece 1144 is connected with the glue pipe gripper structure 1146. Therefore, in step S300, controlling the taking and placing manipulator 230 to take the full glue pipe 20 from the glue supply rack 220 and place it on the glue replacing and supplying mechanism 108, and controlling the glue replacing and supplying mechanism 108 to continue to supply glue to the glue dispensing valve mechanism 106, can further include the following steps:

[0109] S310, control the taking and placing manipulator 230 to take and move the full glue pipe 20 from the glue supply rack 220 to the glue pipe sensing and clamping structure 114 of the glue replacing and supplying mechanism 108, and make the full glue pipe 20 trigger the glue pipe sensing piece 1142 of the glue pipe sensing and clamping structure 114.

[0110] After the glue pipe 20 to be replaced (empty glue pipe 20) on the glue pipe sensing and clamping structure 114 of the glue replacing and supplying mechanism 108 is taken away and placed on the empty pipe rack 226 of the glue supply rack 220, the full glue pipe 20 can be taken from the full pipe rack 224 of the glue supply rack 220 by the taking and placing manipulator 230 and moved to the glue pipe sensing and clamping structure 114, so that the glue pipe sensing and clamping structure 114 clamps the full glue pipe 20.

[0111] S320, in response to the trigger signal of the glue pipe sensing part 1142, the clamping drive part 1144 of the glue pipe sensing clamping structure 114 drives the glue pipe clamping jaw structure 1146 to clamp the full glue pipe 20, and the take-out manipulator 230 is reset.

[0112] When the take-out manipulator 230 moves the full glue pipe 20 to the glue pipe sensing part 1142 of the glue pipe sensing clamping structure 114, the glue pipe sensing part 1142 triggers to send a trigger signal to the glue pipe sensing clamping structure 114, so that the clamping drive part 1144 of the glue pipe sensing clamping structure 114 drives the glue pipe clamping jaw structure 1146 to clamp and position the full glue pipe 20. Moreover, the glue pipe sensing part 1142 can include a sensing base arranged on the side of the glue pipe lifting drive part 1122, and a glue pipe sensing switch arranged on the side of the sensing base and connected with the clamping drive part 1144. By triggering the glue pipe sensing switch, the clamping drive part 1144 can drive the glue pipe clamping jaw structure 1146 to clamp the full glue pipe 20.

[0113] S330, the glue pipe lifting adjusting structure 112 of the glue pipe clamping positioning mechanism 110 drives the glue pipe sensing clamping structure 114 and the full glue pipe 20 clamped thereby to move up and down, so that the leak-proof connector 24 at the glue outlet of the bottom of the full glue pipe 20 is connected with the glue inlet connector 122 of the glue outlet connecting mechanism 120.

[0114] After the full glue pipe 20 is clamped by the glue pipe sensing clamping structure 114, the leak-proof connector 24 at the glue outlet of the bottom of the full glue pipe 20 clamped by the glue pipe sensing clamping structure 114 can be driven by the glue pipe lifting adjusting structure 112 to move to the glue inlet connector 122 of the glue outlet connecting mechanism 120, so that the leak-proof connector 24 is connected with the glue inlet connector 122, and the glue in the full glue pipe 20 can be conveyed to the glue valve mechanism 106 through the leak-proof connector 24 and the glue inlet connector 122.

[0115] Moreover, as shown in FIG. 6, in order to facilitate the connection between the leak-proof connector 24 and the glue inlet connector 122, the glue pipe sensing part 1142 can further include a glue pipe alignment detector arranged on the side of the bottom of the sensing base, which can correspond to the glue inlet connector 122 up and down. Moreover, the distance between the glue pipe alignment detector and the glue inlet connector 122 can be pre-set, so that when the leak-proof connector 24 moves to the glue pipe alignment detector, the leak-proof connector 24 can be just connected with the glue inlet connector 122. Moreover, the glue pipe alignment detector can be a laser sensor or other alignment detecting device. Figures 3 to 5

[0116] ​S340, control the glue discharging lifting structure 132 of the glue discharging mechanism 130 to drive the glue discharging adapter 134 to move up and down, so that the glue discharging adapter 134 is connected with the air inlet on the glue pipe cover 22 at the top of the full glue water pipe 20 clamped by the glue pipe clamp jaw structure 1146.

