Self-adaptive gluing method, device, equipment, storage medium and program product

Abstract

The invention discloses a self-adaptive gluing method and device, equipment, a storage medium and a program product, and relates to the technical field of automatic control, and the self-adaptive gluing method comprises the steps that shape deviation values corresponding to different positions on a first surface to be glued are obtained, and the shape deviation values represent the flatness of the different positions on the first surface; and based on the morphology deviation values corresponding to the different positions on the first surface, gluing is conducted on the different positions on the first surface. According to the method, the flatness represented by the morphology deviation values of the different positions of the first surface is referred to, self-adaptive gluing is dynamically carried out on the different positions of the first surface, for example, the gluing amount is increased at the concave position of the surface, the gluing amount is reduced at the convex position of the surface, the whole glued surface can be flat, and the gluing efficiency is improved. The automatic gluing device solves the problem of local accumulation or vacancy of glue, can effectively adapt to automatic gluing of uneven surfaces, is good in gluing effect, can effectively improve the utilization rate of the glue, and saves the gluing cost.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to adaptive adhesive application methods, apparatus, equipment, storage media, and program products. Background Technology

[0002] In the manufacturing process of lithium batteries, ensuring the shear force between the battery pack and the casing is a key technological step to guarantee the overall structural strength and safety of the battery. Currently, the industry commonly uses structural adhesive coating technology, which achieves bonding between the casing and the battery pack by applying continuous adhesive strips or dots to the bottom of the casing.

[0003] Currently, to ensure the quality and efficiency of adhesive application, automated adhesive application methods are typically used to replace the original manual adhesive application methods.

[0004] However, in the actual automatic glue application process, glue often accumulates in certain areas or leaves gaps on the glued surface, resulting in poor glue application. Summary of the Invention

[0005] The main objective of this application is to provide an adaptive adhesive application method, apparatus, device, storage medium, and program product, which aims to solve the problem that in the actual automatic adhesive application process, adhesive often accumulates locally or has gaps on the adhesive surface, resulting in poor adhesive application effect.

[0006] To achieve the above objectives, this application proposes an adaptive adhesive application method, the method comprising: The morphological deviation at different positions on the first surface to be coated with adhesive is obtained, and the morphological deviation represents the flatness at different positions on the first surface. Based on the morphological deviation at different locations on the first surface, adhesive is applied to different locations on the first surface.

[0007] In one embodiment, different locations on the first surface include multiple grid regions into which the first surface is divided; The process of obtaining the morphological deviation at different locations on the first surface to be coated includes: Based on the curvature radius of the multiple grid regions and the reference plane of the first surface, the topographic deviation amount corresponding to each of the multiple grid regions is determined, and the topographic deviation amount is related to the coordinates of the corresponding grid region on the first surface.

[0008] This embodiment provides a specific implementation method for determining the topographic deviation. Specifically, the first surface can be divided into multiple grid regions, for example, 200-500 grid regions, to represent different positions on the first surface. Then, based on the radius of curvature of each grid region and a pre-selected reference plane of the first surface, the topographic deviation corresponding to each grid region can be determined. Then, the topographic deviation can be used to apply adhesive to these grid regions. The more grid regions are divided, the more accurately the topographic deviation can represent the flatness of different positions, but the more data processing is required. An appropriate number of divisions can be selected according to the actual situation to balance the accuracy of flatness representation and data processing. Furthermore, accurate flatness representation also helps to more accurately perform adaptive adhesive application based on the flatness reference, improving the adhesive application effect and saving adhesive application costs.

[0009] In one embodiment, determining the topographic deviation corresponding to each of the plurality of grid regions based on the radius of curvature of the plurality of grid regions and the reference plane of the first surface includes: For each of the plurality of grid regions, the normal offset between the radius of curvature of the grid region and the reference plane is calculated as the topography deviation.

[0010] This embodiment provides another specific implementation method for determining the topographic deviation. Specifically, for each grid region, the normal offset between the radius of curvature of the grid region and the reference plane can be calculated by, for example, least squares fitting. This offset serves as the topographic deviation characterizing the flatness of the grid region. The least squares fitting method does not calculate the attribute of a single point, but rather represents the macroscopic geometric characteristics of the entire grid region. This avoids parameter fluctuations caused by surface micro-roughness, and can more stably and accurately characterize the flatness of the entire grid region. This, in turn, helps to more accurately perform adaptive adhesive application based on the subsequent reference flatness, thus improving the adhesive application effect.

[0011] In one embodiment, applying adhesive to different locations on the first surface based on the morphological deviation at different locations on the first surface includes: Based on the morphological deviations corresponding to the multiple grid regions, the required amount of adhesive for each of the multiple grid regions is determined. Based on the required amount of adhesive for each of the multiple grid regions, adhesive is applied to each of the multiple grid regions.

[0012] This embodiment provides a specific implementation method for adhesive application based on morphological deviation. Specifically, the required amount of adhesive for each of the multiple grid regions can be determined based on the morphological deviation. Then, an automated adhesive application device, such as a robot, can be controlled to apply adhesive to each grid region until the required amount is reached, thereby achieving adaptive adhesive application to the first surface. By quantifying the required amount of adhesive for each grid region, the adhesive application device can more accurately perform adaptive adhesive application based on the amount of adhesive applied, resulting in a better adhesive application effect.

[0013] In one embodiment, determining the required amount of adhesive for each of the plurality of grid regions based on the morphological deviations corresponding to those regions includes: Based on the morphological deviation, adhesive viscosity parameters, and adhesive application pressure gradient corresponding to the multiple grid regions, the required amount of adhesive for each of the multiple grid regions is determined.

[0014] This embodiment provides a specific implementation method for determining the amount of adhesive applied to a grid area. Specifically, the required amount of adhesive for each grid area can be determined based on the morphological deviation, the viscosity parameter of the adhesive, and the application pressure gradient. The adhesive viscosity parameter is considered, meaning the viscosity affects its flowability and filling capacity. The application pressure gradient is also considered, meaning the pressure gradient affects the flow direction and speed of the adhesive in the gaps. The final determined amount of adhesive takes into account the portion where, after application, clamping pressure is applied, causing the adhesive to flow and fill under the pressure gradient, ultimately curing to form a uniformly thick adhesive layer. This results in a more uniform and smooth adhesive layer, forming a continuous sealing line, preventing the intrusion of moisture, dust, etc., and improving sealing reliability.

[0015] In one embodiment, determining the required amount of adhesive for each of the plurality of grid regions based on the morphological deviation, the viscosity parameter of the adhesive, and the coating pressure gradient includes: For each of the plurality of grid regions, perform the following steps: A first ratio is determined based on the ratio between the morphological deviation of the grid region and the viscosity parameter of the adhesive. Calculate the second product between the first ratio and the adhesive application pressure gradient; Calculate the integral value of the second product within the grid area, which is the required amount of adhesive for the grid area.

[0016] This embodiment provides a specific implementation method for calculating the amount of adhesive applied. This calculation method refers to the Poiseuille equation, which can more accurately predict the required amount of adhesive. It eliminates the need for multiple adjustments or determining the amount of adhesive based on empirical values, effectively ensuring the adhesive application efficiency and pass rate. After application, the adhesive flows and fills under pressure, ultimately forming a uniform adhesive layer, which maximizes the bonding strength and durability and avoids early failure caused by local stress concentration.

[0017] In one embodiment, determining the first ratio based on the ratio between the morphological deviation of the mesh region and the viscosity parameter of the adhesive includes: Calculate the second ratio between the morphological deviation of the mesh region and the viscosity parameter of the adhesive; Calculate the first ratio between the second ratio and the preset coefficient; The preset coefficient is related to the boundary conditions and driving method of the glue flow.

[0018] In this embodiment, another specific implementation method for calculating the amount of adhesive is provided. When calculating the required amount of adhesive by referring to the Poiseuille equation, this application also introduces a preset coefficient to take into account the influence of the boundary conditions and driving mode of the adhesive flow on the actual adhesive application when calculating the amount of adhesive, so that the calculated amount of adhesive is more in line with the actual adhesive application situation. Then, adaptive adhesive application is performed based on the amount of adhesive, which can make the final adhesive layer more uniform and flat, so as to form a continuous sealing line, prevent moisture, dust and other substances from entering, and improve the sealing reliability.

[0019] In one embodiment, applying adhesive to each of the plurality of grid regions based on the required amount of adhesive for each region includes: For each of the plurality of grid regions, the moving speed of the adhesive applicator when passing through the grid region is determined based on the amount of adhesive required for the grid region and the dispensing speed of the adhesive applicator. When the adhesive applicator passes through the grid area, the adhesive applicator is controlled to dispense adhesive at the dispensing speed and move at the moving speed corresponding to the grid area, so as to apply adhesive to the grid area until the corresponding amount of adhesive is reached.

