Portable intelligent dispensing pen and control system

Abstract

The invention discloses a portable intelligent dispensing pen and a control system, and relates to the technical field of automatic production. In the system, a posture detection circuit collects motion data of a dispensing pen and processes the motion data to obtain posture data; the processor unit receives the attitude data and processes the attitude data to obtain real-time attitude information; based on the real-time attitude information, the preset dispensing parameters and the displacement feedback information, a dispensing control signal is generated through a feedforward-feedback composite control algorithm; the motor driving circuit converts the dispensing control signal into a driving signal; the dispensing execution mechanism responds to the driving signal to perform dispensing action, so that the dispensing precision and the dispensing uniformity respectively meet the preset requirements, the glue output disturbance caused by the change of the operation action in the handheld dispensing process is actively inhibited, the dispensing uniformity is remarkably improved while the high precision is ensured, and the product quality is improved. The problems of non-uniform glue amount, trailing, breakpoint and the like which are easily generated in the movement process of a traditional manual dispensing pen or a simple electric dispensing pen are effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation production, in particular to a portable intelligent dispensing pen and a control system. BACKGROUND

[0002] Dispensing process is a key process in the fields of electronic assembly, medical device manufacturing, precision instrument packaging, etc., and its core requirement is to accurately control the dispensing precision and dispensing uniformity of glue. With the development of intelligent manufacturing and portable tools, handheld dispensing pens have emerged as the times require.

[0003] However, most of the handheld dispensing pens in the prior art use simple open-loop control (such as manual pressing or constant-speed motor driving) or basic closed-loop feedback control (such as position feedback based on an encoder). These schemes have obvious shortcomings: when the operator holds the dispensing pen to move and dispense, the motion speed, direction and acceleration change of the pen will directly affect the fluid inertia of the glue in the needle cylinder or glue pipe, resulting in "tail" or "thread" or "break" phenomena of dispensing excess or deficiency at the moment of starting, stopping, turning or changing speed, which seriously affects the dispensing precision and uniformity. Simple feedback control can only compensate for errors after they occur due to its hysteresis, and cannot fundamentally suppress the instantaneous disturbance caused by the dynamic change of the operator's gesture.

[0004] Therefore, there is an urgent need for a portable intelligent dispensing control scheme with high precision and high uniformity that can sense the operation gesture in real time and predict and compensate for the influence of motion disturbance on the dispensing amount in advance. SUMMARY

[0005] The present application aims to provide a portable intelligent dispensing pen and a control system to solve the problems raised in the background.

[0006] In a first aspect, an embodiment of the present application provides a portable intelligent dispensing pen control system, comprising: a posture detection circuit, a control circuit, a position detection unit, a motor driving circuit and a dispensing execution mechanism; the posture detection circuit is used to collect motion data of the dispensing pen and process to obtain posture data; the control circuit includes a processor unit, which is communicatively connected to the posture detection circuit and used to receive the posture data; the position detection unit is used to obtain displacement feedback information of the dispensing execution mechanism; the processor unit is configured to: process the received posture data to obtain real-time posture information; generate a dispensing control signal based on the real-time posture information, predetermined dispensing parameters and displacement feedback information through a feed-forward-feedback compound control algorithm to dynamically compensate for the dispensing amount; the motor driving circuit is connected to the processor unit and used to convert the dispensing control signal into a driving signal; the dispensing execution mechanism is connected to the motor driving circuit and performs dispensing actions in response to the driving signal, so that the dispensing precision and dispensing uniformity meet the preset requirements, respectively.

