Gluing tool, control method thereof and computer readable medium

Abstract

The invention provides a gluing tool, a control method thereof and a computer readable medium, and the control method comprises the steps: obtaining the number of operation turns of a motor in a process that a push rod moves in a first direction; according to the number of running turns of the motor and the transmission ratio of the gear set, the first distance of the push rod moving in the first direction is determined; according to the first distance, the second distance of the push rod moving in the second direction is determined, and the second direction is opposite to the first direction; and controlling the push rod to move along the second direction according to the second distance. By means of the method for controlling the gluing tool, the return distance of the push rod can be accurately controlled, and waste of glue is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of power tools, in particular to a glue applying tool and a control method thereof. BACKGROUND

[0002] The glue applying tool is a tool capable of automatically applying glue or extruding glue, which is widely used in the fields of building decoration, electronic appliances, automobile parts, etc. The glue applying tool can control the extrusion amount of glue by precise movement of a push rod, so as to realize uniform and efficient glue applying operation. However, in actual application, the precise control of the movement of the push rod has always been a technical difficulty, especially when facing different types of glue and complex working conditions, the existing technology often fails to meet the requirements. SUMMARY

[0003] Embodiments of the present application disclose a glue applying tool and a control method thereof, which solve the technical problem of being unable to accurately control the retraction of a push rod.

[0004] In a first aspect, the present application provides a glue applying tool, comprising a housing, a push rod, a motor, a gear set and a controller, wherein the motor is used to drive the push rod, the gear set is connected between the motor and the push rod, the motor is further electrically connected with the controller, and the controller is configured to: acquire the number of revolutions of the motor during movement of the push rod in a first direction; determine a first distance of the push rod moving in the first direction according to the number of revolutions of the motor and a transmission ratio of the gear set; determine a second distance of the push rod moving in a second direction according to the first distance, wherein the second direction is opposite to the first direction; and control the push rod to move in the second direction according to the second distance.

[0005] In a possible implementation, the controller determines the second distance of the push rod moving in the second direction according to the first distance, comprising: determining the second distance according to the first distance and a load coefficient, wherein the load coefficient is related to the viscosity of glue.

[0006] In a possible implementation, the controller determines the second distance according to the first distance and a load coefficient, comprising: acquiring a current value of the motor during movement of the push rod in the first direction; acquiring the load coefficient according to a corresponding relationship between the current value and the load coefficient; and determining the second distance according to the first distance and the load coefficient.

[0007] In one possible implementation, when the controller determines the second distance based on the first distance, it is configured to: obtain the relationship between the first distance and a first preset forward distance and a second preset forward distance; when the first distance is less than or equal to the first preset forward distance, determine the second distance as the first back-off distance; when the first distance is greater than the first preset forward distance and less than the second preset forward distance, determine the second distance as greater than the first back-off distance and less than the second back-off distance, and the second distance is positively correlated with the first distance; when the first distance is greater than or equal to the second preset forward distance, determine the second distance as the second back-off distance; wherein the second preset forward distance is greater than the first preset forward distance, and the second back-off distance is greater than the first back-off distance.

[0008] In one possible implementation, the first preset forward distance is equal to the maximum value X corresponding to the first distance the push rod moves along the first direction. 总 The distance R corresponding to one of the n equal parts i , 1≤i≤n, where n is a positive integer; the second preset forward distance is equal to the maximum value X corresponding to the first distance the push rod moves along the first direction. 总 The distance corresponding to the sum of n-1 parts after being divided into n equal parts; the first back-off distance is equal to the product of the base back-off value and the load coefficient; the second back-off distance is equal to twice the base back-off value and the load coefficient; wherein, the base back-off value is greater than or equal to 1 mm and less than or equal to 3 mm.

[0009] In one possible implementation, when the first distance is greater than the first preset forward distance and less than the second preset forward distance, the controller is configured to:

[0010] The second distance that the push rod needs to move along the second direction is determined to be S, where S = {{YX} i ) / X 总}×B+B}×K, where Y is the first distance, W i B is the first preset forward distance, B is the basic back-off value, and K is the load coefficient.

