Full-automatic double-sided dispensing equipment and control method and control system thereof

Abstract

The invention relates to the technical field of full-automatic double-sided dispensing equipment, in particular to full-automatic double-sided dispensing equipment and a control method and system thereof. The method comprises the steps that the box cover is conveyed to a glue dispensing station through a conveying device and accurately positioned, a glue dispensing head is controlled to conduct glue dispensing operation on the first face of the box cover, and a glue dispensing path is adjusted in a self-adaptive mode based on preset data; after dispensing of the first surface is completed, the turnover device is controlled to automatically turn over the box cover to a second surface dispensing station; dispensing the second surface, and optimizing parameters in real time according to the result of the first surface; meanwhile, the glue dispensing quality is monitored through the visual detection unit, and re-spraying or alarming is triggered when defects are found; and finally outputting a finished product. The system correspondingly comprises a conveying unit, a positioning unit, a dispensing unit, an overturning unit, a visual inspection unit and a control unit. Through self-adaptive control and intelligent optimization, high precision and full automation of the dispensing process are realized, and the dispensing consistency, the production efficiency and the product quality are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of fully automatic double-sided dispensing equipment technology, specifically to a fully automatic double-sided dispensing equipment and its control method and control system. Background Technology

[0002] Glass food storage container lids are an essential component of everyday food storage containers, and their sealing performance directly impacts preservation effectiveness and user experience. The dispensing process is a crucial step in lid manufacturing, ensuring a tight fit between the lid and the container body by applying sealant to the edges. Traditional dispensing equipment often operates manually or semi-automatically, which has several limitations. For example, during double-sided dispensing, the equipment often lacks an effective collaborative control mechanism, leading to inconsistent dispensing paths on the first and second sides, uneven glue distribution, and a tendency for leakage or overflow. Furthermore, existing equipment frequently relies on manual intervention or simple mechanical devices during lid flipping, resulting in insufficient flipping precision and dispensing position deviations that affect sealing quality. Adjustments to dispensing parameters are also largely based on experience, failing to optimize for real-time conditions, leading to significant glue waste and low production efficiency. While some advanced equipment incorporates basic sensors for position detection, the overall control system still lacks adaptive capabilities, making it difficult to cope with changes in lid size or fluctuations in production line speed. Especially with high-precision glass materials, even minor deviations in the dispensing path can lead to seal failure. Current technologies have not yet solved core issues such as the coordinated control of double-sided dispensing, real-time parameter optimization, and integrated quality monitoring. Therefore, developing a fully automated and intelligent double-sided dispensing control solution has become an urgent need to improve the manufacturing quality and efficiency of glass food storage box lids.

[0003] Therefore, existing technologies still need further development. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a fully automatic double-sided dispensing equipment and its control method and control system to solve the problems existing in the prior art.

[0005] To achieve the above-mentioned technical objectives, according to a first aspect of the present invention, the present invention provides a control method for a fully automatic double-sided dispensing equipment, comprising: S1. The glass food storage container lid is conveyed to the dispensing station by a conveying device, and the lid is precisely positioned by a positioning sensor. S2. Control the dispensing head to perform a dispensing operation on the first surface of the box lid, wherein the dispensing path is adaptively adjusted based on the preset box lid contour data; S3. After completing the first side dispensing, control the flipping device to automatically flip the box cover to the second side dispensing station; S4. Control the dispensing head to perform a dispensing operation on the second side of the box lid, wherein the dispensing parameters are optimized in real time based on the dispensing results of the first side. S5. The dispensing quality is monitored in real time through a vision inspection unit, and a re-dispensing or alarm process is triggered when a defect is detected. S6. Output the box cover with the glued material to the unloading station.

[0006] Specifically, the adaptive adjustment of the dispensing path includes: Based on the actual position of the lid fed back by the positioning sensor, the movement trajectory of the dispensing head is dynamically corrected to ensure that the dispensing path maintains a preset distance from the edge of the lid.

[0007] Specifically, the dynamic correction of the dispensing path is achieved through a fuzzy control algorithm, which calculates the compensation movement of the dispensing head in real time based on the positional deviation of the lid.

[0008] Specifically, the fuzzy control algorithm also incorporates the movement speed of the dispensing head to smooth the compensation movement, thereby avoiding abrupt changes in the dispensing path.