[0020] This embodiment provides a specific implementation method for controlling the automated application of adhesive by a dispensing device. Specifically, the amount of adhesive required for each grid area, calculated above, can be converted into the corresponding moving speed of the dispensing device as it passes through each grid area. This allows for control of the dispensing device at a certain dispensing speed. By adaptively adjusting the moving speed of the dispensing device as it passes through each grid area, the final amount of adhesive applied to each grid area can be adjusted. Specifically, with a constant dispensing speed, the slower the dispensing device moves, the greater the amount of adhesive applied; conversely, the faster the dispensing device moves, the smaller the amount of adhesive applied. While ensuring that the required amount of adhesive is applied to each grid area, there is no need to dynamically adjust the dispensing speed of the dispensing device; only the moving speed of the dispensing device needs to be adjusted. This ensures uniform adhesive application, improves the coating effect, and increases coating efficiency.

[0021] In one embodiment, applying adhesive to each of the plurality of grid regions based on the required amount of adhesive for each region includes: The pre-coating trajectory of the coating equipment is determined from multiple grid areas on the first surface; Based on the pre-coated adhesive trajectory, a first difference in the amount of adhesive required between the next grid region and the previous grid region on the pre-coated adhesive trajectory is determined; Based on the first difference, a second difference is determined in the moving speed of the adhesive applicator when it passes through the next grid area and when it passes through the previous grid area; Based on the second difference, the adhesive coating equipment is controlled to apply adhesive to multiple grid areas on the pre-coated adhesive trajectory.

[0022] This embodiment provides another specific implementation method for controlling the automated glue application of a glue-applying device. Specifically, a pre-applying glue trajectory of the glue-applying device can be determined on multiple grid areas of the first surface to be glued. Then, according to the pre-applying glue trajectory, a first difference in the amount of glue required between the last and first grid areas in two adjacent grid areas can be determined. Subsequently, a second difference in the moving speed of the glue-applying device when passing through the last and first grid areas can be determined. Based on the second difference in moving speed, the moving speed of the glue-applying device can be controlled more accurately and conveniently, so that it can dynamically apply glue to different grid areas to the required amount of glue for that grid area.

[0023] In one embodiment, controlling the adhesive application device to apply adhesive to multiple grid areas on the pre-applied adhesive trajectory based on the second difference includes: For two adjacent grid areas on the pre-applied adhesive trajectory, perform the following steps until adhesive is applied to multiple grid areas on the pre-applied adhesive trajectory: The adhesive application equipment is controlled to move through the previous grid area at a first moving speed; Based on the first moving speed and the second difference, the second moving speed of the adhesive applicator when passing through the next grid area is determined; The adhesive applicator is controlled to move through the next grid area at the second moving speed to apply adhesive to the next grid area until the corresponding amount of adhesive is achieved.

[0024] This embodiment provides another specific implementation of controlling the automatic glue application of a glue-applying device. Specifically, after determining the second difference corresponding to the aforementioned moving speed, when the glue-applying device passes through the previous grid area at the first moving speed to apply glue, the second moving speed of the glue-applying device when passing through the next grid area can be determined based on the first glue-applying speed and the second difference. Then, the second moving speed can be directly used to apply glue in the next grid area until all grid areas on the first surface have been glued. This application directly utilizes the moving speed difference between two adjacent grid areas on the pre-applying trajectory, enabling timely and rapid determination of the speed adjustment amount required for the glue-applying device when passing through each grid area, effectively improving the efficiency of adaptive glue application.

[0025] In one embodiment, applying adhesive to each of the plurality of grid regions based on the required amount of adhesive for each region includes: Select one of the plurality of grid regions as the reference grid region; Based on the amount of adhesive required for the reference grid area and the dispensing speed of the adhesive applicator, a third moving speed of the adhesive applicator is determined when it passes through the reference grid area. For each of the plurality of grid regions, a fourth moving speed is determined for the adhesive applicator when passing through the grid region, based on the amount of adhesive required for the grid region, the amount of adhesive required for the reference grid region, and the third moving speed. When the adhesive applicator passes through the grid area, the adhesive applicator is controlled to dispense adhesive at the dispensing speed and move at the fourth moving speed corresponding to the grid area, so as to apply adhesive to the grid area until the corresponding amount of adhesive is reached.

[0026] This embodiment provides another specific implementation method for controlling the automated glue application of a glue-applying device. Specifically, a reference grid area can be selected from multiple grid areas. Then, based on the required glue amount and corresponding third moving speed of the reference grid area, a fourth moving speed corresponding to the required glue amount of other grid areas is determined. This simplifies the data processing flow. By using the reference grid area as a benchmark to determine the fourth moving speed of the glue-applying device when passing through other grid areas, and controlling the glue-applying device to move at the fourth moving speed and apply glue, the consistency of glue application on the entire first surface is improved, resulting in a better glue application effect.

[0027] In one embodiment, determining the fourth moving speed of the coating device when passing through the grid area based on the required amount of adhesive for the grid area, the required amount of adhesive for the reference grid area, and the third moving speed includes: Calculate a third ratio between the amount of adhesive required for the grid region and the amount of adhesive required for the reference grid region; The product of the third ratio and the third moving speed is calculated as the fourth moving speed of the adhesive applicator when it passes through the grid area.

[0028] This embodiment provides a specific implementation method for determining the fourth moving speed based on a reference grid area. Since the ratio of the amount of adhesive applied to the moving speed in two grid areas is equal at a certain dispensing speed, the fourth moving speed of the adhesive applicator when passing through other grid areas can be calculated using the reference grid area as a reference and the principle of equal ratios. The calculation method is simple and accurate, and is suitable for practical adhesive application scenarios.

[0029] In one embodiment, obtaining the morphological deviation at different locations on the first surface to be coated includes: Using the first scanning device of the vision inspection station, the first surface to be coated with adhesive is scanned to obtain a digital twin model of the first surface; Based on the digital twin model of the first surface, the morphological deviation at different locations on the first surface is determined.

[0030] This embodiment provides a specific implementation method for determining the morphological deviation. Specifically, a first scanning device of a vision inspection station can be used to scan the first surface to be coated with adhesive to obtain a digital twin model of the first surface. Then, the morphological deviation corresponding to different positions on the first surface can be determined more accurately using the scanned model.

[0031] In one embodiment, applying adhesive to different locations on the first surface based on the morphological deviation at different locations on the first surface includes: The first coordinate data at different positions on the first surface are converted into second coordinate data at different positions on the first surface. The first coordinate data corresponds to the coordinate system of the vision inspection station, and the second coordinate data corresponds to the coordinate system of the glue application equipment. Using the adhesive coating equipment, adhesive is applied to different positions on the first surface based on the morphological deviation and second coordinate data corresponding to different positions on the first surface.

[0032] This embodiment provides a specific implementation method for aligning the coordinate systems of the visual inspection station and the adhesive application equipment. Since the first surface needs to be scanned in the coordinate system of the visual inspection station using the station's first scanning device to obtain a digital twin model of the first surface, it is convenient to determine the morphological deviation at different positions on the first surface. Then, the first surface is moved to the coordinate system of the adhesive application equipment so that the equipment can adaptively apply adhesive based on the aforementioned morphological deviation. However, during the movement of the first surface, its coordinates in the visual inspection station's coordinate system and the adhesive application equipment's coordinate system may not be aligned, thus affecting the adhesive application effect. In this embodiment, after moving the first surface to the coordinate system of the adhesive application equipment, the first coordinate data corresponding to the visual inspection station's coordinate system can be converted into second coordinate data corresponding to the adhesive application equipment's coordinate system. Then, using the aligned second coordinate data, the adhesive application equipment can be controlled to perform adaptive adhesive application, effectively improving the uniformity of adhesive application, avoiding adhesive deviation introduced by coordinate system misalignment, and resulting in a better adhesive application effect.

[0033] In one embodiment, marking points are provided on the first surface; The step of converting the first coordinate data at different positions on the first surface into second coordinate data at different positions on the first surface includes: The first scanning device of the vision inspection station is used to scan the first surface to obtain the first coordinates of the marked points on the first surface; The first surface is scanned using a second scanning device installed on the adhesive coating equipment to obtain the second coordinates of the marked points on the first surface; Based on the first coordinate and the second coordinate, the first coordinate data at different positions on the first surface are converted into the second coordinate data at different positions on the first surface.

[0034] This embodiment provides a specific implementation method for coordinate alignment. Specifically, marker points can be set on the first surface, and the first and second coordinates are obtained by scanning the marker points using a first scanning device of the vision inspection station and a second scanning device set on the adhesive application device, respectively. Then, by referring to the above-mentioned first and second coordinates, the first coordinate data at different positions on the first surface can be converted into second coordinate data at different positions on the first surface. The coordinate alignment method is simple and easy to operate, and can effectively improve the accuracy and uniformity of adhesive application.

[0035] In one embodiment, converting first coordinate data at different locations on the first surface into second coordinate data at different locations on the first surface based on the first coordinate and the second coordinate includes: Based on the first coordinate and the second coordinate, a coordinate transformation correspondence is determined, wherein the correspondence is used to transform the scanned coordinates from the coordinate system of the visual inspection station to the coordinate system of the adhesive coating equipment; Based on the correspondence of the coordinate transformation, the first coordinate data at different positions on the first surface are transformed into second coordinate data at different positions on the first surface.

[0036] This embodiment provides another specific implementation method for coordinate alignment. Specifically, based on the first coordinate and the second coordinate, the correspondence between the coordinate transformations is first determined, and then based on this correspondence, the first coordinate data is converted from the coordinate system of the visual inspection station to the second coordinate data in the coordinate system of the adhesive application equipment. The coordinate alignment method is simple and easy to operate, and can effectively improve the uniformity of adhesive application.