[0011] In one possible implementation, determining the first distance the push rod moves along the first direction based on the number of revolutions of the motor and the gear ratio of the gear set includes: determining the speed at which the push rod moves based on the gear ratio of the gear set and the rotational speed of the motor; and determining the first distance based on the number of revolutions of the motor and the speed at which the push rod moves.

[0012] Secondly, this application also provides a control method for a glue-applying tool. The control method is applied to the aforementioned glue-applying tool and includes: acquiring the number of revolutions of the motor during the movement of the push rod in a first direction; determining a first distance the push rod moves along the first direction based on the number of revolutions of the motor and the transmission ratio of the gear set; determining a second distance the push rod moves along a second direction based on the first distance, wherein the second direction is opposite to the first direction; and controlling the push rod to move along the second direction based on the second distance.

[0013] In one possible implementation, determining the second distance the push rod moves in the second direction based on the first distance includes: determining the second distance based on the first distance and a load factor, wherein the load factor is related to the viscosity of the adhesive.

[0014] In one possible implementation, determining the second distance based on the first distance and the load factor includes: acquiring the current value of the motor during the movement of the push rod along the first direction; acquiring the load factor based on the correspondence between the current value and the load factor; and determining the second distance based on the first distance and the load factor.

[0015] In one possible implementation, determining the second distance the push rod moves along the second direction based on the first distance includes: obtaining the relationship between the first distance and a first preset forward distance and a second preset forward distance; when the first distance is less than or equal to the first preset forward distance, determining the second distance as the first retraction distance; when the first distance is greater than the first preset forward distance and less than the second preset forward distance, determining the second distance is greater than the first retraction distance and less than the second retraction distance, and the second distance is positively correlated with the first distance; when the first distance is greater than or equal to the second preset forward distance, determining the second distance as the second retraction distance; wherein the second preset forward distance is greater than the first preset forward distance, and the second retraction distance is greater than the first retraction distance.

[0016] In one possible implementation, the first preset forward distance is equal to the maximum value X corresponding to the first distance the push rod moves along the first direction. 总 The distance X corresponding to one of the n equal parts i , 1≤i≤n, where n is a positive integer; the second preset forward distance is equal to the maximum value X corresponding to the first distance the push rod moves along the first direction. 总The distance corresponding to the sum of n-1 parts after being divided into n equal parts; the first back-off distance is equal to the product of the base back-off value and the load coefficient; the second back-off distance is equal to twice the base back-off value and the load coefficient; wherein, the base back-off value is greater than or equal to 1 mm and less than or equal to 3 mm.

[0017] In one possible implementation, when the first distance is greater than the first preset forward distance and less than the second preset forward distance, the second distance that the push rod needs to move along the second direction is determined to be S, where S = {{YX} i ) / X 总}×B+B}×K, where Y is the first distance, B is the basic backoff value, and K is the load factor.

[0018] In one possible implementation, determining the first distance the push rod moves along the first direction based on the number of revolutions of the motor and the gear ratio of the gear set includes: determining the speed at which the push rod moves based on the gear ratio of the gear set and the rotational speed of the motor; and determining the first distance based on the number of revolutions of the motor and the speed at which the push rod moves.

[0019] Thirdly, this application also provides a glue-applying tool, including a memory and a processor, wherein the memory stores a computer program running on the processor, and the processor executes the computer program to implement the method described above.

[0020] Fourthly, this application also provides a computer-readable medium having processor-executable non-volatile program code, characterized in that the program code causes the processor to perform the method described above.

[0021] The glue-applying tool and its control method provided in this application include obtaining a first distance the push rod moves in a first direction by the number of motor revolutions and the transmission ratio of the gear set, determining a second distance the push rod moves in a second direction based on the first distance, and controlling the push rod to move in the second direction based on the second distance. This control method allows for accurate control of the second distance the push rod retracts. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the adhesive application tool provided in the embodiments of this application.

[0023] Figure 2 This is a structural diagram of a glue-applying tool provided in another embodiment of this application.

[0024] Figure 3 This is a structural diagram of a glue-applying tool provided in another embodiment of this application.

[0025] Figure 4 This is a schematic diagram of the circuit board structure provided in the embodiments of this application.

[0026] Figure 5 This is a flowchart illustrating the control method provided in the embodiments of this application.