[0117] After the completion of the connection between the leak stopper 24 at the glue outlet at the bottom of the full glue water pipe 20 and the glue inlet adapter 122, the air inlet on the glue pipe cover 22 at the top of the full glue water pipe 20 can be connected with the glue discharging adapter 134. Specifically, the glue discharging lifting drive element 1322 of the glue discharging lifting structure 132 can drive the glue discharging clamp block structure 1324 to move up and down in the vertical direction along the rack 102, drive the glue discharging adapter 134 clamped by the glue discharging clamp block structure 1324 to move up and down, and move the glue discharging adapter 134 to the direction close to the air inlet on the glue pipe cover 22 at the top of the full glue water pipe 20 clamped by the glue pipe sensing and clamping structure 114, so that the glue pipe cover 22 at the top of the full glue water pipe 20 is connected with the glue discharging adapter 134.

[0118] S350, control the glue discharging gas source of the glue discharging mechanism 130 of the glue changing and supplying mechanism 108 to start to supply compressed gas to the glue discharging adapter 134, so that the compressed gas extrudes the glue in the full glue water pipe 20 through the leak stopper 24 at the glue outlet and the glue inlet adapter 122 into the glue dispensing valve mechanism 106.

[0119] After the two ends of the full glue water pipe 20 are connected with the glue discharging adapter 134 and the glue inlet adapter 122 respectively, the glue discharging gas source can start to supply compressed gas to the full glue water pipe 20 through the glue discharging adapter 134, so that the glue in the full glue water pipe 20 is supplied to the glue dispensing valve mechanism 106 through the leak stopper 24 and the glue inlet adapter 122, and the material can be sprayed and glued again by the glue dispensing valve mechanism 106.

[0120] Further, in step S310, the control of the taking and placing manipulator 230 to take and transfer the full glue water pipe 20 from the glue supply rack 220 to the glue pipe sensing and clamping structure 114 of the glue changing and supplying mechanism 108 can further include the following steps:

[0121] S312, control the multi-axis mechanical arm 232 of the taking and placing manipulator 230 to drive the taking and placing clamp jaw 234 to approach the glue supply rack 220, and when the taking and placing clamp jaw 234 moves close to the glue supply rack 220, the vision positioning module 236 is used to position and obtain the full glue pipe placement position on the glue supply rack 220.

[0122] When the full water pipe 20 on the full pipe rack 220 is ready to be taken, the taking and placing gripper 234 can be driven by the multi-axis mechanical arm 232 to move to the vicinity of the full pipe rack 220, and the full water pipe 20 on the full pipe rack 220 of the full pipe rack 220 can be positioned by the visual positioning module 236 to obtain the full pipe placing position of the full water pipe 20.

[0123] S314, control the multi-axis mechanical arm 232 to drive the taking and placing gripper 234 to move to the full pipe placing position, and control the taking and placing gripper 234 to clamp one full water pipe 20 from the full pipe placing position of the full pipe rack 220 and move to the vicinity of the pipe induction clamping structure 114 of the pipe changing and feeding mechanism 108.

[0124] As shown in Figure 8 On each full pipe rack 224, a plurality of full pipe placing positions can be arranged side by side, and the taking and placing gripper 234 can be driven by the multi-axis mechanical arm 232 to take the full water pipe 20 one by one from the full pipe placing positions of the full pipe rack 224 in the order from left to right or from right to left. Moreover, on the plurality of full pipe racks 224 arranged in steps, the full water pipe 20 can be taken from the full pipe rack 224 at the lowest position first, and then the full water pipe 20 can be taken from the full pipe rack 224 at the highest position gradually until all the full water pipes 20 on the full pipe racks 224 are taken.

[0125] S316, when the taking and placing gripper 234 clamps the full water pipe 20 and moves to the vicinity of the pipe induction clamping structure 114, the full pipe clamping position on the pipe induction clamping structure 114 is positioned by the visual positioning module 236.