[0009] Specifically, the control of the flipping device includes: The flipping arm is driven by a servo motor to perform the flipping action, and the flipping angle of the lid is monitored in real time by an angle sensor during the flipping process to ensure that the lid is accurately positioned.

[0010] Specifically, the flipping action and the movement of the dispensing head are coordinated by a synchronization signal, so that the dispensing head starts dispensing on the second side immediately after flipping.

[0011] Specifically, the synchronization signal is generated based on the trigger signal sent by the dispensing head after completing the first dispensing and the confirmation signal fed back after the flipping device is in position.

[0012] Specifically, real-time optimization of dispensing parameters includes: Based on the glue usage data of the first side, the glue spraying pressure and flow rate of the second side are dynamically adjusted to maintain the consistency of the glue application on both sides.

[0013] According to a second aspect of the present invention, a control system for a fully automatic double-sided dispensing device is provided, comprising: A conveyor device for transporting glass food storage container lids; A positioning sensor is installed at the dispensing station to detect the position of the box lid; A dispensing device, including a dispensing head and a motion mechanism, is used to perform double-sided dispensing operations; A flipping device for flipping the box lid between dispensing stations; A vision inspection unit is used to monitor the quality of dispensing. The control unit, which is communicatively connected to the conveying device, positioning sensor, dispensing device, flipping device and vision inspection unit, is configured to execute the control method described in any of the above.

[0014] According to a third aspect of the present invention, an electronic device is provided, comprising: a memory; and a processor, wherein the memory stores computer-readable instructions, which, when executed by the processor, implement the control method of the fully automatic double-sided dispensing device described above.

[0015] Beneficial effects: The control scheme for a fully automatic double-sided dispensing equipment for glass food storage box lids provided by this invention achieves significant technological advancements through the integration of adaptive path adjustment, intelligent flipping synchronization, and real-time quality monitoring. Regarding dispensing accuracy, the path dynamic correction mechanism based on fuzzy control algorithms ensures that the dispensing head always maintains the optimal distance from the lid edge, effectively avoiding glue line deviation or interruption problems caused by positioning errors in traditional equipment, thus greatly improving dispensing consistency and sealing reliability. In terms of automation, the precise synchronous control of the flipping device and the dispensing head eliminates waiting time between processes, enabling seamless connection of the double-sided dispensing process, optimizing equipment utilization, and significantly improving production efficiency. The real-time parameter optimization function automatically adjusts the glue spraying parameters for the second side by analyzing the first side dispensing data, reducing human intervention, lowering glue consumption, ensuring uniform glue application on both sides, and improving product aesthetics. The introduction of a vision inspection unit enables online monitoring of dispensing quality, allowing for timely identification and handling of defects, reducing the defect rate, and enhancing the intelligence level of the production line. The overall control system adopts a distributed architecture, with each module working stably and reliably, exhibiting strong adaptability and capable of meeting the production needs of lids of different specifications. These improvements collectively contribute to a more efficient, energy-saving, and high-quality manufacturing process, providing reliable technical support for the large-scale production of glass food storage container lids. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the control method of the fully automatic double-sided dispensing equipment provided in a specific embodiment of the present invention; Figure 2 This is a schematic diagram of the system composition of the control system of the fully automatic double-sided dispensing equipment provided in a specific embodiment of the present invention. Detailed Implementation

[0017] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments in this application, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of this application. Furthermore, directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings; therefore, the directional terms used are for illustrative purposes and not for limiting the invention.

[0018] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0019] Please see Figure 1 This invention provides a control method for a fully automatic double-sided dispensing equipment, comprising: S1. The glass food storage container lid is transported to the dispensing station via a conveying device, and the lid is precisely positioned using a positioning sensor.

[0020] It should be further explained that in step S1, the conveying device uses a belt conveyor with a speed controlled between 0.5 and 1.0 meters per minute, with a preferred value of 0.75 meters per minute. This preferred value is determined experimentally: too low a speed will reduce efficiency, while too high a speed may lead to unstable positioning. The positioning sensor is a high-precision photoelectric sensor with a resolution of 0.1 millimeters. It is installed at the entrance of the dispensing station and detects the edge of the lid by emitting an infrared beam to calculate the center coordinates of the lid.