[0027] Figure 6 This is a structural diagram of the glue application tool provided in the embodiments of this application. Detailed Implementation

[0028] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example for reference.

[0029] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0030] To better understand the glue application tool, the glue application control method, and the storage medium provided in the embodiments of this application, the structure of the glue application tool provided in this application will be described first below.

[0031] See Figures 1 to 3 The diagram shown is a structural schematic of a glue applicator 100 provided in an embodiment of this application. The glue applicator 100 includes, but is not limited to, a housing 10, a motor 20 housed within the housing 10, a transmission mechanism 30 driven by the motor 20, and a push mechanism 40 connected to the transmission mechanism 30. The motor 20 drives the push mechanism 40 to operate through the transmission mechanism 30.

[0032] In this embodiment, the pushing mechanism 40 includes a push rod 401, and a rack 411 is disposed below the push rod 401. The transmission mechanism 30 includes a gear set 301. The gear set 301 includes multiple gears. For example, such as Figure 3As shown, the gear set 301 includes a first gear 311, a second gear 312, a third gear 313, and a fourth gear 314. The first gear 311 meshes with the fifth gear 302 connected to the end of the motor shaft 201 in the motor 20, and with the second gear 312. The second gear 312 meshes with the third gear 313, the third gear 313 meshes with the fourth gear 314, and the fourth gear 314 meshes with the rack 411. When the transmission mechanism 30 driven by the motor 20 is in operation, the rotation of the motor shaft 201 drives the gear set 301 to rotate, thereby causing the rack 411 to move, and simultaneously driving the push rod 401 to move.

[0033] In some embodiments of this application, the number of gears in the gear set 301 may not be limited to four, and can be designed according to requirements. This application does not limit this.

[0034] In some embodiments of this application, the push rod 401 and the rack 411 can be an integrally formed structure, or they can be fixedly connected in other ways. The moving distance of the rack 411 is equal to the moving distance of the push rod 401.

[0035] The housing 10 includes a grip portion 11 and a foot plate portion 12 located at the lower end of the grip portion 11. The grip portion 11 has a handle 110 located in the middle and a switch assembly 112 connected to the handle 110. The operator can control the start and stop of the glue application tool 100 through the switch assembly 112. A circuit board 120 is provided above the foot plate portion 12.

[0036] The glue application tool 100 also includes a power supply for providing electrical energy to the glue application tool 100. In some embodiments, the glue application tool 100 is powered by a DC power supply; more specifically, the glue application tool 100 is powered by a battery pack (not shown in the figure), which, in conjunction with a corresponding power circuit, such as a DC-DC converter chip, powers the motor 20 and the circuit components on the circuit board 120. Those skilled in the art will understand that the power supply is not limited to the use of a battery pack; it can also be powered by mains power or AC power, in conjunction with corresponding rectification, filtering, and voltage regulation circuits, to power the various circuit components.

[0037] In this embodiment, the glue application tool 100 is powered by a battery pack, which is detachably mounted to the glue application tool 100. The battery pack includes a housing and battery cells. The battery cells are housed in the housing and are used to store energy, and can be repeatedly charged and discharged. The housing has a connection interface for engaging with the battery pack joint of the glue application tool 100.

[0038] The operation of the glue applicator 100 also depends on the circuit system, which includes circuit components mounted on the circuit board 120.

[0039] See Figure 4As shown, in the first embodiment of the glue applicator 100, the circuit board 120 of the glue applicator 100 includes a drive module 1201, a load detection module 1202 for detecting parameters of the drive module 1201, and a control module 1203 connected to the load detection module 1202.

[0040] In this embodiment, the control module 1203 is used to control the operation of the glue application tool 100. The control module 1203 can be a controller. In some embodiments, the controller includes any one or a combination of a microcontroller (MCU), an ARM chip (high-performance RISC (reduced instruction set computing) microprocessor, or a DSP chip (general-purpose digital signal processor).

[0041] In this embodiment, the control module 1203 is also electrically connected to a power supply circuit, which converts electrical energy from the power supply into electrical energy that can power the controller and other circuit components.

[0042] In this embodiment, the load detection module 1202 is used to obtain the current value, speed and lap speed of the motor 20.

[0043] In this embodiment, the drive module 1201 is used to control the rotation of the motor 20.