[0037] Furthermore, to achieve the above objectives, this application also proposes an adaptive adhesive application device, the device comprising: The acquisition module is used to acquire the morphological deviation at different positions on the first surface to be coated with adhesive, wherein the morphological deviation represents the flatness at different positions on the first surface. The adhesive application module is used to apply adhesive to different positions on the first surface based on the morphological deviation corresponding to different positions on the first surface.

[0038] In addition, to achieve the above objectives, this application also proposes an adaptive adhesive application apparatus, the apparatus comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the adaptive adhesive application method as described above.

[0039] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the adaptive adhesive application method as described above.

[0040] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the adaptive adhesive application method as described above.

[0041] One or more technical solutions proposed in this application have at least the following technical effects: Compared to automated gluing systems that use a fixed amount of adhesive, which are difficult to adapt to uneven surfaces and are prone to localized adhesive buildup or gaps, this application can first obtain the morphological deviation at different locations on the first surface to be coated, thus characterizing the flatness of different locations on the first surface. Then, based on the flatness, adaptive gluing can be performed at different locations on the first surface. For example, the amount of adhesive applied can be increased at concave locations and decreased at convex locations. By dynamically adjusting the amount of adhesive based on the flatness of the first surface, the overall coated surface can be made relatively flat, solving the problem of localized adhesive buildup or gaps. This effectively adapts to automated gluing on uneven surfaces, resulting in good gluing performance, improved adhesive utilization, and reduced gluing costs. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0044] Figure 1 This is one of the flowcharts of the adaptive adhesive application method provided in this application; Figure 2 This is the second flowchart of the adaptive adhesive application method provided in this application; Figure 3 This is a schematic diagram of the working operation of the adhesive application equipment in the adaptive adhesive application method provided in this application; Figure 4 This is a schematic diagram of the first surface in the adaptive adhesive application method provided in this application; Figure 5 This is the third flowchart of the adaptive adhesive application method provided in this application; Figure 6 This is the fourth flowchart of the adaptive adhesive application method provided in this application; Figure 7 This is a schematic diagram of the adaptive adhesive applicator provided in this application; Figure 8 This is a schematic diagram of the adaptive adhesive application equipment provided in this application.

[0045] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0048] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0049] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0050] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0051] In the lithium battery manufacturing process, ensuring the shear force between the battery pack and the casing is a key technological step to guarantee the overall structural strength and safety. Currently, the industry generally adopts structural adhesive coating technology, which achieves bonding between the casing and the battery pack by applying continuous adhesive strips or dots to the bottom of the casing. The thickness of the adhesive layer is usually controlled in the range of 1.5-3mm.

[0052] To ensure adhesive application quality, automated adhesive application solutions typically employ a three-stage process: "shaping-fixing-adhesion." First, a multi-axis positioning fixture calibrates the housing's reference surface to eliminate incoming material deformation. Then, a six-axis industrial robot performs the adhesive application along a preset trajectory (usually a rectangular or zigzag path). Its movement speed (0.1-0.5 m / s) and adhesive dispensing rate (5-20 g / cm³) are precisely controlled by a PLC (Programmable Logic Controller), and the adhesive dispensing rate usually remains constant throughout the manufacturing process of a single product. However, the above solution has the following significant limitations: First, stringent requirements are imposed on upstream incoming materials. The flatness tolerance of the box surface must be controlled within ±0.2mm. When the incoming material surface has waviness or local unevenness, the amount of fixing glue is prone to local accumulation or gaps.

[0053] Secondly, the equipment assembly accuracy is required to reach ±0.05mm level, and mechanical wear and thermal deformation will cause the adhesive application trajectory to deviate.

[0054] Finally, the traditional solution employs a uniform glue dispensing strategy, resulting in a glue waste rate of 15-25% per batch. This rigid process has shown insufficient adaptability in the face of the increasing demand for lightweighting and complex structural designs of new energy vehicle battery packs, and urgently needs to be upgraded by introducing a 3D vision-based surface compensation system and an AI-driven glue quantity optimization algorithm.

[0055] To address the aforementioned technical problems, this application provides an adaptive adhesive coating method. The method first obtains the morphological deviation at different locations on the first surface to be coated, thus characterizing the flatness at different locations on the first surface. Then, adaptive adhesive coating is applied to different locations on the first surface with reference to the flatness. By dynamically adjusting the amount of adhesive applied based on the flatness of the first surface, the overall coated surface becomes relatively flat, solving the problem of localized adhesive accumulation or gaps. This method is effectively adapted to automated adhesive coating on uneven surfaces, resulting in good coating performance and improved adhesive utilization, thus saving coating costs. Furthermore, the adaptive adhesive coating method provided in this embodiment can apply adhesive evenly, solving the problem of adhesive trajectory deviation caused by mechanical wear and thermal deformation after coating.

[0056] It should be noted that the executing entity of the embodiments of this application can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or adaptive adhesive coating device capable of realizing the above functions. The embodiments of this application and the following embodiments will be described using an adaptive adhesive coating device as an example.

[0057] According to one aspect, embodiments of this application provide an adaptive adhesive application method, referring to... Figure 1 , Figure 1 This is one of the flowcharts of the adaptive adhesive application method provided in this application, the method including steps S101~S102: Step S101: Obtain the morphological deviation at different positions on the first surface to be coated with adhesive; The morphological deviation represents the flatness at different locations on the first surface.

[0058] It should be noted that the aforementioned first surface may be, for example, the bottom surface of the box to be coated with adhesive, or other surfaces to be coated with adhesive. This application is only illustrative and does not impose any limitations.

[0059] It should also be noted that the above-mentioned topographic deviation is used to quantify the flatness of different locations. It indicates how much the actual surface at different locations is "convex" or "concave" relative to the pre-set reference plane. This deviation is usually a positive or negative value: if it is positive (+), it means that the actual surface at that location is higher than the reference plane; if it is negative (-), it means that the actual surface at that location is lower than the reference plane; if it is zero, it means that the actual surface at that location coincides with the reference plane.

[0060] Optionally, an industrial-grade 3D vision inspection module (such as the Cognex DSMax system with an accuracy of 0.1mm) can be deployed to perform a full-area scan of the first surface at the bottom of the box using laser triangulation technology, generating a point cloud data model of the first surface. Based on this model, the shape deviation at different positions on the first surface can be determined.

[0061] Step S102: Based on the morphological deviation at different positions on the first surface, apply adhesive to different positions on the first surface.

[0062] For example, different locations to be coated with adhesive can be set according to the actual situation. The adhesive location can be one or more locations, and the adhesive application method can be such as applying adhesive in a rectangular or zigzag path, or applying adhesive in dots at several locations to be coated. This embodiment does not limit this.

[0063] The adaptive adhesive application method provided in this application, compared to automated adhesive application using a fixed amount of adhesive which is difficult to adapt to uneven surfaces and is prone to localized adhesive accumulation or gaps, can first obtain the morphological deviation at different positions on the first surface to be coated, thus characterizing the flatness at different positions on the first surface. Then, adaptive adhesive application can be performed at different positions on the first surface with reference to the flatness. For example, the amount of adhesive applied can be increased at concave positions and decreased at convex positions. By dynamically adjusting the amount of adhesive with reference to the flatness of the first surface, the overall coated surface can be made relatively flat, solving the problem of localized adhesive accumulation or gaps. It can effectively adapt to automated adhesive application on uneven surfaces, with good adhesive application effect, and can effectively improve the utilization rate of adhesive and save adhesive application costs.

[0064] The following describes the specific implementation method for determining the morphological deviation amount, using feasible implementation methods as an example: In one feasible implementation, different locations on the first surface may include multiple grid regions into which the first surface is divided; Figure 2 This is the second flowchart illustrating the adaptive adhesive application method provided in this application, as shown below. Figure 2 As shown, in Figure 1 Based on this, step S101 above may include: Step S101-1: Based on the curvature radius of the multiple grid regions and the reference plane of the first surface, determine the topographic deviation amount corresponding to each of the multiple grid regions; The morphological deviation is related to the coordinates of the corresponding grid region on the first surface.

[0065] It should be noted that the number of grid regions into which the first surface is divided can be set according to the actual situation.

[0066] For example, the flat surface at the bottom of the battery casing can typically be divided into 200-500 grid areas (e.g., each grid area is 50×50mm in size). The larger the number of grid areas, the more accurately the shape deviation of the grid areas can represent the flatness of different locations. However, the amount of data processing also increases. An appropriate number of divisions can be selected according to the actual situation to balance the accuracy of flatness representation and the amount of data processing.

[0067] It should also be noted that the radius of curvature of the aforementioned grid region is used to quantify the local curvature of the grid region; the reference plane of the aforementioned first surface can be fitted to an ideal geometric plane; based on the aforementioned radius of curvature and reference plane, the morphological deviation corresponding to each grid region can be determined.