[0021] In a preferred embodiment of the invention, the conveying device employs a belt conveyor with adjustable width. The belt is made of polyurethane with an anti-slip texture on its surface. The conveying speed is controlled by a frequency converter within the range of 0.3-1.2 m / min, with an optimal value of 0.65 m / min. This optimal value is selected based on the following experimental data: when the speed is below 0.5 m / min, production efficiency is insufficient (output per hour is less than 120 pieces); when the speed is above 0.8 m / min, the positioning success rate is 95.3%; at 0.65 m / min, the positioning success rate reaches 99.8% and the production efficiency is 150 pieces per hour, achieving the best balance. The positioning sensor uses an Omron E3Z-T61 photoelectric sensor with an adjustable detection distance of 10-300 mm, optimally set to 150 mm. At this distance, the detection spot diameter is 3 mm, which can accurately identify the edge of the box cover. The sensor is installed at a 15° angle to the horizontal plane to avoid interference from surface reflections. The positioning accuracy reaches ±0.05mm, which is achieved through the following calibration process: First, the sensor zero point is calibrated using a standard block. Then, with the conveyor belt stationary, the deviation between the actual position of the box cover and the sensor reading is measured using a dial indicator, and compensation parameters are set in the PLC.

[0022] S2. Control the dispensing head to perform a dispensing operation on the first surface of the box lid, wherein the dispensing path is adaptively adjusted based on the preset box lid contour data.

[0023] It should be further explained that in step S2, the adaptive adjustment of the dispensing path is achieved through the following sub-steps: First, the box cover contour data (preferably a CAD model in this invention) is retrieved from the database; second, the preset data is compared with the actual position fed back by the positioning sensor to generate a deviation signal; finally, the three-axis moving platform (X, Y, Z axes) of the dispensing head is adjusted by the motion controller to ensure that the dispensing path offset is less than 0.2 mm.

[0024] In a preferred embodiment of the present invention, the specific implementation of the adaptive adjustment of the dispensing path includes: storing the lid contour data in an SQLite database, containing a sequence of lid outer contour coordinates (x_i, y_i), i=1,2,…,n, where n is the number of contour points, typically 200-500 points, with an optimal value of 360 points (one point per 1°). The motion controller uses a Delta ASDA-A2 series servo driver, coupled with a 17-bit absolute encoder, achieving a resolution of 0.0005mm. The path adjustment algorithm executes at a frequency of 500Hz, performing the following operations in each control cycle (2ms): reading the current actual position of the lid (P_x, P_y, P_z), calculating the deviation vector (Δx, Δy, Δz) from the preset path point, and triggering path correction when the deviation modulus |Δ| = √(Δx²+Δy²+Δz²)>0.15mm. The 0.15mm threshold is determined based on the adhesive line width tolerance requirement: the common sealing adhesive line width is 1.0±0.2mm. This threshold can ensure that the edge of the adhesive line is always within 0.5-0.8mm from the edge of the box cover.

[0025] S3. After completing the first side dispensing, control the flipping device to automatically flip the box cover to the second side dispensing station.

[0026] It should be further explained that in step S3, the flipping device is a pneumatic flipping arm with a flipping angle of 180°, which is achieved by a solenoid valve controlled by a PLC. The flipping time is set to 2-3 seconds, preferably 2.5 seconds, to balance efficiency and stability.

[0027] In a preferred embodiment of the invention, the flipping device uses a FESTO DSBC series cylinder to drive the flipping arm. The cylinder diameter is 32mm, the stroke is 150mm, the working pressure is 0.5-0.7MPa, and the optimal pressure is 0.6MPa. The flipping angle is controlled by a Delta 20PM series motion controller equipped with a multi-turn absolute encoder (resolution 16384 pulses / revolution). The flipping process uses S-curve acceleration and deceleration control, with an acceleration time of 150ms, a constant speed time of 800ms, a deceleration time of 150ms, and a total flipping time of 1.1s. A vacuum suction cup (SMC ZPT series) is installed at the end of the flipping arm, maintaining a vacuum level of -75kPa to -85kPa to ensure that the lid does not slip during the flipping process.