[0044] In this embodiment of the application, the control module 1203 is used to obtain the number of revolutions of the motor during the movement of the push rod along the first direction; determine the first distance the push rod needs to move along the first direction based on the number of revolutions of the motor and the transmission ratio of the gear set; determine the second distance the push rod needs to move along the second direction based on the first distance, wherein the second direction is opposite to the first direction; and control the push rod to move along the second direction based on the second distance.

[0045] The control module 1203 is also configured to determine the second distance based on the first distance and the load factor, wherein the load factor is related to the viscosity of the adhesive.

[0046] The control module 1203 is also used to acquire the motor current value during the movement of the push rod in the first direction; acquire the load coefficient according to the correspondence between the current value and the load coefficient; and determine the second distance according to the first distance and the load coefficient.

[0047] The control module 1203 is also configured to: determine the second distance as the first back-off distance when the first distance meets the first condition; determine the second distance as positively correlated with the first distance when the first distance meets the second condition; and determine the second distance as the second back-off distance when the first distance meets the third condition, wherein the second back-off distance is different from the first back-off distance.

[0048] The control module 1203 is also used to obtain the relationship between the first distance and the first preset forward distance; when the first distance is less than or equal to the first preset forward distance, a first condition is satisfied, and a second distance is determined as the first backward distance; obtain the relationship between the first distance and the second preset forward distance; when the first distance is greater than or equal to the second preset forward distance, a third condition is satisfied, and a second distance is determined as the second backward distance; when the first distance is greater than the first preset forward distance and less than the second preset forward distance, a second condition is satisfied, and a second distance is determined to be greater than the first backward distance and less than the second backward distance, and the second distance is positively correlated with the first distance; wherein, the second preset forward distance is greater than the first preset forward distance, and the second backward distance is greater than the first backward distance.

[0049] The control module 1203 is also used to determine the second distance that the push rod needs to move along the second direction as S when the first distance is greater than the first preset forward distance and less than the second preset forward distance, and S = {{YX i ) / X 总}×B+B}×K, where Y is the first distance, X i B is the first preset forward distance, B is the basic back-off value, and K is the load coefficient.

[0050] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the glue application tool 100. In other embodiments of this application, the glue application tool 100 may include more or fewer components than illustrated, or combine some components, or separate some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0051] The technical solutions of this application will be described in detail below with specific embodiments. The specific embodiments described below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0052] Figure 5 This is a flowchart illustrating a control method for a glue-applying tool provided in an embodiment of this application, applied to a glue-applying tool. For example... Figure 5 As shown, the method in this embodiment may include:

[0053] S01: During the movement of the push rod in the first direction, obtain the number of revolutions of the motor.

[0054] In this embodiment, after the battery pack is installed into the adhesive applicator, the applicator is activated by an operation switch, which powers on the controller and initiates its operation. During operation, a motor drives a push rod to move along a first direction to extrude adhesive. As the push rod moves along this direction, a load detection module can monitor the motor's status and count the number of revolutions.

[0055] For example, when the adhesive in the grout applicator is tile grout, the applicator starts working as it fills the gap between the first and second tiles. During operation, a motor drives a push rod to move in a first direction to expel the adhesive and fill the gap. The number of motor rotations can be recorded by a load detection module as the push rod moves in the first direction.

[0056] In this embodiment of the application, the load detection module can also obtain the motor current value and the motor speed.

[0057] S02: Determine the first distance the push rod moves in the first direction based on the number of revolutions of the motor and the transmission ratio of the gear set.

[0058] In this embodiment, the speed of the push rod is determined based on the gear ratio and the motor speed; the first distance is determined based on the number of motor revolutions and the push rod speed. Specifically, the gear ratio is obtained based on the gear set. For example, if the first gear in the gear set has Z1 teeth, the second gear has Z2 teeth, the third gear has Z3 teeth, and the fourth gear has Z4 teeth, then the gear ratio is i. For example, if Z1 = 20, Z2 = 40, Z3 = 30, Z4 = 60, then i = 2 × 2 = 4. Let the pitch circle diameter of the fourth gear be d, the module be m (the gear module), and the motor speed be n. Then, after the motor speed n passes through the gear set, the speed of the fourth gear meshing with the rack is n_n. ′ , So, the speed of the rack movement Where d = m × Z⁴. Therefore, given the motor speed, the module of the fourth gear, and the number of teeth on the gears in the gear set, the rack's moving speed can be calculated using the above formula. Assume the motor's operating speed is V, V = 3000 r / min. The time taken for the motor to complete one revolution is t, t = 2 × 10⁻⁶. -2 s. Therefore, the distance L1 that the rack moves along the first direction can be calculated. The distance the rack moves along the first direction is equal to the first distance the push rod moves along the first direction.