[0126] When the multi-axis mechanical arm 232 drives the taking and placing gripper 234 and the full water pipe 20 to the position close to the pipe induction clamping structure 114, the position of the pipe clamping structure 1146 of the pipe induction clamping structure 114 can be visually positioned by the visual positioning module 236 (a positioning mark can be arranged on the induction base of the pipe induction member 1142 for positioning) to obtain the full pipe clamping position where the full water pipe 20 can be clamped by the pipe clamping structure 1146.

[0127] S318, control the multi-axis mechanical arm 232 to drive the taking and placing gripper 234 and the full water pipe 20 clamped thereby to move to the full pipe clamping position, so as to be clamped and positioned by the pipe induction clamping structure 114.

[0128] The full water pipe 20 is moved to the pipe clamping structure 1146 by the multi-axis mechanical arm 232 driving the taking and placing gripper 234, and the pipe body of the full water pipe 20 triggers the pipe induction member 1142, so that the clamping driving member 1144 of the pipe induction clamping structure 114 drives the pipe clamping structure 1146 to clamp the full water pipe 20.

[0129] The automatic glue replacement solution provided by this invention solves the problems of time-consuming, labor-intensive, and inefficient traditional manual glue replacement methods. Automated glue replacement significantly reduces replacement and downtime, improving the continuous operation capability of the production line. It also reduces reliance on manual operation, minimizing quality problems caused by human error and further enhancing the intelligence level of the production process. Therefore, the automatic glue replacement solution provided by this invention is a significant technological innovation in the modern electronics manufacturing field. It effectively solves many problems in existing technologies and makes a significant contribution to the intelligent development of the electronics manufacturing industry.

[0130] In addition, such as Figure 10 As shown, in some other embodiments, the present invention also proposes an automatic glue changing device 1000 for a dispensing machine, applied to a dispensing system 10. For example... Figure 2 As shown, the dispensing system 10 may include a dispensing machine 100 and a self-contained adhesive conveying device 200. The self-contained adhesive conveying device 200 can deliver adhesive tubing 20 (e.g., ...) to the dispensing machine 100. Figure 6 As shown in the figure, the dispensing machine 100 can dispense adhesive onto materials (such as circuit boards).

[0131] Moreover, such as Figures 3 to 5 As shown, the dispensing machine 100 may include a frame 102, a dispensing worktable 104 disposed in the frame 102, a dispensing valve mechanism 106 disposed on the dispensing worktable 104, and a glue-changing and supplying mechanism 108 connected to the dispensing valve mechanism 106. The glue-changing and supplying mechanism 108 can supply glue to the dispensing valve mechanism 106, enabling the dispensing valve mechanism 106 to dispense glue onto the material on the dispensing worktable 104. Furthermore, as... Figures 7 to 9 As shown, the glue self-transfer device 200 may include an AGV vehicle 210, a glue supply rack 220 located on one side of the AGV vehicle 210, and a material handling robot 230 located on the other side of the AGV vehicle 210. The AGV vehicle 210 can automatically move the glue supply rack 220 and the material handling robot 230, while the material handling robot 230 and the glue changing and supply mechanism 108 can automatically assemble and disassemble the glue tube 20 on the glue changing and supply mechanism 108, and the glue supply rack 220 can support the glue tube 20.

[0132] Specifically, such as Figure 10 As shown, the automatic glue changing device 1000 for the dispensing machine may include:

[0133] The glue automatic transfer module 1002 is used to control the glue self-transfer device 200, which carries the glue supply frame 220 with a full glue tube 20, to move closer to the glue dispensing machine 100 in response to the glue replacement command of the glue replacement and supply mechanism 108 of the dispensing machine 100.

[0134] The automatic hose feeding module 1004 is used to control the glue replacement supply mechanism 108 to stop supplying glue to the dispensing valve mechanism 106 when the glue self-transfer device 200 moves to the glue replacement position of the dispensing machine 100, and to control the pick-and-place robot arm 230 to remove the glue hose 20 to be replaced from the glue replacement supply mechanism 108 and place it on the glue supply rack 220.

[0135] The automatic glue tube feeding module 1006 is used to control the picking and unloading robot 230 to pick up the full glue tube 20 from the glue supply rack 220 and place it on the glue changing and supply mechanism 108, and control the glue changing and supply mechanism 108 to continue to supply glue to the dispensing valve mechanism 106 to complete the automatic glue replacement.