[0028] S4. Control the dispensing head to perform dispensing operation on the second side of the lid, wherein the dispensing parameters are optimized in real time based on the dispensing results on the first side.

[0029] It should be further explained that in step S4, the dispensing parameter optimization includes: real-time acquisition of the amount of glue used on the first side (via a flow sensor), calculation of the average value, and adjustment of the spraying pressure (range 0.1-0.5MPa) and flow rate (range 0.01-0.05 ml / s) on the second side based on this value. The optimization algorithm adopts PID control with a proportional coefficient Kp=0.8, integral time Ti=0.1 seconds, and derivative time Td=0.05 seconds. These optimal parameter values ​​are determined by the Ziegler-Nichols tuning method, which can respond quickly to changes.

[0030] In a preferred embodiment of the present invention, the dispensing parameter optimization employs a recursive least squares method based on a forgetting factor for real-time modeling. Let the parameter vector for the k-th dispensing be θ_k = [P_k, F_k, T_k]^T, where P is the pressure (MPa), F is the flow rate (mL / s), and T is the dispensing time (s). The system model is y_k = φ_k^Tθ_k + e_k, where y_k is the actual glue volume (mg), φ_k is the regression vector, and e_k is the modeling error. The forgetting factor λ = 0.95; this value allows the algorithm to balance tracking speed (a smaller λ results in faster tracking) and stability (a larger λ results in greater stability). The parameter update formula is: θ_k=θ_{k-1}+K_k(y_k-φ_k^Tθ_{k-1}) K_k=P_{k-1}φ_k / (λ+φ_k^TP_{k-1}φ_k) P_k=(I-K_kφ_k^T)P_{k-1} / λ where K_k is the gain matrix, P_k is the covariance matrix, and the initial value is P_0=10^6 I. After each box lid is applied, the model parameters are updated once for parameter optimization of the next box lid.

[0031] S5. The dispensing quality is monitored in real time through a visual inspection unit, and a re-dispensing or alarm process is triggered when a defect is detected.

[0032] It should be further explained that in step S5, the visual detection unit is a CCD camera with a resolution of 5 million pixels, which captures images of the dispensing area and identifies defects such as missing glue and overflowing glue through image processing algorithms (edge ​​detection and grayscale analysis are preferred in this invention). The defect threshold is set as the glue line width deviation exceeds ±10% or the continuous breakpoints exceed 2 mm. When a defect is detected, the system pauses and triggers an audible and visual alarm.

[0033] In a preferred embodiment of the invention, the visual inspection system employs a Basler acA2500-60uc camera with a resolution of 2592×1944, paired with a Computar M3514-MP lens (focal length 35mm). The image processing algorithm includes the following steps: first, Gaussian filtering (kernel size 5×5, σ=1.2) is performed for noise reduction, and then the Canny operator is used for edge detection (low threshold 50, high threshold 150). Adhesive line integrity detection is achieved by calculating edge continuity: the adhesive line edge points are fitted to a B-spline curve, and the average distance between the actual point and the fitted curve is calculated. A breakpoint is identified when the distance is greater than 0.15mm. Adhesive line width uniformity detection is achieved by measuring the adhesive line width at 10mm intervals and calculating the coefficient of variation (CV). Non-uniformity is identified when CV>8%. These thresholds are determined based on statistical results from 2000 samples: at a breakpoint threshold of 0.15mm, the false negative rate is 0.5%, and the false positive rate is 1.2%; at a CV threshold of 8%, the impact on sealing performance is acceptable.

[0034] S6. Output the box cover with the glued material to the unloading station.

[0035] It should be further explained that in step S6, the unloading station uses a robotic arm to grip the material, ensuring no collisions.

[0036] In a preferred embodiment of the invention, the unloading process utilizes an EPSON G6 series four-axis robotic arm with a repeatability of ±0.02mm. The robotic arm's motion trajectory employs fifth-order polynomial interpolation to ensure smooth acceleration and deceleration, with a maximum acceleration of 0.5m / s², preventing the lid from sliding.

[0037] Understandably, this method achieves fully automated double-sided dispensing. Through adaptive path adjustment and parameter optimization, it improves dispensing accuracy (deviation less than 0.2 mm) and consistency, reducing glue waste by about 15%. Real-time monitoring ensures quality stability and reduces the defect rate. The entire process is highly automated, improving production efficiency by more than 30%.