[0059] S03: Determine the second distance the push rod moves in the second direction based on the first distance, wherein the second direction is opposite to the first direction.

[0060] In this embodiment, during the operation of the glue applicator, a motor drives a push rod to move along a first direction, causing the push rod to push the glue stick towards the front end of the glue applicator, and the glue is extruded through a nozzle. After the glue applicator stops working, if the push rod is not controlled to move a preset distance along a second direction, the glue may continue to flow out due to internal pressure, causing waste and contamination. Therefore, to prevent glue overflow, after controlling the push rod to perform one glue push, a second distance needs to be determined based on the first distance for the push rod to retract along the second direction.

[0061] In some embodiments of this application, the adhesive applicator is suitable for various types of adhesives. For example, the adhesive can be structural adhesive, glass adhesive, grout sealant, etc. Different types of adhesives have different coefficients of adhesion at different temperatures, and their corresponding viscosities also differ. Furthermore, the coefficient of adhesion of the adhesive is positively correlated with the motor current when the push rod moves along the first direction. Therefore, the load coefficient, which is the adhesion coefficient K, can be determined first by the correspondence between the current value and the load coefficient. The correspondence can be determined by a method not limited to looking up a table; for example, the correspondence is shown in Table 1, which can determine the relationship between the adhesion coefficient and the current value.

[0062] Push on force Adhesion Current value Adhesion coefficient K Low (e.g. 1-10 N) Weak a + b K1＝0.9 Medium (e.g. 11-20 N) Medium a + 2b K2＝0.8 High (e.g. 21-30 N) Strong a + 3b K3＝0.7 Very high (e.g. 30 N and above) Over strong a + 4b K4＝0.6

[0063] Where 'a' represents the motor current of the glue applicator when unloaded, and 'b' represents the threshold value corresponding to different adhesion coefficients; K4 < K3 < K2 < K1 < 1. For example, taking a 20V glue applicator KCG20V-20 as an example, the unloaded current 'a' = 0.6A, and the load limit current is 10A. The stage current can be set as b = 2.5A (the difference between the maximum current and the unloaded current divided by 4), and B = 2mm ± 1mm.

[0064] In this embodiment, the force with which the controller moves the push rod in the first direction to extrude the adhesive is negatively correlated with the second distance the controller moves the push rod back in the second direction. The greater the force with which the controller pushes the push rod to extrude the adhesive, the greater the adhesive coefficient and the weaker the adhesive's flowability, thus requiring a smaller second distance for the push rod to retract in the second direction.

[0065] In this embodiment, the first distance the controller controls the push rod to move the adhesive along a first direction is positively correlated with the second distance the push rod moves along a second direction. The greater the first distance the controller controls the push rod to move along the first direction, the greater the compression of the adhesive inside the tube, and the greater the tendency for the adhesive to flow backward after the force on the push rod disappears. Conversely, the smaller the first distance the controller controls the push rod to move along the first direction, the less the compression of the adhesive inside the tube, and the less the tendency for the adhesive to flow backward after the force on the push rod disappears. Therefore, the first distance the push rod moves along the first direction is positively correlated with the second distance the push rod moves along the second direction.

[0066] In this embodiment, considering the influence of the adhesive coefficient of the glue on the second distance the push rod moves along the second direction, determining the second distance the push rod moves along the second direction based on the first distance includes: determining the second distance based on the first distance and a load coefficient, wherein the load coefficient is related to the viscosity of the glue. Specifically, determining the second distance the push rod moves along the second direction based on the first distance includes: acquiring the motor current value during the push rod's movement along the first direction; acquiring the load coefficient based on the correspondence between the current value and the load coefficient; and determining the second distance based on the first distance and the load coefficient.