[0136] The automatic glue replacement device 1000 for the dispensing machine described in this embodiment corresponds to the automatic glue replacement method for the dispensing machine described above. The functions of each module in the automatic glue replacement device 1000 for the dispensing machine in this embodiment are described in detail in the corresponding method embodiments, and will not be repeated here. Moreover, as Figures 2 to 9 As shown, the specific structure of the dispensing system 10 in this embodiment is also described in detail in the above embodiments, and will not be repeated here.

[0137] In addition, such as Figure 11 As shown, in some other embodiments, the present invention also proposes a dispensing system 10, including a dispensing machine 100, an adhesive self-transfer device 200, and a controller 300 connected to the dispensing machine 100 and the adhesive self-transfer device 200. Under the control of the controller 300, the adhesive self-transfer device 200 can automatically deliver adhesive tubes 20 to the dispensing machine 100, and the dispensing machine 100 can automatically dispense adhesive onto materials (such as circuit boards).

[0138] Moreover, such as Figures 3 to 5 As shown, the dispensing machine 100 may include a frame 102, a dispensing worktable 104 disposed in the frame 102, a dispensing valve mechanism 106 disposed on the dispensing worktable 104, and a glue changing and supply mechanism 108 connected to the dispensing valve mechanism 106. Figures 7 to 9As shown, the glue self-moving conveying device 200 can include an AGV vehicle 210, a glue supply rack 220 arranged on one side of the AGV vehicle 210, and a material loading and unloading manipulator 230 arranged on the other side of the AGV vehicle 210. The controller 300 can be connected with the dispensing workbench 104, the dispensing valve mechanism 106, the glue replacement and supply mechanism 108, the AGV vehicle 210, and the material loading and unloading manipulator 230. Under the control of the controller 300, the glue replacement and supply mechanism 108 of the dispensing machine 100 can automatically supply glue to the dispensing valve mechanism 106, the dispensing valve mechanism 106 can automatically dispense glue on the material on the dispensing workbench 104, the AGV vehicle 210 can automatically carry and move the glue supply rack 220 and the material loading and unloading manipulator 230, and the material loading and unloading manipulator 230 and the glue replacement and supply mechanism 108 can automatically disassemble and assemble the glue pipe 20 on the glue replacement and supply mechanism 108.

[0139] Further, the controller 300 can be used to implement each step of the dispensing machine glue automatic replacement method described above, and the specific implementation manner can refer to the specific content of the dispensing machine glue automatic replacement method described above, which will not be described here in detail. Moreover, the specific structure of the dispensing system 10 in the embodiment is also described in detail in the above embodiment, which will not be described here in detail.

[0140] In addition, in other embodiments, the present application provides a computer readable storage medium, the computer readable storage medium stores computer execution instructions, the computer execution instructions are executed by a processor to implement all method steps or part of method steps of the dispensing machine glue automatic replacement method described above.

[0141] The present application can implement all or part of the above method, and can also be completed by a computer program to instruct related hardware. The computer program can be stored in a computer readable storage medium, and the computer program can implement the steps of each method embodiment when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms. The computer readable medium can include any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0142] Based on the same inventive concept, the embodiments of the present application also provide an electronic device comprising a memory and a processor, the memory storing a computer program running on the processor, and the processor implements all the method steps or part of the method steps in the above method when executing the computer program.

[0143] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The processor is a control center of the computer device, and connects all parts of the computer device through various interfaces and lines.