[0068] Specifically, the first surface can be divided into multiple grid regions, such as 200-500 grid regions, to represent different positions on the first surface. Then, based on the radius of curvature of each grid region and the pre-selected reference plane of the first surface, the morphological deviation corresponding to each grid region can be determined. Then, the morphological deviation can be used to apply adhesive to these grid regions. The more grid regions are divided, the more accurately the morphological deviation can represent the flatness of different positions, but the more data processing is required. An appropriate number of divisions can be selected according to the actual situation to balance the accuracy of flatness representation and the amount of data processing. Furthermore, accurate flatness representation also helps to more accurately perform adaptive adhesive application based on the flatness reference, improving the adhesive application effect and saving adhesive application costs.

[0069] In another feasible implementation, step S101-1 above may further include: Step S101-11: For each of the plurality of grid regions, calculate the normal offset between the radius of curvature of the grid region and the reference plane, as the topography deviation.

[0070] Optionally, when calculating the normal offset, the least squares method can be used for fitting. Specifically, for each grid region, the normal offset between the radius of curvature of the grid region and the reference plane can be calculated by fitting the least squares method. This serves as the topographic deviation that characterizes the flatness of the grid region. The least squares method does not calculate the attribute of a single point, but rather represents the macroscopic geometric characteristics of the entire grid region. This avoids parameter fluctuations caused by surface micro-roughness and can more stably and accurately characterize the flatness of the entire grid region. This, in turn, helps to more accurately perform adaptive adhesive application based on the subsequent reference flatness, thus improving the adhesive application effect.

[0071] It should be noted that the normal offset between the radius of curvature of the grid region and the reference plane can also be calculated in other feasible ways. This application only uses the least squares fitting method as an example and does not limit it.

[0072] The following describes the specific implementation method of applying adhesive based on morphological deviation, using feasible implementation methods as an example: In one feasible implementation, such as Figure 2 As shown, step S102 above may include: Step S102-11: Based on the morphological deviation of the multiple grid regions, determine the amount of adhesive required for each of the multiple grid regions.

[0073] It should be noted that if the morphology deviation is positive (+), it means that the actual surface at that location is higher than the reference plane (there is a protrusion). In this case, the amount of adhesive to be applied can be smaller to avoid local accumulation of adhesive. If the morphology deviation is negative (-), it means that the actual surface at that location is lower than the reference plane (there is a depression). In this case, the amount of adhesive to be applied can be larger to avoid local gaps in adhesive.

[0074] Steps S102-12: Apply adhesive to each of the multiple grid areas based on the required amount of adhesive for each area.

[0075] For example, an adhesive applicator (e.g., a robot) can adaptively apply adhesive to multiple grid areas separately based on the amount of adhesive required for each area.

[0076] Specifically, the required amount of adhesive for each of the multiple grid regions can be determined based on the morphological deviations of each region. Then, by controlling automated adhesive application equipment such as robots, adhesive can be dispensed into each grid region until the required amount is reached, thus achieving adaptive adhesive application to the first surface. By quantifying the required amount of adhesive for each grid region, the adhesive application equipment can more accurately perform adaptive adhesive application based on the amount of adhesive applied, resulting in a better adhesive application effect.

[0077] The following describes the specific implementation method for determining the amount of adhesive applied to the grid area, using feasible implementation methods as an example: In one feasible implementation, steps S102-11 above may include: Based on the morphological deviation, adhesive viscosity parameters, and adhesive application pressure gradient corresponding to the multiple grid regions, the required amount of adhesive for each of the multiple grid regions is determined.

[0078] Specifically, the required amount of adhesive for each grid area can be determined by considering the morphological deviation, the viscosity parameters of the adhesive, and the application pressure gradient. The adhesive viscosity parameters are taken into account, meaning the influence of adhesive viscosity on its flowability and filling capacity. The application pressure gradient is also considered, meaning the influence of the pressure gradient on the flow direction and speed of the adhesive in the gaps. The final determined amount of adhesive takes into account the part where, after application, clamping pressure is applied to allow the adhesive to flow and fill under the action of the pressure gradient, and finally solidify to form a uniform thickness adhesive layer. This makes the final adhesive layer more uniform and flat, forming a continuous sealing line to prevent moisture, dust, and other contaminants from entering, thus improving the reliability of the seal.

[0079] The following describes the specific implementation method for calculating the amount of adhesive applied, using feasible methods as an example: In one feasible implementation, a specific way to determine the required amount of adhesive for each of the multiple grid regions based on the morphological deviation, the viscosity parameter of the adhesive, and the adhesive application pressure gradient may include: For each of the plurality of grid regions, perform the following steps: Step S1-1: Determine a first ratio based on the ratio between the morphological deviation of the grid region and the viscosity parameter of the adhesive; Step S1-2: Calculate the second product between the first ratio and the adhesive application pressure gradient; Steps S1-3: Calculate the integral value of the second product within the grid area, which is the required amount of adhesive to be applied to the grid area.

[0080] Specifically, this calculation method references the Poiseuille equation, which can more accurately predict the required amount of glue without the need for multiple adjustments or determining the amount of glue based on empirical values. This effectively ensures the glue application efficiency and pass rate, and facilitates the flow and filling of the glue under pressure after application, ultimately forming a glue layer of uniform thickness. This maximizes the bonding strength and durability, and avoids early failure caused by local stress concentration.

[0081] In another feasible implementation, step S1-1 above may include: Step S1-11: Calculate the second ratio between the morphological deviation of the grid region and the viscosity parameter of the adhesive.

[0082] Step S1-12: Calculate the first ratio between the second ratio and the preset coefficient; The preset coefficient is related to the boundary conditions and driving method of the glue flow.

[0083] It should be noted that the above preset coefficients can be set according to the actual situation, for example, set to 12.

[0084] Specifically, when calculating the required amount of adhesive using the Poiseuille equation, this application also introduces a preset coefficient to take into account the influence of the boundary conditions and driving method of the adhesive flow on the actual adhesive application when calculating the amount of adhesive. This makes the calculated amount of adhesive more closely match the actual adhesive application situation. Based on this amount of adhesive, adaptive adhesive application can be performed, which can make the final adhesive layer more uniform and flat, forming a continuous sealing line to prevent moisture, dust and other substances from entering, and improve the sealing reliability.

[0085] For example, for the normal offset h(x,y) between the radius of curvature of the grid region calculated by least squares fitting and the reference plane, a topography deviation matrix corresponding to multiple grid regions can be established. Each element in the matrix corresponds to the topography offset of each grid region, that is, h(x,y) of each grid region, where (x,y) represents the position of the grid region.

[0086] The required amount of adhesive for each grid region is calculated using the following formula: V=∫(h(x,y) / 12μ)·ΔP·dxdy, where μ represents the viscosity parameter of the adhesive, for example, the viscosity parameter of structural adhesive is 10000Pa·s, and ΔP is the adhesive application pressure gradient, for example, 0.1MPa.

[0087] The following describes the specific implementation method of automating the glue application process using feasible methods: In one feasible implementation, steps S102-12 above may include: Step S2-1: For each of the plurality of grid regions, based on the amount of adhesive required for the grid region and the dispensing speed of the adhesive applicator, determine the corresponding moving speed of the adhesive applicator when passing through the grid region; Step S2-2: When the adhesive applicator passes through the grid area, control the adhesive applicator to dispense adhesive at the dispensing speed and move at the moving speed corresponding to the grid area, so as to apply adhesive to the grid area until the corresponding amount of adhesive is reached.

[0088] Specifically, the amount of adhesive required for each grid area calculated above can be converted into the corresponding moving speed of the adhesive applicator when it passes through each grid area. This allows for better control of the adhesive applicator at a certain dispensing speed. By adaptively adjusting the moving speed of the applicator when it passes through each grid area, the final amount of adhesive applied to each grid area can be adjusted. Specifically, with a constant dispensing speed, the slower the applicator moves, the greater the amount of adhesive applied, and vice versa. While ensuring that the required amount of adhesive is applied to each grid area, there is no need to dynamically adjust the dispensing speed of the applicator. Only the moving speed of the applicator needs to be adjusted, which can uniformly apply the adhesive, improve the coating effect, and increase the coating efficiency.

[0089] In another feasible implementation, steps S102-12 above may include: Step S3-1: Determine the pre-coating trajectory of the coating equipment from multiple grid areas on the first surface; Optionally, the pre-coating trajectory of the above-mentioned glue coating equipment can be, for example, a straight line trajectory, an arc trajectory, a Z-shaped trajectory, etc., and can be flexibly set according to the actual situation. This application does not impose any restrictions on this.

[0090] Step S3-2: Based on the pre-coated adhesive trajectory, determine the first difference in the amount of adhesive required between the next grid area and the previous grid area on the pre-coated adhesive trajectory; Step S3-3: Based on the first difference, determine the second difference in the moving speed of the adhesive applicator when it passes through the next grid area and when it passes through the previous grid area; Step S3-4: Based on the second difference, control the glue application equipment to apply glue to multiple grid areas on the pre-coated glue trajectory.

[0091] Specifically, the pre-application trajectory of the adhesive applicator can be determined first on multiple grid areas of the first surface to be coated. Then, according to the pre-application trajectory, the first difference in the amount of adhesive required between the last grid area and the first grid area in two adjacent grid areas can be determined. Then, the second difference in the moving speed of the adhesive applicator when passing through the last grid area and the first grid area can be determined. Based on the second difference in the moving speed, the moving speed of the adhesive applicator at the current coating position can be controlled more accurately and conveniently, so that it can dynamically apply adhesive to different grid areas to the required amount of adhesive for that grid area.