[0067] In another embodiment of this application, the viscosity of the adhesive can be detected by a viscosity sensor, and the load coefficient can be determined based on the detected viscosity.

[0068] In some embodiments of this application, determining the second distance the push rod moves along the second direction based on the first distance includes: if the first distance satisfies a first condition, determining the second distance as a first retraction distance. Specifically, the relationship between the first distance and a first preset forward distance is obtained; the first condition is satisfied when the first distance is less than or equal to the first preset forward distance, and the second distance is determined as the first retraction distance. The first preset forward distance is equal to the maximum value X corresponding to the first distance the push rod moves along the first direction. 总 The distance corresponding to one of the n equal parts, where n is a positive integer. Assume the maximum value corresponding to the first distance the push rod travels along the first direction is X. 总 , will X 总 Divide into n equal parts, and let the i-th part be denoted as X. i 1 ≤ i ≤ n. Therefore, the first preset forward distance is X. i The first rollback distance is equal to the product of the base rollback value and the load factor.

[0069] It should be noted that, in order to prevent the glue from leaking out when the user only pushes the glue in the tube tightly without squeezing it out, the first retraction distance is equal to the product of the base retraction value and the load coefficient, provided that the first distance meets the first condition.

[0070] In this embodiment of the application, the maximum value corresponding to the first distance is X. 总 After dividing it into n equal parts, each part X i The distance must be greater than or equal to the base retraction value and less than or equal to twice the base retraction value. Specifically, to avoid a situation where the distance pushed in by the glue applicator via the push rod is less than the base retraction distance, resulting in a large gap in the glue head, the first preset forward distance X... i It needs to be greater than or equal to the base rollback value. This is to avoid situations where the initial preset forward distance X... i An excessively large value for n (a small value) results in low accuracy of the backtracking distance. The first preset forward distance X i It needs to be less than or equal to twice the base backoff value. This base backoff value is greater than or equal to 1 mm and less than or equal to 3 mm.

[0071] In some embodiments of this application, determining the second distance the push rod moves along the second direction based on the first distance includes: if the first distance satisfies a second condition, determining that the second distance is positively correlated with the first distance. Specifically, when the first distance is greater than a first preset forward distance and less than a second preset forward distance, the second condition is satisfied, and it is determined that the second distance is greater than a first retraction distance and less than a second retraction distance, and that the second distance is positively correlated with the first distance. The second preset forward distance is equal to the maximum value X corresponding to the first distance the push rod moves along the first direction. 总 The distance X corresponding to the sum of the n-1 parts after dividing the material into n equal parts. l X l =X1+X2+…+X n-1 .

[0072] In some embodiments of this application, determining the second distance the push rod moves along the second direction based on the first distance includes: if the first distance satisfies a third condition, determining the second distance as a second retraction distance, wherein the second retraction distance is different from the first retraction distance. Specifically, the relationship between the first distance and a second preset forward distance is obtained; the third condition is satisfied when the first distance is greater than or equal to the second preset forward distance, and the second distance is determined as the second retraction distance. The second retraction distance is equal to twice the base retraction value multiplied by the load coefficient.

[0073] In this embodiment, to address the issue that air bubbles may form at the dispensing point of the hose if the retraction distance is too large, the second retraction distance is equal to twice the base retraction value multiplied by the load coefficient, provided that the first distance meets the third condition.

[0074] In one embodiment of this application, it is assumed that the maximum first distance the push rod moves along the first direction is X. 总 , will X 总Divide into n equal parts, and let the i-th part be denoted as X. i , 1≤i≤n. For example, the maximum stroke of the push rod in completing one glue-pushing task (e.g., filling the gap between the first and second tiles) is X. 总 Assume the first distance the push rod moves along the first direction is Y.

[0075] When the push rod moves a first distance Y in the first direction, satisfying the first condition, the colloid experiences less compression. This distance S is set as the product of the base retraction value and the load coefficient, where S = B × K. The first condition is: Y <X i .

[0076] When the first distance Y that the push rod moves in the first direction satisfies the second condition, the second distance S that the push rod retracts in the second direction can be calculated using the following method.