[0144] The memory can be used to store computer programs and / or models, and the processor realizes various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playing function, an image playing function, etc.); and the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0145] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, a server or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0146] The present application is described in reference to the appended drawings figures and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the application. It will be understood that each block of the flowchart and / or block diagrams, and combinations of blocks in the flowchart and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0147] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0148] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0149] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. An adhesive automatic replacement method of a glue dispenser, applied to a glue dispensing system; The glue dispensing system comprises a glue dispenser and an adhesive self-moving conveying device; The glue dispenser comprises a rack, a glue dispensing workbench arranged in the rack, a glue dispensing valve mechanism arranged on the glue dispensing workbench, and a glue replacement and supply mechanism connected with the glue dispensing valve mechanism; the glue replacement and supply mechanism comprises a glue pipe clamping and positioning mechanism arranged on the rack, a glue outlet connecting mechanism and a gas supply and glue discharge mechanism respectively arranged at two ends of the glue pipe clamping and positioning mechanism, and the glue outlet connecting mechanism is connected with the glue dispensing valve mechanism; The glue pipe clamping and positioning mechanism comprises a glue pipe lifting adjusting structure arranged on the rack and a glue pipe sensing and clamping structure arranged on the glue pipe lifting adjusting structure; the glue outlet connecting mechanism comprises a glue inlet connector arranged on the bottom side of the rack or the glue pipe clamping and positioning mechanism, used for being connected with a leak-proof connector at a glue outlet at the bottom of the adhesive pipe; the gas supply and glue discharge mechanism comprises a glue discharge lifting structure arranged on the top side of the glue pipe clamping and positioning mechanism, a glue discharge adapter connected with the glue discharge lifting structure, and a glue discharge gas source connected with the glue discharge adapter, and the glue discharge adapter is used for being connected with a gas inlet on a glue pipe cover at the top of the adhesive pipe; The glue discharge lifting structure comprises a glue discharge lifting drive arranged on the rack and a glue discharge clamping block structure connected with a driving end of the glue discharge lifting drive, and the glue discharge adapter is clamped on the glue discharge clamping block structure; The adhesive self-moving conveying device comprises an AGV vehicle, a glue supply rack arranged on one side of the AGV vehicle, and a material taking and placing manipulator arranged on the other side of the AGV vehicle; characterized in that The method comprises: In response to an adhesive replacement instruction of the glue replacement and supply mechanism of the glue dispenser, the adhesive self-moving conveying device carrying the glue supply rack provided with a full adhesive pipe is controlled to move close to the glue dispenser; When the adhesive self-moving conveying device moves to a glue replacement position of the glue dispenser, the glue replacement and supply mechanism is controlled to stop supplying adhesive to the glue dispensing valve mechanism, and the material taking and placing manipulator is controlled to take off the adhesive pipe to be replaced from the glue replacement and supply mechanism and place it on the glue supply rack; The material taking and placing manipulator is controlled to take the full adhesive pipe from the glue supply rack and place it on the glue replacement and supply mechanism, and the glue replacement and supply mechanism is controlled to continue supplying adhesive to the glue dispensing valve mechanism, so as to complete the adhesive automatic replacement.

2. The glue automatic replacement method of the glue dispenser according to claim 1, wherein, Before the response to the adhesive replacement instruction of the glue replacement and supply mechanism of the glue dispenser, the method comprises: An adhesive liquid level value of the adhesive pipe to be replaced on the glue replacement and supply mechanism of the glue dispenser is acquired; When it is detected that the adhesive liquid level value reaches a pre-warning liquid level value, the glue replacement and supply mechanism is controlled to issue an adhesive replacement instruction.

3. The method of claim 1, wherein, The control of the glue replacement and supply mechanism to stop supplying adhesive to the glue dispensing valve mechanism and the control of the material taking and placing manipulator to take off the adhesive pipe to be replaced from the glue replacement and supply mechanism and place it on the glue supply rack comprise: controlling the air supply and glue discharging mechanism of the glue replacing and supplying mechanism to stop supplying compressed air to the glue pipe to be replaced clamped by the glue pipe clamping and positioning mechanism, so that the glue pipe to be replaced stops delivering glue through the glue outlet to the glue discharging connecting mechanism, and stops supplying glue to the glue dispensing valve mechanism; controlling the air supply and glue discharging mechanism of the glue replacing and supplying mechanism to separate from the top of the glue pipe to be replaced clamped by the glue pipe clamping and positioning mechanism, and controlling the glue pipe clamping and positioning mechanism to move so that the glue outlet of the glue pipe to be replaced is separated from the glue discharging connecting mechanism; controlling the material taking and placing robot to move to the glue pipe to be replaced clamped by the glue pipe clamping and positioning mechanism and clamp the glue pipe to be replaced; controlling the glue pipe clamping and positioning mechanism to release the clamping of the glue pipe to be replaced, and controlling the material taking and placing robot to take the glue pipe to be replaced from the glue replacing and supplying mechanism and move and place it on the glue supplying rack.