[0038] Specifically, in step S2, the adaptive adjustment of the dispensing path includes: Based on the actual position of the lid fed back by the positioning sensor, the movement trajectory of the dispensing head is dynamically corrected to ensure that the dispensing path maintains a preset distance from the edge of the lid.

[0039] Further explanation is needed regarding the specific process of dynamically correcting the motion trajectory: The preset distance is set according to the lid type, generally 1-3 mm, preferably 2 mm. This value prevents glue overflow while ensuring a seal. Positioning sensors collect the lid's position coordinates (X, Y, Z) in real time, compare them with preset path points, and calculate the position deviations ΔX, ΔY, and ΔZ. Motion trajectory correction is performed by a three-axis servo motor at a correction frequency of 100Hz to ensure real-time performance. The deviation calculation uses the Euclidean distance formula: ΔD = √(ΔX² + ΔY² + ΔZ²), where ΔD is the total deviation, and ΔX, ΔY, and ΔZ are the deviation values ​​for the X, Y, and Z axes, respectively. Correction is triggered when ΔD exceeds the threshold of 0.1 mm. The threshold of 0.1 mm is chosen based on dispensing accuracy requirements; too large a threshold will affect quality, while too small a threshold will lead to over-adjustment.

[0040] Understandably, through dynamic correction, the dispensing path always maintains the optimal distance from the edge of the box lid, avoiding the misalignment problem of traditional fixed paths, and improving dispensing uniformity and product yield.

[0041] Specifically, in step S2, the dynamic correction of the dispensing path is achieved through a fuzzy control algorithm, which calculates the compensation movement of the dispensing head in real time based on the position deviation of the lid.

[0042] It should be further explained that the specific steps of the fuzzy control algorithm include: ① Fuzzification: The positional deviation ΔD (input variable) is divided into three fuzzy sets: negative large (NB), zero (ZE), and positive large (PB). The membership function adopts a trigonometric function, defined as follows: When ΔD≤-0.2mm, it belongs to NB, and the membership degree μ_NB(ΔD)=1; When -0.2mm < ΔD < 0.2mm, it belongs to ZE, and the membership degree μ_ZE(ΔD) = 1 - |ΔD| / 0.2; When ΔD≥0.2mm, it belongs to PB, and the membership degree μ_PB(ΔD)=1.

[0043] Furthermore, a threshold of 0.2 mm is the preferred value, determined experimentally. This value can effectively distinguish the degree of deviation and avoid frequent adjustments.

[0044] ② Fuzzy rules: Nine rules are defined, including: (1) If ΔD is NB and V is LS, then the compensation movement ΔM is negative. It is understandable that when the position deviation is negative and the speed is low, a large negative compensation is required to correct the deviation.

[0045] (2) If ΔD is NB and V is MS, then the compensation movement ΔM is negative. It is understandable that when the position deviation is negative and the speed is medium, negative compensation is still required, but when the speed is moderate, the compensation remains large.

[0046] (3) If ΔD is NB and V is HS, then the compensation movement ΔM is zero. It can be understood that when the position deviation is large but the speed is high, in order to smooth the motion and avoid overshoot, the compensation is set to zero to reduce sudden changes.

[0047] (4) If ΔD is ZE and V is LS, then the compensation movement ΔM is zero; it is understandable that when the position deviation is zero and the speed is low, no compensation is needed and it remains zero.

[0048] (5) If ΔD is ZE and V is MS, then the compensation movement ΔM is zero; it can be understood that when the position deviation is zero and the speed is medium, the compensation remains zero.

[0049] (6) If ΔD is ZE and V is HS, then the compensation movement ΔM is zero; it is understandable that when the position deviation is zero and the speed is high, there is still no need for compensation.

[0050] (7) If ΔD is PB and V is LS, then the compensation movement ΔM is positive. It is understandable that when the position deviation is positive and the speed is low, a large positive compensation is required.

[0051] (8) If ΔD is PB and V is MS, then the compensation movement ΔM is positive; it is understandable that when the position deviation is positive and the speed is medium, the compensation remains large.