[0007] In conjunction with the first aspect, in some implementations of the first aspect, the attitude detection circuit includes an MPU6050 chip, which is used to acquire the acceleration data of the dispensing pen and output the processed attitude data to the processor unit.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, the MPU6050 chip integrates a digital motion processor and a microelectromechanical sensor to output raw measurement data of the dispensing pen to the processor unit; wherein, the attitude detection circuit is used to filter and fuse the raw measurement data to monitor the motion attitude of the dispensing pen in real time.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the processor unit includes an Espressif ESP32 series chip, which is configured to wirelessly communicate with an external mobile device via Wi-Fi and / or Bluetooth to receive or send predetermined dispensing parameters; wherein the predetermined dispensing parameters include a target dispensing amount and an adhesive viscosity coefficient.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the processor unit uses the Kalman filter algorithm to denoise the attitude data and uses a quaternion solution model to fuse the data in order to obtain real-time attitude information.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the feedforward-feedback composite control algorithm generates dispensing control signals through the collaborative operation of the feedforward control channel and the feedback control channel. The feedforward control channel is configured to: analyze the axial acceleration change rate of the dispensing pen based on real-time attitude information, and, combined with the glue viscosity coefficient in predetermined dispensing parameters, predict the dispensing flow rate disturbance caused by changes in the dispensing pen's motion state using a fluid dynamics-based dispensing volume prediction model, thereby generating a feedforward control quantity for advance compensation. The feedback control channel, set in parallel with the feedforward control channel, is configured as follows: The processor receives displacement feedback information from the position detection unit and calculates the actual dispensing amount based on the displacement feedback information. It then compares the actual dispensing amount with the target dispensing amount in the predetermined dispensing parameters in real time to generate a dispensing amount deviation signal. The deviation signal is adjusted by a proportional-integral controller to generate a feedback control quantity. The processor unit is further configured to: weight and fuse the feedforward control quantity and the feedback control quantity to synthesize the final dispensing control signal, and output the final dispensing control signal to the motor drive circuit, thereby driving the dispensing actuator to perform dispensing action, realizing dynamic feedforward compensation and closed-loop precise control of the dispensing process.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the motor drive circuit is an H-bridge drive circuit, used to convert the PWM signal in the dispensing control signal into a power signal to drive the motor.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, the dispensing accuracy satisfies a preset error range of ±5%, and the glue uniformity satisfies a preset tolerance range of ±5%.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the portable intelligent dispensing pen control system further includes an OLED display circuit connected to the processor unit for displaying real-time posture information, dispensing parameters, and system status.

[0015] Secondly, one embodiment of this application provides a portable smart dispensing pen, including the control system mentioned in the first aspect.

[0016] The portable intelligent dispensing pen control system provided in this application integrates motion posture perception, real-time feedback control, and dynamic feedforward compensation to actively suppress the dispensing volume disturbance caused by changes in operation during handheld dispensing. While ensuring high precision, it significantly improves the dispensing uniformity and effectively solves the problems of uneven dispensing volume, trailing, and breakpoints that are easily generated during the movement of traditional manual dispensing or simple electric dispensing pens. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a portable intelligent dispensing pen control system provided in an embodiment of this application.

[0018] Figure 2 This is a circuit schematic diagram of an attitude detection circuit provided in one embodiment of this application.

[0019] Figure 3 This is a circuit schematic diagram of a control circuit provided in one embodiment of this application.

[0020] Figure 4 This is a circuit diagram of a motor drive circuit provided in one embodiment of this application.

[0021] Figure 5 This is a circuit schematic diagram of an OLED display circuit provided in one embodiment of this application. Detailed Implementation

[0022] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0023] Figure 1 This is a schematic diagram of the structure of a portable intelligent dispensing pen control system provided in one embodiment of this application. Figure 1As shown, the control system includes: an attitude detection circuit, a control circuit, a position detection unit, a motor drive circuit, and a dispensing actuator. The control circuit includes a processor unit, which is communicatively connected to the attitude detection circuit. The motor drive circuit is connected to the processor unit, and the dispensing actuator is connected to the motor drive circuit.

[0024] The system includes an attitude detection circuit for acquiring and processing motion data from the dispensing pen to obtain attitude data. A processor unit receives this attitude data. A position detection unit acquires displacement feedback information from the dispensing actuator. The processor unit is configured to: process the received attitude data to obtain real-time attitude information; and based on the real-time attitude information, predetermined dispensing parameters, and displacement feedback information, generate a dispensing control signal using a feedforward-feedback composite control algorithm to dynamically compensate for the dispensing volume. A motor drive circuit converts the dispensing control signal into a drive signal. The dispensing actuator responds to the drive signal to perform dispensing actions, ensuring that dispensing accuracy and uniformity meet preset requirements.

[0025] For example, the dispensing accuracy meets a preset error range of ±5%, and the glue uniformity meets a preset tolerance range of ±5%.