4. The glue automatic replacement method of the glue dispenser according to claim 3, wherein, The controlling the air supply and glue discharging mechanism of the glue replacing and supplying mechanism to separate from the top of the glue pipe to be replaced clamped by the glue pipe clamping and positioning mechanism, and controlling the glue pipe clamping and positioning mechanism to move so that the glue outlet of the glue pipe to be replaced is separated from the glue discharging connecting mechanism, comprises: after the glue discharging gas source of the air supply and glue discharging mechanism of the glue replacing and supplying mechanism stops delivering compressed air to the glue discharging adapter, controlling the glue discharging lifting structure to drive the glue discharging adapter to lift and move so that the air inlet on the glue pipe cover at the top of the glue pipe to be replaced clamped by the glue pipe sensing and clamping structure of the glue pipe clamping and positioning mechanism is separated; controlling the glue pipe lifting and adjusting structure of the glue pipe clamping and positioning mechanism to drive the glue pipe sensing and clamping structure to lift and move, so that the leak stopper at the glue outlet at the bottom of the glue pipe to be replaced clamped by the glue pipe sensing and clamping structure is separated from the glue inlet connector of the glue discharging connecting mechanism.

5. The glue automatic replacement method of the glue dispenser according to claim 4, wherein, The controlling the glue discharging lifting structure to drive the glue discharging adapter to lift and move, comprises: controlling the glue discharging lifting and driving part of the glue discharging lifting structure to drive the glue discharging clamping block structure to lift and move vertically along the rack, and drive the glue discharging adapter clamped by the glue discharging clamping block structure to lift and move, so that the glue discharging adapter moves away from the air inlet on the glue pipe cover at the top of the glue pipe to be replaced clamped by the glue pipe sensing and clamping structure; The glue pipe lifting and adjusting structure comprises a glue pipe lifting and driving part provided on the rack, and a glue pipe lifting and adjusting block connected with the driving end of the glue pipe lifting and driving part, the glue pipe lifting and adjusting block is slidingly provided on the rack, the glue pipe sensing and clamping structure is provided on the glue pipe lifting and adjusting block, and the glue inlet connector protrudes from the bottom of the glue pipe lifting and driving part. The controlling the glue pipe lifting and adjusting structure of the glue pipe clamping and positioning mechanism to drive the glue pipe sensing and clamping structure to lift and move, comprises: The glue pipe lifting driving element of the glue pipe lifting adjusting structure of the glue pipe clamping and positioning mechanism drives the glue pipe lifting adjusting block to vertically lift and move, drives the glue pipe sensing clamping structure on the glue pipe lifting adjusting block and the replaced glue pipe clamped thereby to lift and move, and makes the leakproof joint at the bottom outlet of the replaced glue pipe move away from the glue inlet joint of the glue outlet connecting mechanism.

6. The method of claim 4, wherein, The material taking and placing manipulator comprises a multi-axis mechanical arm arranged on the AGV vehicle, and a material taking and placing gripper and a visual positioning module arranged on the multi-axis mechanical arm, and the material taking and placing gripper and the visual positioning module are arranged opposite to the glue supply frame; The control of the glue pipe clamping and positioning mechanism to release the clamping of the replaced glue pipe and the control of the material taking and placing manipulator to take the replaced glue pipe from the glue replacing and supplying mechanism and to move and place the replaced glue pipe on the glue supply frame comprise: When the leakproof joint at the glue outlet of the bottom of the replaced glue pipe clamped by the glue pipe sensing clamping structure is separated from the glue inlet joint and the air inlet on the glue pipe cover at the top of the replaced glue pipe is separated from the glue discharging adapter, the glue pipe sensing clamping structure is controlled to release the clamping of the replaced glue pipe; The multi-axis mechanical arm of the material taking and placing manipulator is controlled to drive the material taking and placing gripper to move from the glue pipe sensing clamping structure to a position close to the glue supply frame, so that the replaced glue pipe is taken from the glue pipe sensing clamping structure of the glue replacing and supplying mechanism; When the material taking and placing gripper clamps the replaced glue pipe and moves to a position close to the glue supply frame, the visual positioning module is used to locate and obtain the empty glue pipe placing position on the glue supply frame; The multi-axis mechanical arm is controlled to drive the material taking and placing gripper to move the clamped replaced glue pipe to the empty glue pipe placing position, and the material taking and placing gripper is controlled to place the replaced glue pipe on the empty glue pipe placing position of the glue supply frame.