[0052] (9) If ΔD is PB and V is HS, then the compensation movement ΔM is zero; it is understandable that when the position deviation is large but the speed is high, the compensation is set to zero for smoothing.

[0053] Understandably, the rule table is generated based on expert experience to ensure a smooth response.

[0054] ③ Defuzzification: The accurate compensation movement ΔM is calculated using the centroid method, and the formula is: ΔM=(Σμ_i M_i) / Σμ_i Where μ_i is the membership degree of the i-th rule, and M_i is the corresponding output value (unit: millimeters). The universe of discourse of the output variable ΔM is set to [-0.5, 0.5] mm.

[0055] Furthermore, the algorithm has a sampling period of 10 milliseconds, and the optimal value is based on the response speed of the control system, which can compensate in real time.

[0056] Understandably, fuzzy control has a strong ability to handle nonlinear deviations, which improves the robustness and adaptability of path correction. It is especially suitable for scenarios with large variations in box lid size, and the dispensing accuracy is improved to within 0.1 mm.

[0057] Specifically, the fuzzy control algorithm also incorporates the movement speed of the dispensing head to smooth the compensation movement, thereby avoiding abrupt changes in the dispensing path.

[0058] It should be further explained that smoothing is achieved through speed feedforward control: the dispensing head's movement speed V (unit: mm / s) is measured by an encoder and serves as the second input variable for fuzzy control. V is divided into low speed (LS, V < 10 mm / s), medium speed (MS, 10 ≤ V ≤ 30 mm / s), and high speed (HS, V > 30 mm / s), and the membership function is also triangular. The fuzzy rule is extended as follows: For example, if ΔD is PB and V is HS, then ΔM is reduced by 20% to avoid overshoot. The smoothing formula is: ΔM_smooth=ΔM k Where k is the smoothing coefficient, k = 1 / (1 + α) |V|), α is the attenuation factor, with an optimal value of α=0.02. This value, optimized through simulation, effectively suppresses oscillations at high speeds. |V| is the absolute value of the velocity. In the formula, ΔM_smooth is the smoothed compensation amount, ΔM is the original compensation amount, and α is an empirical constant, which physically represents the degree of influence of velocity on the compensation amount.

[0059] Understandably, smoothing eliminates spikes and abrupt changes in the dispensing path, ensuring a continuous and uniform glue line and reducing the risk of glue breakage, especially effective at high-speed dispensing.

[0060] Specifically, in step S3, the control of the flipping device includes: The flipping arm is driven by a servo motor to perform the flipping action, and the flipping angle of the lid is monitored in real time by an angle sensor during the flipping process to ensure that the lid is accurately positioned.

[0061] It should be further noted that the servo motor is a Panasonic MINASA6 series with a torque of 2.4 N·m, sufficient to drive the lid (weighing less than 500 grams); the tilting arm is made of aluminum alloy to reduce inertia. The angle sensor is an absolute encoder with a resolution of 0.1°, mounted on the tilting axis, providing real-time feedback of the angle θ. Control flow: The PLC sends a tilting command, the servo motor starts with an acceleration of 100 rad / s², maintains a constant speed of 50 rpm, and decelerates when θ reaches 175°, with a target angle of 180° ± 0.5°. The angle threshold of 175° and the tolerance of 0.5° are preferred values, based on mechanical stability: premature deceleration results in low efficiency, while delayed deceleration may lead to overshoot.

[0062] Understandably, high-precision angle control ensures accurate positioning after the lid is flipped, avoiding secondary positioning, saving approximately 1 second per piece, and improving the overall pace.

[0063] Specifically, in step S3, the flipping action and the movement of the dispensing head are coordinated by a synchronization signal, so that the dispensing head starts dispensing on the second side immediately after the flipping is completed.

[0064] It should be further explained that the synchronization signal is generated by the PLC: after the dispensing head completes dispensing on the first side, a high-level trigger signal is sent to the flipping device; after the flipping device is in position, the angle sensor sends back a low-level confirmation signal. The synchronization logic is as follows: the trigger signal and the confirmation signal are combined through an AND gate to output a synchronization signal to start dispensing on the second side. The time delay is set to less than 50 milliseconds, preferably 20 milliseconds; this value was determined through testing to minimize idle time. The coordination algorithm is embedded in the PLC program, with a cyclic scanning cycle of 1 millisecond.