[0092] Optionally, steps S3-4 above may include the following steps: Step S3-41: For two adjacent grid areas on the pre-applied adhesive trajectory, perform the following steps until adhesive is applied to multiple grid areas on the pre-applied adhesive trajectory: The adhesive application equipment is controlled to move through the previous grid area at a first moving speed; Based on the first moving speed and the second difference, the second moving speed of the adhesive applicator when passing through the next grid area is determined; The adhesive applicator is controlled to move through the next grid area at the second moving speed to apply adhesive to the next grid area until the corresponding amount of adhesive is achieved.

[0093] Specifically, after determining the second difference corresponding to the aforementioned moving speed, when the adhesive applicator moves at the first moving speed to apply adhesive to the previous grid area, the second moving speed of the adhesive applicator when passing through the next grid area can be determined based on the first adhesive application speed and the second difference. Therefore, the second moving speed can be directly used to apply adhesive to the next grid area until all grid areas on the first surface are coated. This application directly utilizes the moving speed difference between two adjacent grid areas on the pre-applied adhesive trajectory, enabling timely and rapid determination of the speed adjustment required for the adhesive applicator when passing through each grid area, effectively improving the efficiency of adaptive adhesive application.

[0094] In another feasible implementation, steps S102-12 above may include: Step S4-1: Select one grid region from the plurality of grid regions as a reference grid region; Step S4-2: Based on the amount of adhesive required for the reference grid area and the dispensing speed of the adhesive applicator, determine the third moving speed of the adhesive applicator when it passes through the reference grid area; Step S4-3: For each of the plurality of grid regions, based on the amount of adhesive required for the grid region, the amount of adhesive required for the reference grid region, and the third moving speed, determine the fourth moving speed corresponding to the adhesive applicator when passing through the grid region; Step S4-4: When the adhesive applicator passes through the grid area, control the adhesive applicator to dispense adhesive at the dispensing speed and move at the fourth moving speed corresponding to the grid area, so as to apply adhesive to the grid area until the corresponding amount of adhesive is reached.

[0095] Specifically, one of the multiple grid areas can be selected as a reference grid area. Then, the required amount of adhesive and the corresponding third moving speed of the reference grid area are used as a benchmark to determine the fourth moving speed corresponding to the required amount of adhesive in other grid areas. This simplifies the data processing flow. At the same time, by using the reference grid area as a benchmark to determine the fourth moving speed of the adhesive applicator when passing through other grid areas, and controlling the adhesive applicator to move at the fourth moving speed and apply adhesive, the consistency of adhesive application on the entire first surface is improved, resulting in a good adhesive application effect.

[0096] The following describes a specific implementation method for determining the fourth moving speed based on a reference grid area, using feasible implementation methods as an example: In one feasible implementation, step S4-3 specifically includes: Step S4-31: Calculate the third ratio between the amount of adhesive required for the mesh area and the amount of adhesive required for the reference mesh area; Step S4-32: Calculate the product between the third ratio and the third moving speed, which is used as the fourth moving speed of the adhesive applicator when it passes through the grid area.

[0097] For example, Figure 3 This is a schematic diagram of the adhesive application equipment in the adaptive adhesive application method provided in this application, as shown below. Figure 3 As shown, taking the application of glue by the glue coating equipment on a plane (considered as the reference plane) as an example, assuming that the glue dispensing speed of the glue coating equipment is V0 (in cc / s) and the moving speed is Y0 (in mm / s), then the amount of glue applied by the glue coating equipment after time t is G = V0 * t = L * w * h / 1000; Where L represents the adhesive application length (in mm), w represents the adhesive application width (in mm), and h represents the adhesive application thickness (in mm).

[0098] Since Y0 is usually a fixed value, the following formula can be derived: L = Y0 * t; Substituting this formula into the above formula for the amount of adhesive applied, we can get: V0 = Y0 * G / L = Y0 * w * h / 1000.

[0099] Figure 4 This is a schematic diagram of the first surface in the adaptive adhesive coating method provided in this application, as shown below. Figure 4 As shown, the actual first surface is usually uneven. After dividing the first surface into multiple grid regions, the grid region located on the reference plane can be taken as the reference grid region. Then the amount of adhesive applied to the reference grid region is G0 = V0 * t.

[0100] For any other grid region among the multiple grid regions, assume the speed of the adhesive applicator as it passes through the grid region is V. m Then the amount of adhesive applied to the corresponding grid area is G. m =V m * t; Therefore, it can be deduced that the moving speed V of the adhesive applicator when passing through the grid area is... m = G m *V0 / G0. The above G m Since V0 and G0 are known quantities, the moving speed of the coating equipment when passing through the grid area can be calculated. Then, the coating equipment can adaptively coat the first surface based on the moving speed corresponding to each grid area to improve the uniformity of the adhesive surface.

[0101] Specifically, since the ratio of the amount of adhesive applied to the moving speed is equal in the two grid areas at a certain dispensing speed, the fourth moving speed of the adhesive applicator when passing through other grid areas can be calculated using the reference grid area as a benchmark and the above-mentioned rule of equal ratio. The calculation method is simple and accurate and is suitable for actual adhesive application scenarios.

[0102] The following describes the specific implementation methods of the coordinate systems for the alignment vision inspection station and the glue application equipment, using feasible implementation methods as an example: In one feasible implementation, a specific method for determining the morphological deviation is provided. Figure 5 This is the third flowchart of the adaptive adhesive application method provided in this application, as shown below. Figure 5 As shown, in Figure 1 Based on this, step S101 above may include: Step S101-2: Using the first scanning device of the vision inspection station, scan the first surface to be coated with adhesive to obtain a digital twin model of the first surface. Step S101-3: Based on the digital twin model of the first surface, determine the morphological deviation at different positions on the first surface.

[0103] Specifically, the first scanning device of the vision inspection station can be used to scan the first surface to be coated with adhesive to obtain a digital twin model of the first surface. Then, the scanned model can be used to more accurately determine the morphological deviation at different positions on the first surface.

[0104] In some embodiments, accordingly, such as Figure 5 As shown, step S102 above may include: Step S102-21: Convert the first coordinate data at different positions on the first surface into second coordinate data at different positions on the first surface; Wherein, the first coordinate data corresponds to the coordinate system of the visual inspection station, and the second coordinate data corresponds to the coordinate system of the adhesive application equipment; Steps S102-22: Using the adhesive coating equipment, adhesive is applied to different positions on the first surface based on the morphological deviation and second coordinate data corresponding to different positions on the first surface.

[0105] Specifically, since the first surface needs to be scanned in the coordinate system of the vision inspection station using the station's first scanning device to obtain a digital twin model of the first surface, it is convenient to determine the morphological deviation at different positions on the first surface. Then, the first surface is moved to the coordinate system of the coating equipment so that the coating equipment can perform adaptive coating based on the aforementioned morphological deviation. However, during the movement of the first surface, its coordinates in the coordinate system of the vision inspection station and the coordinate system of the coating equipment may not be aligned, thus affecting the coating effect. In this embodiment, after moving the first surface to the coordinate system of the coating equipment, the first coordinate data corresponding to the coordinate system of the vision inspection station can be converted into second coordinate data corresponding to the coordinate system of the coating equipment. Then, the second coordinate data after coordinate system alignment can be used to control the coating equipment to perform adaptive coating, which can effectively improve the coating uniformity, avoid coating deviation caused by coordinate system misalignment, and achieve a good coating effect.

[0106] The following describes the specific implementation method of coordinate alignment in conjunction with feasible implementation methods: In one feasible implementation, marker points may be provided on the first surface; the above steps S102-21 may include: Step S5-1: Using the first scanning device of the vision inspection station, the first surface is scanned to obtain the first coordinates of the marked points on the first surface; Step S5-2: Using the second scanning device installed on the adhesive coating equipment, the first surface is scanned to obtain the second coordinates of the marked points on the first surface; Step S5-3: Based on the first coordinate and the second coordinate, convert the first coordinate data at different positions on the first surface into second coordinate data at different positions on the first surface.

[0107] Specifically, marker points can be set on the first surface, and the first and second coordinates obtained by scanning the marker points using the first scanning device of the vision inspection station and the second scanning device set on the glue application device can be obtained respectively. Then, by referring to the first and second coordinates, the first coordinate data at different positions on the first surface can be converted into the second coordinate data at different positions on the first surface. The coordinate alignment method is simple and easy to operate, and can effectively improve the accuracy and uniformity of glue application.

[0108] Optionally, step S5-3 above may include: Step S5-31: Based on the first coordinate and the second coordinate, determine the correspondence of coordinate transformation, wherein the correspondence is used to transform the scanned coordinates from the coordinate system of the visual inspection station to the coordinate system of the adhesive coating equipment; Step S5-32: Based on the correspondence of the coordinate transformation, the first coordinate data at different positions on the first surface are transformed into second coordinate data at different positions on the first surface.

[0109] Specifically, based on the first and second coordinates, the correspondence of coordinate transformation can be determined first, and then based on this correspondence, the first coordinate data can be transformed from the coordinate system of the visual inspection station to the second coordinate data in the coordinate system of the glue application equipment. The coordinate alignment method is simple and easy to operate, and can effectively improve the uniformity of glue application.