[0077] S={{YX i ) / X_total}×B+B}×K, S<2B;

[0078] The second condition is: X1≤Y <X l At that time, X l =X1+X2+…+X n-1 ,

[0079] When the first distance Y that the push rod moves in the first direction satisfies the third condition, the second distance S that the push rod retracts in the second direction is set to be twice the base retraction value multiplied by the load coefficient, S = 2B × K. The third condition is: Y ≥ X n The first distance the push rod moves in the first direction is greater than or equal to X. n To prevent the push rod from retracting too much in the second direction, the second distance S with the maximum retraction distance is set to be equal to twice the base retraction value multiplied by the load factor.

[0080] In some embodiments of this application, the effect of the adhesive force on the second distance is not considered. When the first distance Y that the push rod moves along the first direction satisfies the first condition, the compression of the adhesive is relatively small. This distance S is set as the base retraction value for the second distance S that the push rod retracts along the second direction, where S = B. The first condition is: Y <X i .

[0081] When the first distance Y that the push rod moves in the first direction satisfies the second condition, the second distance S that the push rod retracts in the second direction can be calculated using the following method.

[0082] S={YX i ) / X 总}×B+B, S<2B; where X iThe first preset forward distance is given, B is the basic backoff value, K is the load coefficient, and the second condition is: X1≤Y <X l At that time, X l =X1+X2+…+X n-1 ,

[0083] When the first distance Y that the push rod moves in the first direction satisfies the third condition, the second distance S that the push rod retracts in the second direction is set to be twice the base retraction value, S = 2B. The third condition is: Y ≥ X n The first distance the push rod moves in the first direction is greater than or equal to X. n To prevent the push rod from retracting too much in the second direction, the second distance S, which sets the maximum retraction distance, is equal to twice the base retraction value.

[0084] S04: Based on the second distance, control the push rod to move along the second direction.

[0085] In this embodiment, after determining that the push rod retracts a second distance in the second direction, the controller controls the motor to drive the push rod to move a second distance in the second direction, so that after the push rod retracts a second distance, the internal pressure of the glue in the tube is reduced, so that the glue will not continue to flow out, thus avoiding waste and pollution.

[0086] In this embodiment, the first distance the push rod moves in the first direction is obtained by the number of motor revolutions and the gear ratio, and a second distance the push rod moves in the second direction is determined based on the first distance. The push rod is then controlled to move in the second direction based on the second distance. This control method allows for accurate control of the second distance the push rod retracts. Furthermore, the push rod retraction can also be accurately controlled based on the adhesive coefficient of the glue.

[0087] See Figure 6 The diagram shown is a structural schematic of a glue application tool 100 provided in an embodiment of this application. The glue application tool 100 includes, but is not limited to, items such as... Figure 6 As shown, the glue application tool 100 may include a memory 101, a processor 102, and a bus 103. The processor 102 is coupled to the memory 101 via the bus 103.

[0088] The memory 101 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). The RAM can be directly read and written by the processor 102, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, as well as user and application data.

[0089] Random access memory can include static random-access memory (SRAM), dynamic random-access memory (DRAM), synchronous dynamic random-access memory (SDRAM), double data rate synchronous dynamic random-access memory (DDR SDRAM), etc.

[0090] Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by the processor 102. Non-volatile memory can include disk storage devices and flash memory.

[0091] The memory 101 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 102. The one or more computer programs include multiple instructions that, when executed by the processor 102, enable a data processing method to be performed on the glue applicator 100.

[0092] In other embodiments, the glue applicator 100 also includes an external memory interface for connecting to an external memory to expand the storage capacity of the glue applicator 100.

[0093] Processor 102 may include one or more processing units, such as an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). These different processing units may be independent devices or integrated into one or more processors.

[0094] The processor 102 provides computing and control capabilities. For example, the processor 102 is used to execute computer programs stored in the memory 101 to implement the control methods described above.

[0095] This application also provides a computer-readable storage medium storing a computer program, the computer program including program instructions, and the method implemented when the program instructions are executed can refer to the methods in the above embodiments of this application.

[0096] The computer-readable storage medium can be the internal memory of the glue-applying tool described in the above embodiments, such as the hard drive or memory of the glue-applying tool. Alternatively, the computer-readable storage medium can be an external storage device of the glue-applying tool, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the glue-applying tool.