7. The glue automatic replacement method of glue dispenser according to claim 6, wherein, The control of the material taking and placing manipulator to move to the replaced glue pipe clamped by the glue pipe clamping and positioning mechanism and to clamp the replaced glue pipe comprise: The multi-axis mechanical arm of the material taking and placing manipulator is controlled to drive the material taking and placing gripper to move close to the glue pipe sensing clamping structure of the glue pipe clamping and positioning mechanism; When the material taking and placing gripper moves close to the replaced glue pipe clamped by the glue pipe sensing clamping structure, the visual positioning module is used to locate and obtain the glue pipe clamping position of the replaced glue pipe; The multi-axis mechanical arm is controlled to drive the material taking and placing gripper to move to the glue pipe clamping position, and the material taking and placing gripper is controlled to clamp the replaced glue pipe.

8. The glue automatic replacement method of the glue dispenser according to claim 6, wherein, The glue pipe sensing clamping structure comprises a glue pipe sensing element arranged on the glue pipe lifting adjusting structure, a clamping driving element connected to the glue pipe sensing element, and a glue pipe gripper structure movably arranged on the glue pipe lifting adjusting structure, and the clamping driving element is connected to the glue pipe gripper structure; The control of the material taking and placing manipulator to take the full glue pipe from the glue supply frame and to place the full glue pipe on the glue replacing and supplying mechanism and the control of the glue replacing and supplying mechanism to continue to supply glue to the glue dispensing valve mechanism comprise: controlling the material taking and placing manipulator to take and transfer the full glue water pipe from the glue supply rack to the glue pipe sensing and clamping structure of the glue replacement and supply mechanism, and make the full glue water pipe trigger the glue pipe sensing part of the glue pipe sensing and clamping structure; in response to the trigger signal of the glue pipe sensing part, controlling the clamping drive part of the glue pipe sensing and clamping structure to drive the glue pipe clamping jaw structure to clamp the full glue water pipe, and controlling the material taking and placing manipulator to reset; controlling the glue pipe lifting adjusting structure of the glue pipe clamping and positioning mechanism to drive the glue pipe sensing and clamping structure and the full glue water pipe clamped thereby to lift and move, so that the leak-proof connector at the glue outlet at the bottom of the full glue water pipe is docked with the glue inlet connector of the glue outlet connecting mechanism; controlling the glue discharge lifting structure of the glue supply and discharge mechanism to drive the glue discharge adapter joint to lift and move, so that the glue discharge adapter joint is docked with the air inlet on the glue pipe cover at the top of the full glue water pipe clamped by the glue pipe clamping jaw structure; controlling the glue discharge gas source of the glue supply and discharge mechanism of the glue replacement and supply mechanism to start to deliver compressed gas to the glue discharge adapter joint, so that the compressed gas extrudes the glue in the full glue water pipe into the glue dispensing valve mechanism through the leak-proof connector and the glue inlet connector at the glue outlet.

9. The glue automatic replacement method of the glue dispenser according to claim 8, wherein, The control of the material taking and placing manipulator to take and transfer the full glue water pipe from the glue supply rack to the glue replacement and supply mechanism includes: controlling the multi-axis mechanical arm of the material taking and placing manipulator to drive the material taking and placing jaw to move close to the glue supply rack, and when the material taking and placing jaw moves close to the glue supply rack, acquiring the full glue pipe placement position on the glue supply rack through visual positioning module positioning; controlling the multi-axis mechanical arm to drive the material taking and placing jaw to move to the full glue pipe placement position, and controlling the material taking and placing jaw to clamp a full glue water pipe from the full glue pipe placement position of the glue supply rack and move close to the glue replacement and supply mechanism; when the material taking and placing jaw clamped with the full glue water pipe moves close to the glue pipe sensing and clamping structure, acquiring the full glue pipe clamping position on the glue pipe sensing and clamping structure through visual positioning module positioning; controlling the multi-axis mechanical arm to drive the material taking and placing jaw and the full glue water pipe clamped thereby to move to the full glue pipe clamping position, so that the glue pipe sensing and clamping structure clamps and positions the full glue water pipe.