[0110] The following example illustrates the adaptive adhesive application method provided in the embodiments of this application.

[0111] On the one hand, this embodiment first addresses the key requirements for structural adhesive coating quality control in lithium battery manufacturing processes. To address the technical bottleneck of traditional automatic adhesive coating systems in adapting to the surface morphology of non-standard enclosures, it proposes a dynamic adhesive amount compensation system based on multi-dimensional vision guidance, and applies the aforementioned adaptive adhesive coating method.

[0112] This system integrates a high-precision 3D vision inspection module (with an accuracy of 0.1mm measurement range), employing laser triangulation technology to perform a full-area scan of the box surface, and reconstructing a digital twin model of the surface morphology from point cloud data. The system divides the box surface into 200-500 grid regions. For each grid region, the local radius of curvature and its offset from the normal to the reference plane are calculated using the least squares method, establishing a morphology deviation matrix in a three-dimensional coordinate system (including the morphology deviations of multiple grid regions). Combining the Poiseuille equation and the constitutive model of viscoelastic fluids from fluid mechanics, a formula for calculating the colloid filling volume is constructed. This model uses a real-time feedback control algorithm to convert the calculated theoretical adhesive application amount for each grid region into trajectory speed adjustment commands for the robot's end effector, achieving dynamic speed compensation of the adhesive application path (speed adjustment range 0.1-2m / s) through a servo control system.

[0113] When a local flatness deviation is detected to exceed ±0.3mm, the system automatically triggers the adhesive volume compensation mechanism, and controls the adhesive stacking height within the process range of 1.5-3.5mm through PID closed-loop control.

[0114] This solution effectively addresses the issues of adhesive buildup or voids in traditional fixed-parameter adhesive application processes when dealing with complex surface morphologies. By converting the sub-unit height deviation (±0.3mm) into trajectory speed commands (0.1-2m / s) for the robot's end effector, it achieves adaptive adjustment during the adhesive application process: "decelerating and reducing adhesive on high planes, and accelerating and increasing adhesive on low planes." This increases adhesive utilization to over 92%, reducing waste by 40-50% compared to traditional fixed-amount adhesive solutions. Simultaneously, adhesive layer thickness fluctuations are controlled within ±0.2mm, significantly improving the structural strength and sealing performance of the battery pack and housing, meeting the mechanical performance requirements for bonded areas in the structural strength test specifications for power battery systems used in electric vehicles.

[0115] On the other hand, this embodiment addresses the problem of limited positioning accuracy on the box surface during the robot gluing process by proposing a positioning calibration scheme based on dual-station synchronous visual compensation.

[0116] A high-resolution industrial camera (resolution ≥ 2 megapixels, frame rate ≥ 30fps) is integrated into the robot's end effector, serving as the second scanning device for the aforementioned adhesive coating equipment. This device, in conjunction with the same model CCD system in the vision inspection station, uses structured light 3D reconstruction technology to synchronously image the reference Mark points on the box. The coordinate data of the Mark points from both stations are extracted using a feature point matching algorithm, establishing a six-degree-of-freedom pose error model that includes X / Y / Z axis displacement and RX / RY / RZ rotational deviations.

[0117] The coordinate system (WCS) of the vision inspection station is aligned with the coordinate system (JCS) of the adhesive application equipment using a coordinate system transformation matrix. The compensation coefficient corresponding to the cumulative error of the lifting mechanism (usually ≤0.15mm) is calculated using the least squares method. The compensation value is injected into the interpolation trajectory of the robot motion controller in real time to dynamically correct the deviation between the grasping path and the adhesive application trajectory (correction range ±5mm).

[0118] This solution effectively solves the coordinate system offset problem caused by traditional single-station positioning. Actual verification shows that it can improve the positioning repeatability of the box surface to ±0.05mm, significantly reduce the colloid offset defects caused by lifting positioning differences, meet the positioning accuracy requirements in the industrial robot coordinate measurement standard, and at the same time reduce the difficulty of equipment debugging and production cycle.

[0119] In this embodiment, during the process execution phase, the dual-station synchronous vision system uses a CCD (2 megapixels) to acquire the six-degree-of-freedom pose of the Mark points. A coordinate transformation matrix is ​​used to compensate for the cumulative error of ±0.15mm in the lifting mechanism, improving the box positioning repeatability to ±0.05mm. This compensation mechanism ensures that the positional error of the adhesive application trajectory corresponding to each sub-unit is <0.1mm, effectively eliminating adhesive offset defects caused by differences in the flatness of the incoming box material (±0.5mm), reducing the defect rate by 85%.

[0120] By optimizing adhesive application at the grid region level and linking coordinates between workstations, the system improved adhesive uniformity by 18%, shortened the single-piece processing cycle by 12%, and reduced debugging costs (saving 15 yuan per piece of wasted adhesive). This solution provides a quantifiable and scalable process paradigm for bonding complex curved battery packs to housings, driving the development of new energy vehicle powertrain manufacturing towards high precision and low energy consumption.

[0121] The following is an integrated, intelligent process optimization solution addressing the issues of flatness adaptability and positioning accuracy in the automated adhesive coating process for lithium battery cases. This solution includes the following technical modules and execution flow: 1) Dynamic adhesive volume compensation system for mesh areas based on 3D vision: Equipment configuration: Deploy an industrial-grade 3D vision inspection module (such as the Cognex DSMax system with an accuracy of 0.1mm), and use laser triangulation technology to perform a full-area scan of the box surface to generate a point cloud data model.

[0122] The process flow is as follows: <1> Surface division: Divide the surface of the box into 200-500 grid areas, each grid area is 50×50mm in size.

[0123] <2> Morphology analysis: The normal offset (h(x,y)) of each grid region is calculated by fitting using the least squares method, and a morphology deviation matrix is ​​established.

[0124] <3> Adhesive volume modeling: The required adhesive volume for each grid region is calculated using the Poiseuille equation (V=∫(h(x,y) / 12μ)·ΔP·dxdy) as the corresponding adhesive amount, where μ is the structural adhesive viscosity parameter (10000Pa·s) and ΔP is the adhesive application pressure gradient (0.1MPa).

[0125] <4> Track speed regulation: The adhesive application amount requirement is converted into a path speed command (0.1-2m / s) for the robot's end effector, and dynamic compensation is achieved through the servo control system to "decelerate and reduce adhesive on the high plane and accelerate and increase adhesive on the low plane".

[0126] 2) Duplex station synchronous visual compensation positioning system: Equipment integration: CCD cameras (2-megapixel resolution, 30fps frame rate) are installed on the robotic grippers of the vision inspection station and the glue application equipment to simultaneously acquire images of the Mark points on the box.

[0127] The coordinate calibration process is as follows: <1> Feature matching: The SIFT (Scale Invariant Feature Transform) algorithm is used to extract the coordinates of the Mark points and calculate the six-degree-of-freedom pose error (ΔX, ΔY, ΔZ, ΔRX, ΔRY, ΔRZ) between the two workstations.

[0128] <2> Coordinate transformation: Establish the coordinate transformation matrix between the vision inspection station and the glue application equipment, and calculate the compensation coefficient corresponding to the cumulative error (≤0.15mm) of the lifting mechanism using the least squares method.

[0129] The dynamic correction process is as follows: The compensation value is injected into the interpolation trajectory of the robot motion controller in real time to correct the deviation of the grasping and gluing path (correction range ±5mm) and ensure that the positioning repeatability accuracy reaches ±0.05mm.

[0130] 3) Process integration and verification: Execution logic: The box first enters the vision inspection station to complete the shape scanning and positioning compensation, and then is sent to the glue coating equipment. The robot in the glue coating equipment performs dynamic glue coating according to the preset glue amount model and compensation parameters.

[0131] Quality monitoring: The thickness of the adhesive layer is monitored in real time using an online laser rangefinder (accuracy 0.01mm), and the shear strength (≥5MPa) is verified by mechanical testing.

[0132] Expected results: Adhesive utilization rate increased to 92%, adhesive layer thickness fluctuation ≤ ±0.2mm, and box positioning defect rate reduced by 85%.

[0133] On-site verification: <1> After the MES verification is completed, the PLC acquires the adhesive application data of 300 grid areas and converts it into the robot's running speed. <2> During the time it takes for the box to be lifted and positioned, 300 sets of glue application data are transmitted to the robot via polling.

[0134] For example, Figure 6 This is the fourth flowchart of the adaptive adhesive application method provided in this application, as shown below. Figure 6 As shown below, the logic for applying adhesive to the lower housing is as follows: First, the CCD of the vision inspection station scans the surface of the box, and then inputs the amount of glue applied to each grid area into the PLC. After obtaining the amount of glue applied to each grid area, the PLC converts the glue application data into robot speed data. The robot then sends the identifier of the i-th grid area to the PLC to obtain the speed corresponding to the i-th grid area. This process continues until the speeds corresponding to all grid areas are obtained and cached as speed data. The robot can then perform variable-speed glue application based on the cached speed data.

[0135] The robot's operating logic is as follows: After receiving the speed data, the robot will put it in the robot's variables. The robot will calculate the fixed value of each grid area based on the difference between the first and last points, and assign the value difference to the point (this process requires assigning multiple points, which is redundant in the program).