[0065] Understandably, synchronous coordination avoids equipment waiting, enables seamless connection of the dispensing process, and improves equipment utilization by more than 10%.

[0066] Specifically, the synchronization signal is generated based on the trigger signal sent by the dispensing head after completing the first dispensing and the confirmation signal fed back after the flipping device is in position.

[0067] It should be further explained that the trigger signal is generated by the dispensing head's end sensor (such as a limit switch), and the confirmation signal is generated by the threshold comparator of the angle sensor (output when θ = 180° ± 0.5°). The signal generation circuit uses an opto-isolator to prevent interference. The specific timing sequence for generating the synchronization signal is: dispensing end, trigger signal rising edge, flip start, flip completion, confirmation signal rising edge, synchronization signal rising edge, dispensing head starts moving. Timing parameters: trigger signal width 100 milliseconds, confirmation signal width 50 milliseconds, ensuring reliable capture.

[0068] Understandably, hardware-level signal processing improves synchronization reliability, enhances anti-interference capabilities, and reduces the probability of malfunctions.

[0069] Specifically, in step S4, the real-time optimization of dispensing parameters includes: dynamically adjusting the glue spraying pressure and flow rate of the second side dispensing based on the glue usage data of the first side dispensing, in order to maintain the consistency of dispensing on both sides.

[0070] It should be further explained that real-time optimization is achieved through closed-loop control: the glue usage is measured by a mass flow sensor with a sampling period of 0.1 seconds. The optimization algorithm calculates the average glue usage Q_avg on the first side, and then adjusts the spray pressure P and flow rate F on the second side to make the glue usage on the second side approach Q_avg. The adjustment formula is: P2 = P1 + Kp (Q_avg-Q1); F2=F1+Ki ∫(Q_avg-Q1)dt; P1 and F1 are the initial parameters for the first surface, P2 and F2 are the optimized parameters for the second surface, and Kp and Ki are the PID coefficients, where Kp = 0.5 MPa / mL and Ki = 0.1 mL / s². These optimal values ​​are determined through trial and error and can converge quickly. The integral term prevents steady-state errors.

[0071] Understandably, parameter optimization ensures consistent double-sided adhesive application, avoids uneven sealing, saves up to 10% on adhesive, and improves product aesthetics.

[0072] Please see Figure 2 The present invention provides another embodiment, which provides a control system for a fully automatic double-sided dispensing equipment. The control system of the fully automatic double-sided dispensing equipment includes: Conveying device 100 is used to convey glass food storage container lids; Positioning sensor 200 is installed at the dispensing station to detect the position of the box lid; The dispensing device 300 includes a dispensing head and a motion mechanism for performing double-sided dispensing operations. Flipping device 400 is used to flip the box cover between dispensing stations; A vision inspection unit 500 is used to monitor dispensing quality; The control unit 600 is communicatively connected to the conveying device 100, the positioning sensor 200, the dispensing device 300, the flipping device 400, and the vision inspection unit 500, and is configured to execute the control method.

[0073] It should be further explained that the control unit is the core, employing a combination of an industrial PC and a PLC. The PC handles advanced algorithms (such as fuzzy control), while the PLC handles real-time I / O. The communication protocol is EtherCAT, ensuring millisecond-level response. The dispensing head of the dispensing device is a screw type with an accuracy of ±1%, and the motion mechanism is a linear module with a repeatability of ±0.01mm. The vision inspection unit has a camera with a frame rate of 30fps, coupled with an LED ring light source. During system integration, all parameters, such as dispensing path and speed, are set through an HMI.

[0074] Understandably, the system is highly integrated, enabling intelligent control, compatibility with different lid sizes, reducing manual intervention, and lowering operating costs.

[0075] In a preferred embodiment, this application also provides an electronic device, the electronic device comprising: The computer device includes a memory and a processor, wherein the memory stores computer-readable instructions that, when executed by the processor, implement the control method of the fully automated double-sided dispensing equipment. The computer device can be broadly categorized as a server, terminal, or any other electronic device with the necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc., connected via a system bus. The processor of the computer device can be used to provide the necessary computing, processing, and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and internal memory. The non-volatile storage medium may store an operating system, computer programs, etc. The internal memory can provide an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface and communication interface of the computer device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, it performs the steps of the method of the present invention.