10. A glue automatic replacement device of a glue dispensing machine, applied to a glue dispensing system; the glue dispensing system includes a glue dispensing machine and a glue self-transporting device; the glue dispensing machine includes a machine frame, a glue dispensing workbench arranged in the machine frame, a glue dispensing valve mechanism arranged on the glue dispensing workbench, and a glue replacement and supply mechanism connected with the glue dispensing valve mechanism; the glue replacement and supply mechanism includes a glue pipe clamping and positioning mechanism arranged on the machine frame, a glue outlet connecting mechanism and a glue supply and discharge mechanism arranged at two ends of the glue pipe clamping and positioning mechanism respectively, and the glue outlet connecting mechanism is connected with the glue dispensing valve mechanism; The hose clamping positioning mechanism comprises a hose lifting adjusting structure arranged on the frame and a hose sensing clamping structure arranged on the hose lifting adjusting structure; the glue outlet connecting mechanism comprises a glue inlet connector arranged on the bottom side of the frame or the hose clamping positioning mechanism, which is used for being connected with a leak-proof connector at the glue outlet on the bottom of the glue hose; the air supply and glue discharge mechanism comprises a glue discharge lifting structure arranged on the top side of the hose clamping positioning mechanism, a glue discharge adapter connected with the glue discharge lifting structure, and an air source connected with the glue discharge adapter, and the glue discharge adapter is used for being connected with an air inlet on the glue hose cover on the top of the glue hose; The glue discharge lifting structure comprises a glue discharge lifting driving member arranged on the frame and a glue discharge clamping block structure connected with the driving end of the glue discharge lifting driving member, and the glue discharge adapter is clamped on the glue discharge clamping block structure; The glue self-moving conveying device comprises an AGV vehicle, a glue supply rack arranged on one side of the AGV vehicle, and a material taking and placing manipulator arranged on the other side of the AGV vehicle; characterized in that The device comprises: The glue self-moving conveying device is controlled to move close to the glue dispenser in response to the glue replacement instruction of the glue replacement and supply mechanism of the glue dispenser. The glue self-moving conveying device is controlled to move close to the glue dispenser in response to the glue replacement instruction of the glue replacement and supply mechanism of the glue dispenser. The glue self-moving conveying device is controlled to move close to the glue dispenser in response to the glue replacement instruction of the glue replacement and supply mechanism of the glue dispenser.

11. A dispensing system, comprising: The device comprises: The glue self-moving conveying device is controlled to move close to the glue dispenser in response to the glue replacement instruction of the glue replacement and supply mechanism of the glue dispenser. The glue self-moving conveying device is controlled to move close to the glue dispenser in response to the glue replacement instruction of the glue replacement and supply mechanism of the glue dispenser. The glue self-moving conveying device is controlled to move close to the glue dispenser in response to the glue replacement instruction of the glue replacement and supply mechanism of the glue dispenser. The device comprises:

12. A computer storage medium, characterized in that The glue dispenser comprises a frame, a glue dispensing workbench arranged in the frame, a glue dispensing valve mechanism arranged on the glue dispensing workbench, and a glue replacement and supply mechanism connected with the glue dispensing valve mechanism; The glue self-moving conveying device comprises an AGV vehicle, a glue supply rack arranged on one side of the AGV vehicle, and a material taking and placing manipulator arranged on the other side of the AGV vehicle; and The controller is connected with the glue dispensing workbench, the glue dispensing valve mechanism, the glue replacement and supply mechanism, the AGV vehicle, and the material taking and placing manipulator. The computer storage medium comprises at least one instruction, which, when executed by a computer, implements the method steps in the glue dispenser glue automatic replacement method according to any one of claims 1-9. The computer storage medium comprises at least one instruction, which, when executed by a computer, implements the method steps in the glue dispenser glue automatic replacement method according to any one of claims 1-9.

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