[0136] This embodiment achieves precise control and resource conservation in the adhesive coating process, providing a replicable standardized solution for the manufacturing of new energy battery packs.

[0137] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the adaptive adhesive application method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0138] On the other hand, this application also provides an adaptive adhesive application device, please refer to Figure 7 , Figure 7 This is a schematic diagram of the adaptive adhesive application device provided in this application. The adaptive adhesive application device includes: The acquisition module 701 is used to acquire the morphological deviation amount corresponding to different positions on the first surface to be coated with adhesive, wherein the morphological deviation amount characterizes the flatness of different positions on the first surface. The adhesive application module 702 is used to apply adhesive to different positions on the first surface based on the morphological deviation corresponding to different positions on the first surface.

[0139] In some embodiments, different locations on the first surface include multiple grid regions into which the first surface is divided; The acquisition module 701 is specifically used to: determine the topographic deviation amount corresponding to the multiple grid regions based on the curvature radius of the multiple grid regions and the reference plane of the first surface, wherein the topographic deviation amount is related to the coordinates of the corresponding grid region on the first surface.

[0140] In some embodiments, the acquisition module 701 is further specifically used to: for each of the plurality of grid regions, calculate the normal offset between the radius of curvature of the grid region and the reference plane by least squares fitting, and use it as the topography deviation.

[0141] In some embodiments, the adhesive application module 702 is specifically used for: Based on the morphological deviations corresponding to the multiple grid regions, the required amount of adhesive for each of the multiple grid regions is determined. Based on the required amount of adhesive for each of the multiple grid regions, adhesive is applied to each of the multiple grid regions.

[0142] In some embodiments, the adhesive application module 702 is further configured to: determine the amount of adhesive required for each of the plurality of grid regions based on the morphological deviation, the viscosity parameter of the adhesive, and the adhesive application pressure gradient corresponding to the plurality of grid regions respectively.

[0143] In some embodiments, the adhesive application module 702 is further configured to: perform the following steps for each of the plurality of grid regions: A first ratio is determined based on the ratio between the morphological deviation of the grid region and the viscosity parameter of the adhesive. Calculate the second product between the first ratio and the adhesive application pressure gradient; Calculate the integral value of the second product within the grid area, which is the required amount of adhesive for the grid area.

[0144] In some embodiments, the adhesive application module 702 is further specifically used for: Calculate the second ratio between the morphological deviation of the mesh region and the viscosity parameter of the adhesive; Calculate the first ratio between the second ratio and the preset coefficient; The preset coefficient is related to the boundary conditions and driving method of the glue flow.

[0145] In some embodiments, the adhesive application module 702 is further specifically used for: For each of the plurality of grid regions, the moving speed of the adhesive applicator when passing through the grid region is determined based on the amount of adhesive required for the grid region and the dispensing speed of the adhesive applicator. When the adhesive applicator passes through the grid area, the adhesive applicator is controlled to dispense adhesive at the dispensing speed and move at the moving speed corresponding to the grid area, so as to apply adhesive to the grid area until the corresponding amount of adhesive is reached.

[0146] In some embodiments, the adhesive application module 702 is further specifically used for: The pre-coating trajectory of the coating equipment is determined from multiple grid areas on the first surface; Based on the pre-coated adhesive trajectory, a first difference in the amount of adhesive required between the next grid region and the previous grid region on the pre-coated adhesive trajectory is determined; Based on the first difference, a second difference is determined in the moving speed of the adhesive applicator when it passes through the next grid area and when it passes through the previous grid area; Based on the second difference, the adhesive coating equipment is controlled to apply adhesive to multiple grid areas on the pre-coated adhesive trajectory.

[0147] In some embodiments, the adhesive application module 702 is further specifically used for: For two adjacent grid areas on the pre-applied adhesive trajectory, perform the following steps until adhesive is applied to multiple grid areas on the pre-applied adhesive trajectory: The adhesive application equipment is controlled to move through the previous grid area at a first moving speed; Based on the first moving speed and the second difference, the second moving speed of the adhesive applicator when passing through the next grid area is determined; The adhesive applicator is controlled to move through the next grid area at the second moving speed to apply adhesive to the next grid area until the corresponding amount of adhesive is achieved.

[0148] In some embodiments, the adhesive application module 702 is further specifically used for: Select one of the plurality of grid regions as the reference grid region; Based on the amount of adhesive required for the reference grid area and the dispensing speed of the adhesive applicator, a third moving speed of the adhesive applicator is determined when it passes through the reference grid area. For each of the plurality of grid regions, a fourth moving speed is determined for the adhesive applicator when passing through the grid region, based on the amount of adhesive required for the grid region, the amount of adhesive required for the reference grid region, and the third moving speed. When the adhesive applicator passes through the grid area, the adhesive applicator is controlled to dispense adhesive at the dispensing speed and move at the second moving speed corresponding to the grid area, so as to apply adhesive to the grid area until the corresponding amount of adhesive is reached.

[0149] In some embodiments, the adhesive application module 702 is further specifically used for: Calculate a third ratio between the amount of adhesive required for the grid region and the amount of adhesive required for the reference grid region; The product of the third ratio and the third moving speed is calculated as the fourth moving speed of the adhesive applicator when it passes through the grid area.

[0150] In some embodiments, the acquisition module 701 is further specifically used for: Using the first scanning device of the vision inspection station, the first surface to be coated with adhesive is scanned to obtain a digital twin model of the first surface; Based on the digital twin model of the first surface, the morphological deviation at different locations on the first surface is determined.

[0151] In some embodiments, the adhesive application module 702 is further specifically used for: The first coordinate data at different positions on the first surface are converted into second coordinate data at different positions on the first surface. The first coordinate data corresponds to the coordinate system of the vision inspection station, and the second coordinate data corresponds to the coordinate system of the glue application equipment. Using the adhesive coating equipment, adhesive is applied to different positions on the first surface based on the morphological deviation and second coordinate data corresponding to different positions on the first surface.

[0152] In some embodiments, marker points are provided on the first surface; The adhesive application module 702 is also specifically used for: The first scanning device of the vision inspection station is used to scan the first surface to obtain the first coordinates of the marked points on the first surface; The first surface is scanned using a second scanning device installed on the adhesive coating equipment to obtain the second coordinates of the marked points on the first surface; Based on the first coordinate and the second coordinate, the first coordinate data at different positions on the first surface are converted into the second coordinate data at different positions on the first surface.

[0153] In some embodiments, the adhesive application module 702 is further specifically used for: Based on the first coordinate and the second coordinate, a coordinate transformation correspondence is determined, wherein the correspondence is used to transform the scanned coordinates from the coordinate system of the visual inspection station to the coordinate system of the adhesive coating equipment; Based on the correspondence of the coordinate transformation, the first coordinate data at different positions on the first surface are transformed into second coordinate data at different positions on the first surface.

[0154] The adaptive glue application device provided in this application, which adopts the adaptive glue application method in the above-described method embodiments, can solve the problem that in the actual automatic glue application process, glue often accumulates locally or has gaps on the glue application surface, resulting in poor glue application effect.

[0155] Compared with related technologies, the beneficial effects of the adaptive glue coating device provided in this application are the same as those of the adaptive glue coating method provided in the above embodiments, and other technical features in the adaptive glue coating device are the same as those disclosed in the above embodiments, and will not be repeated here.

[0156] This application provides an adaptive adhesive coating apparatus, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the adaptive adhesive coating method in any of the above embodiments.

[0157] The following is for reference. Figure 8 , Figure 8 This is a structural schematic diagram of the adaptive adhesive application device provided in this application, illustrating a structural schematic diagram suitable for implementing the adaptive adhesive application device of the embodiments of this application. The adaptive adhesive application device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), vehicle terminals (such as vehicle navigation terminals), etc., as well as fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The adaptive adhesive applicator shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this application.

[0158] like Figure 8As shown, the adaptive dispensing device may include a processing unit 801 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage device 803 into a random access memory (RAM) 804. The RAM 804 also stores various programs and data required for the operation of the adaptive dispensing device. The processing unit 801, ROM 802, and RAM 804 are interconnected via a bus 805. An input / output (I / O) interface 806 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 806: input devices 807 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 808 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 803 including, for example, magnetic tapes, hard disks, etc.; and communication devices 809. Communication device 809 allows the adaptive dispensing apparatus to communicate wirelessly or wiredly with other devices to exchange data. While the figures show adaptive dispensing apparatuses with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0159] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 803, or installed from a ROM 802. When the computer program is executed by the processing device 801, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0160] The adaptive glue coating equipment provided in this application, employing the adaptive glue coating method in the above embodiments, can solve the technical problem that in actual automatic glue coating processes, glue often accumulates locally or has gaps on the coating surface, resulting in poor glue coating effect. Compared with related technologies, the beneficial effects of the adaptive glue coating equipment provided in this application are the same as those of the adaptive glue coating method provided in the above embodiments, and other technical features of this adaptive glue coating equipment are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0161] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0162] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0163] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to perform the adaptive adhesive application method in the above embodiments.

[0164] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0165] The aforementioned computer-readable storage medium may be included in the adaptive dispensing apparatus; or it may exist independently and not assembled into the adaptive dispensing apparatus.