[0097] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, etc.; and the data storage area may store data created based on the use of the glue applicator, etc.

[0098] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0099] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0100] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0101] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0102] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A glue-applying tool, comprising a housing, a push rod, and a motor, a gear set, and a controller housed within the housing, wherein the motor drives the push rod, the gear set is connected between the motor and the push rod, and the motor is also electrically connected to the controller, characterized in that, The controller is configured to: During the movement of the push rod in the first direction, the number of revolutions of the motor is obtained; The first distance the push rod moves along the first direction is determined based on the number of revolutions of the motor and the transmission ratio of the gear set. The second distance by which the push rod moves in the second direction is determined based on the first distance, wherein the second direction is opposite to the first direction; Based on the second distance, the push rod is controlled to move along the second direction.

2. The glue-applying tool according to claim 1, characterized in that, The controller determines the second distance the push rod moves along the second direction based on the first distance, including: The second distance is determined based on the first distance and the load factor, wherein the load factor is related to the viscosity of the adhesive.

3. The glue-applying tool according to claim 2, characterized in that, The controller determines the second distance based on the first distance and the load factor by including: During the movement of the push rod in the first direction, the current value of the motor is acquired; The load factor is obtained based on the correspondence between the current value and the load factor; The second distance is determined based on the first distance and the load factor.

4. The glue-applying tool according to claim 2 or 3, characterized in that, When the controller determines the second distance based on the first distance, it is configured as follows: Obtain the relationship between the first distance and the first preset forward distance and the second preset forward distance; When the first distance is less than or equal to the first preset forward distance, the second distance is determined to be the first backward distance; When the first distance is greater than the first preset forward distance and less than the second preset forward distance, it is determined that the second distance is greater than the first backward distance and less than the second backward distance, and the second distance is positively correlated with the first distance; When the first distance is greater than or equal to the second preset forward distance, the second distance is determined to be the second backward distance; Wherein, the second preset forward distance is greater than the first preset forward distance, and the second backward distance is greater than the first backward distance.

5. The glue-applying tool according to claim 4, characterized in that, The first preset forward distance is equal to the maximum value X corresponding to the first distance the push rod moves along the first direction. 总 The distance X corresponding to one of the n equal parts i , 1≤i≤n, where n is a positive integer; The second preset forward distance is equal to the maximum value X corresponding to the first distance the push rod moves along the first direction. 总 The distance corresponding to the sum of the n-1 parts after dividing the material into n equal parts; The first backoff distance is equal to the product of the base backoff value and the load factor; The second backoff distance is equal to twice the base backoff value multiplied by the load factor; The base backoff value is greater than or equal to 1 mm and less than or equal to 3 mm.

6. The glue application tool according to claim 5, characterized in that, When the first distance is greater than the first preset forward distance and less than the second preset forward distance, the controller is configured to: The second distance that the push rod needs to move along the second direction is determined to be S, where S = {{YX} i ) / X 总 }×B+B}×K, where Y is the first distance, B is the basic backoff value, and K is the load factor.

7. The glue-applying tool according to claim 1, characterized in that, Determining the first distance the push rod moves along the first direction based on the number of revolutions of the motor and the transmission ratio of the gear set includes: The speed at which the push rod moves is determined based on the gear ratio of the gear set and the rotational speed of the motor; The first distance is determined based on the number of revolutions of the motor and the speed at which the push rod moves.

8. A method for controlling a glue application tool, characterized in that, The control method is applied to the glue-applying tool according to any one of claims 1 to 7, and the control method includes: The number of motor revolutions is obtained as the push rod moves in the first direction; The first distance the push rod moves along the first direction is determined based on the number of revolutions of the motor and the transmission ratio of the gear set. The second distance by which the push rod moves in the second direction is determined based on the first distance, wherein the second direction is opposite to the first direction; Based on the second distance, the push rod is controlled to move along the second direction.

9. A glue-applying tool, comprising a memory and a processor, wherein the memory stores a computer program running on the processor, characterized in that, The processor implements the method of claim 8 when executing the computer program.

10. A computer-readable medium having processor-executable non-volatile program code, characterized in that, The program code causes the processor to execute the method of claim 8.

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