[0026] For example, the dispensing pen can be configured to support at least one of the following dispensing operation modes: manual mode, quantitative mode, and save mode, and can output continuously or quantitatively.

[0027] For example, the position detection unit may be a sensor capable of detecting linear or rotational displacement, such as an encoder, grating ruler, or Hall sensor.

[0028] In a practical application, the user moves the dispensing pen, and the posture detection circuit collects and processes the pen's motion data in three-dimensional space to obtain posture data. The processor unit receives the posture data and performs filtering, calibration, and fusion processing to obtain real-time posture information reflecting changes in the pen's posture. The processor unit receives the real-time posture information and, combined with predetermined dispensing parameters and displacement feedback information, generates a dispensing control signal through a feedforward-feedback composite control algorithm to dynamically compensate for the dispensing volume. This algorithm predicts the glue flow disturbance caused by pen movement through a feedforward channel and corrects the deviation between the actual dispensing volume and the target value through a closed-loop feedback channel, ultimately generating a dispensing control signal with dynamic compensation characteristics. The motor drive circuit receives the dispensing control signal and converts it into a drive signal. The dispensing actuator responds to the drive signal to perform dispensing actions, precisely controlling piston advancement or valve opening and closing to achieve quantitative glue extrusion, ensuring that dispensing accuracy and uniformity meet preset requirements.

[0029] It should be understood that this portable intelligent dispensing pen control system can be applied in the field of electronic manufacturing, especially suitable for scenarios involving the packaging and fixing of electronic components with high precision requirements. It can also be applied in industries such as medical, aerospace, automotive, precision crafts, and light industrial manufacturing, for example, in the automotive parts manufacturing industry. The corresponding portable intelligent dispensing pen, due to its small size, portability, and ease of operation, can be quickly switched and used on different production lines, meeting the flexibility requirements of automotive parts production.

[0030] The portable intelligent dispensing pen control system provided in this application integrates motion posture perception, real-time feedback control, and dynamic feedforward compensation to actively suppress the dispensing volume disturbance caused by changes in operation during handheld dispensing. While ensuring high precision, it significantly improves the dispensing uniformity and effectively solves the problems of uneven dispensing volume, trailing, and breakpoints that are easily generated during the movement of traditional manual dispensing or simple electric dispensing pens.

[0031] Figure 2 This is a circuit schematic diagram of an attitude detection circuit provided in one embodiment of this application. For example... Figure 2 As shown, the attitude detection circuit includes an MPU6050 chip, which is used to collect the acceleration data of the dispensing pen and output the processed attitude data to the processor unit.

[0032] For example, the MPU6050 chip integrates a digital motion processor (DMP) and a microelectromechanical sensor to output raw measurement data of the dispensing pen to the processor unit.

[0033] Specifically, the MPU6050 chip detects an object's acceleration by measuring changes in a micromotor. When an object moves, the micromotor generates minute voltage changes, and the sensor measures these voltage changes to obtain acceleration information. It can simultaneously measure acceleration changes in the X, Y, and Z directions, thus acquiring three-axis acceleration data for the dispensing pen. Additionally, the sensor can also acquire three-axis angular velocity data, enabling comprehensive motion state monitoring and ensuring the stability and accuracy of the dispensing pen's output. The attitude detection circuit filters and fuses the raw measurement data to monitor the dispensing pen's motion attitude in real time.

[0034] according to Figure 2As shown, this circuit uses the MPU-6050 six-axis motion sensor as its core. Its VDD pin is decoupled at high frequency via a 10μF capacitor C10, and a 0.1μF capacitor C12 is connected between it and GND to form a power supply filter network, ensuring stable operation of the sensor's analog circuitry. The SCL (pin 23) and SDA (pin 24) pins of the I2C communication interface are connected to a 3.3V power supply via 4.7kΩ pull-up resistors R4 and R3, respectively, ensuring signal integrity. The VCC_5V input is buffered by a 10μF electrolytic capacitor C3 and then converted to VCC_3.3V by an LDO regulator chip to power the entire module. Transistor Q2 and current-limiting resistor R201 form an LED driver circuit; the LED lights up when the main controller enables it via a control signal, providing visual status indication. Interfaces J1 / J2 (corresponding to CON1 / CON2 in the diagram) connect to the external main controller. The INT (pin 12) interrupt pin can be configured as a motion trigger signal output, and CLKIN (pin 1) supports external clock input, forming a complete attitude data acquisition hardware system.