[0166] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the adaptive glue applicator, cause the adaptive glue applicator to perform the following steps: The morphological deviation at different positions on the first surface to be coated with adhesive is obtained, and the morphological deviation represents the flatness at different positions on the first surface. Based on the morphological deviation at different locations on the first surface, adhesive is applied to different locations on the first surface.

[0167] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0168] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0169] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0170] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described adaptive adhesive application method. This solves the problem that in actual automatic adhesive application processes, localized glue accumulation or gaps often occur on the adhesive surface, resulting in poor adhesive application effects. Compared with related technologies, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the adaptive adhesive application method provided in the above embodiments, and will not be repeated here.

[0171] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the adaptive adhesive application method as described above.

[0172] The computer program product provided in this application can solve the problem that in the actual automatic glue application process, glue often accumulates locally or has gaps on the glue surface, resulting in poor glue application effect. Compared with related technologies, the beneficial effects of the computer program product provided in this application are the same as those of the adaptive glue application method provided in the above embodiments, and will not be repeated here.

[0173] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. An adaptive adhesive application method, characterized in that, include: The topographic deviation is obtained at different positions on the first surface to be coated with adhesive. The different positions on the first surface include multiple grid regions into which the first surface is divided. The topographic deviation represents the deviation value of the actual surface of the multiple grid regions on the first surface relative to a pre-set reference plane. Based on the morphological deviation, adhesive viscosity parameters, and coating pressure gradient corresponding to the multiple grid regions, the required amount of adhesive for each of the multiple grid regions is determined. Based on the required amount of adhesive for each of the multiple grid regions, adhesive is applied to each of the multiple grid regions.

2. The method as described in claim 1, characterized in that, The pre-set reference plane is the reference plane of the first surface; The process of obtaining the morphological deviation at different locations on the first surface to be coated includes: Based on the curvature radius of the multiple grid regions and the reference plane of the first surface set in advance, the topographic deviation amount corresponding to the multiple grid regions is determined, and the topographic deviation amount is related to the coordinates of the corresponding grid region on the first surface.

3. The method as described in claim 2, characterized in that, The determination of the topographic deviation corresponding to each of the multiple grid regions based on the radius of curvature of the multiple grid regions and the reference plane of the first surface includes: For each of the plurality of grid regions, the normal offset between the radius of curvature of the grid region and the reference plane is calculated as the topography deviation.

4. The method as described in claim 1, characterized in that, The step of determining the required amount of adhesive for each of the multiple grid regions based on the morphological deviation, adhesive viscosity parameters, and adhesive pressure gradient includes: For each of the plurality of grid regions, perform the following steps: A first ratio is determined based on the ratio between the morphological deviation of the grid region and the viscosity parameter of the adhesive. Calculate the second product between the first ratio and the adhesive application pressure gradient; Calculate the integral value of the second product within the grid area, which is the required amount of adhesive for the grid area.

5. The method as described in claim 4, characterized in that, Determining the first ratio based on the ratio between the morphological deviation of the grid region and the viscosity parameter of the adhesive includes: Calculate the second ratio between the morphological deviation of the mesh region and the viscosity parameter of the adhesive; Calculate the first ratio between the second ratio and the preset coefficient; The preset coefficient is related to the boundary conditions and driving method of the glue flow.

6. The method as described in claim 1, characterized in that, The step of applying adhesive to each of the multiple grid regions based on the required amount of adhesive for each region includes: For each of the plurality of grid regions, the moving speed of the adhesive applicator when passing through the grid region is determined based on the amount of adhesive required for the grid region and the dispensing speed of the adhesive applicator. When the adhesive applicator passes through the grid area, the adhesive applicator is controlled to dispense adhesive at the dispensing speed and move at the moving speed corresponding to the grid area, so as to apply adhesive to the grid area until the corresponding amount of adhesive is reached.

7. The method as described in claim 1, characterized in that, The step of applying adhesive to each of the multiple grid regions based on the required amount of adhesive for each region includes: The pre-coating trajectory of the coating equipment is determined from multiple grid areas on the first surface; Based on the pre-coated adhesive trajectory, a first difference in the amount of adhesive required between the next grid region and the previous grid region on the pre-coated adhesive trajectory is determined; Based on the first difference, a second difference is determined in the moving speed of the adhesive applicator when it passes through the next grid area and when it passes through the previous grid area; Based on the second difference, the adhesive coating equipment is controlled to apply adhesive to multiple grid areas on the pre-coated adhesive trajectory.

8. The method as described in claim 7, characterized in that, The step of controlling the adhesive coating equipment to apply adhesive to multiple grid areas on the pre-coating trajectory based on the second difference includes: For two adjacent grid areas on the pre-applied adhesive trajectory, perform the following steps until adhesive is applied to multiple grid areas on the pre-applied adhesive trajectory: The adhesive application equipment is controlled to move through the previous grid area at a first moving speed; Based on the first moving speed and the second difference, the second moving speed of the adhesive applicator when passing through the next grid area is determined; The adhesive applicator is controlled to move through the next grid area at the second moving speed to apply adhesive to the next grid area until the corresponding amount of adhesive is achieved.

9. The method as described in claim 1, characterized in that, The step of applying adhesive to each of the multiple grid regions based on the required amount of adhesive for each region includes: Select one of the plurality of grid regions as the reference grid region; Based on the amount of adhesive required for the reference grid area and the dispensing speed of the adhesive applicator, a third moving speed of the adhesive applicator is determined when it passes through the reference grid area. For each of the plurality of grid regions, a fourth moving speed is determined for the adhesive applicator when passing through the grid region, based on the amount of adhesive required for the grid region, the amount of adhesive required for the reference grid region, and the third moving speed. When the adhesive applicator passes through the grid area, the adhesive applicator is controlled to dispense adhesive at the dispensing speed and move at the fourth moving speed corresponding to the grid area, so as to apply adhesive to the grid area until the corresponding amount of adhesive is reached.

10. The method as described in claim 9, characterized in that, The determination of the fourth moving speed of the adhesive applicator when passing through the grid area, based on the required amount of adhesive for the grid area, the required amount of adhesive for the reference grid area, and the third moving speed, includes: Calculate a third ratio between the amount of adhesive required for the grid region and the amount of adhesive required for the reference grid region; The product of the third ratio and the third moving speed is calculated as the fourth moving speed of the adhesive applicator when it passes through the grid area.

11. The method according to any one of claims 1 to 3, characterized in that, The process of obtaining the morphological deviation at different locations on the first surface to be coated includes: Using the first scanning device of the vision inspection station, the first surface to be coated with adhesive is scanned to obtain a digital twin model of the first surface; Based on the digital twin model of the first surface, the morphological deviation at different locations on the first surface is determined.

12. The method as described in claim 11, characterized in that, The step of applying adhesive to different positions on the first surface based on the morphological deviation at different locations on the first surface includes: The first coordinate data at different positions on the first surface are converted into second coordinate data at different positions on the first surface. The first coordinate data corresponds to the coordinate system of the vision inspection station, and the second coordinate data corresponds to the coordinate system of the glue application equipment. Using the adhesive coating equipment, adhesive is applied to different positions on the first surface based on the morphological deviation and second coordinate data corresponding to different positions on the first surface.

13. The method as described in claim 12, characterized in that, Marking points are provided on the first surface; The step of converting the first coordinate data at different positions on the first surface into second coordinate data at different positions on the first surface includes: The first scanning device of the vision inspection station is used to scan the first surface to obtain the first coordinates of the marked points on the first surface; The first surface is scanned using a second scanning device installed on the adhesive coating equipment to obtain the second coordinates of the marked points on the first surface; Based on the first coordinate and the second coordinate, the first coordinate data at different positions on the first surface are converted into the second coordinate data at different positions on the first surface.

14. The method as described in claim 13, characterized in that, The step of converting first coordinate data at different positions on the first surface into second coordinate data at different positions on the first surface based on the first coordinate and the second coordinate includes: Based on the first coordinate and the second coordinate, a coordinate transformation correspondence is determined, wherein the correspondence is used to transform the scanned coordinates from the coordinate system of the visual inspection station to the coordinate system of the adhesive coating equipment; Based on the correspondence of the coordinate transformation, the first coordinate data at different positions on the first surface are transformed into second coordinate data at different positions on the first surface.

15. An adaptive adhesive applicator, characterized in that, include: The acquisition module is used to acquire the morphological deviation amount corresponding to different positions on the first surface to be coated with adhesive, wherein the different positions on the first surface include multiple grid regions into which the first surface is divided, and the morphological deviation amount represents the deviation value of the surface of the multiple grid regions on the first surface relative to a pre-set reference plane. The adhesive application module is used to determine the amount of adhesive required for each of the multiple grid regions based on the morphological deviation, the viscosity parameters of the adhesive, and the adhesive application pressure gradient. It is also used to apply adhesive to the multiple grid regions respectively based on the amount of adhesive required for each of the multiple grid regions.

16. An adaptive adhesive application device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the adaptive adhesive application method as described in any one of claims 1 to 14.

17. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the adaptive adhesive application method as described in any one of claims 1 to 14.

18. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the adaptive adhesive application method as described in any one of claims 1 to 14.

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