[0076] This invention can be implemented as a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the steps of the methods of embodiments of the invention to be performed. In one embodiment, the computer program is distributed across multiple network-coupled computer devices or processors, such that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be executed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be executed by one or more computer devices or processors, and one or more other method steps / operations may be executed by one or more other computer devices or processors. One or more computer devices or processors may execute a single method step / operation, or execute two or more method steps / operations.

[0077] Those skilled in the art will understand that the method steps of this invention can be performed by a computer program instructing related hardware, such as a computer device or processor, to perform the steps of this invention when executed. Depending on the context, any references herein to memory, storage, databases, or other media may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid-state drive, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0078] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification, provided that such combination does not contain contradictions.

[0079] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A control method of a full-automatic double-sided dispensing equipment for glass crisper lid, characterized in that, The method comprises the following steps: S1. Transporting the glass storage box cover to the dispensing station by the conveying device, and precisely positioning the box cover by the positioning sensor; S2. Controlling the dispensing head to perform dispensing operation on the first surface of the box cover, wherein the dispensing path is adaptively adjusted based on the preset box cover contour data; S3. After completing the dispensing on the first surface, controlling the turnover device to automatically turn over the box cover to the second surface dispensing station; S4. Controlling the dispensing head to perform dispensing operation on the second surface of the box cover, wherein the dispensing parameters are optimized in real time according to the dispensing result on the first surface; S5. Real-time monitoring of the dispensing quality by the visual detection unit, and triggering the re-dispensing or alarm process when defects are detected; S6. Outputting the box cover with completed dispensing to the unloading station.

2. The control method according to claim 1, characterized by, The adaptive adjustment of the dispensing path comprises: Based on the actual position of the box cover fed back by the positioning sensor, dynamically correcting the motion trajectory of the dispensing head to ensure that the dispensing path maintains a preset distance from the edge of the box cover.

3. The control method according to claim 2, characterized by, The dynamic correction of the dispensing path is realized by a fuzzy control algorithm, which calculates the compensation movement amount of the dispensing head in real time according to the position deviation of the box cover.

4. The control method according to claim 3, characterized by, The fuzzy control algorithm also combines the movement speed of the dispensing head to smooth the compensation movement amount, so as to avoid sudden changes in the dispensing path.

5. The control method according to claim 1, characterized by, The control of the turnover device comprises: Driving the turnover arm to perform the turnover action by the servo motor, and monitoring the turnover angle of the box cover in real time during the turnover process by the angle sensor to ensure that the box cover is accurately positioned.

6. The control method according to claim 5, characterized by The movement of the dispensing head is coordinated with the turnover action through a synchronization signal, so that the dispensing head starts the second surface dispensing immediately after the turnover is completed.

7. The control method according to claim 6, characterized by The synchronization signal is generated based on the trigger signal sent after the dispensing head completes the first surface dispensing, and the confirmation signal fed back after the turnover device is in place.

8. The control method according to claim 1, characterized by, The real-time optimization of the dispensing parameters comprises: Based on the glue consumption data of the first surface dispensing, dynamically adjusting the glue injection pressure and flow of the second surface dispensing to maintain the consistency of double-sided dispensing.

9. A control system of a full-automatic double-sided dispensing equipment for glass Tupperware covers, characterized in that, Comprise: Conveying device for transporting glass storage box cover; Positioning sensor arranged at the dispensing station for detecting the position of the box cover; Dispensing device comprising a dispensing head and a movement mechanism for performing double-sided dispensing operation; Turnover device for turning over the box cover between dispensing stations; Visual detection unit for monitoring the dispensing quality; A control unit in communication connection with the conveying device, positioning sensor, dispensing device, turnover device and visual detection unit, configured to perform the control method of any one of claims 1 to 8.

10. An electronic device, comprising: Comprise: Memory; And a processor, the memory has computer readable instructions stored thereon, the computer readable instructions are executed by the processor to realize the control method of the full-automatic double-sided dispensing equipment according to any one of claims 1 to 8.

Images