[0035] In practical applications, the attitude detection circuit uses the MPU6050 chip to accurately capture the dynamic changes of the dispensing pen in three-dimensional space. Its built-in digital motion processor performs real-time preprocessing of the raw acceleration data. Combined with the high sensitivity of the microelectromechanical sensor, it can accurately measure the acceleration and angular velocity changes of the dispensing pen in the X, Y, and Z axes in real time. This circuit intelligently filters and fuses multi-sensor data from the acquired raw measurement data, effectively eliminating environmental noise and random interference. This provides the control system with high-precision real-time attitude information, enabling the feedforward control algorithm to predict the amount of adhesive based on the accurate motion state. This significantly improves the control accuracy and dispensing uniformity of the dispensing process under dynamic motion conditions.

[0036] Figure 3 This is a circuit schematic diagram of a control circuit provided in one embodiment of this application. The processor unit includes an Espressif ESP32 series chip, which is configured to wirelessly communicate with an external mobile device via Wi-Fi and / or Bluetooth to receive or send predetermined dispensing parameters; wherein, the predetermined dispensing parameters include the target dispensing volume and the adhesive viscosity coefficient. This processor unit, leveraging the ESP32's Wi-Fi / Bluetooth dual-mode communication capabilities, can easily interconnect with external mobile devices, quickly transmitting dispensing parameters without the need for additional communication modules. It adapts to the device collaboration needs in different scenarios, supports receiving core parameters such as the target dispensing volume and adhesive viscosity coefficient, and can dynamically adjust for different adhesive characteristics and dispensing requirements, improving the accuracy and adaptability of the dispensing process. Simultaneously, by integrating communication and control functions with the ESP32 as the core, the number of peripheral components is reduced, simplifying the circuit layout, lowering hardware costs and debugging complexity, while ensuring the stability of system operation.

[0037] likeFigure 3 As shown, this circuit uses the ESP32-C3FH4 main control chip (U1) as the core processing unit. Its power supply pins, such as VDDA and VDD3P3, are filtered through a decoupling network consisting of a 10μF electrolytic capacitor C2 and two 100nF capacitors, C3 and C1. A 40MHz crystal oscillator X1, along with 15pF load capacitors C4 and C6, provides a precise clock reference for the chip. The wireless communication section connects to a 2.4GHz antenna module (U3) via an antenna interface to implement Wi-Fi / Bluetooth functionality. The LNA_IN pin supports enhanced RF signal reception. The GPIO pin group (P1-P20) connects to external sensors and actuators. GPIO2 / 3 supports UART / I2C communication, while GPIO9 / 10 supports the SPI interface. The EN enable pin is a separately brought-out control pin that can be directly connected to external control signals for power-on or reset control of the chip. An LED indicator, along with a current-limiting resistor R1, provides operating status indication. Energy storage capacitors such as C10 and C12 form a distributed filter network at the power supply node. The entire circuit, through multi-layer decoupling design and impedance matching layout, ensures processing performance while meeting the stability requirements of the RF circuit.

[0038] In one specific embodiment of this application, the processor unit uses the Kalman filter algorithm to denoise the attitude data and uses a quaternion solution model to fuse the data to obtain real-time attitude information.

[0039] Specifically, the processor unit employs a processing framework that integrates Kalman filtering and quaternion calculation to process the raw triaxial acceleration and triaxial angular velocity data in real time. Its technical process can be summarized as follows: Establish a discrete-time Kalman filter, with the state vector as follows: ; in These are pitch angle and roll angle, respectively. It represents the angular velocity of the three axes.

[0040] The state equation and the observation equation are as follows: ; ; Where F is the state transition matrix, obtained by integrating the gyroscope angular velocity to obtain the attitude change; H is the observation matrix, which correlates the gravity direction with the accelerometer measurement; w and v are the process noise and observation noise, respectively, and their covariance matrices are adaptively adjusted according to sensor characteristics and motion state. The filtered output is the optimal estimated attitude angle and angular velocity, and the variance of the angle estimation is significantly reduced after noise suppression.

[0041] A complementary filter structure is used to fuse the filtered angular velocity and acceleration data, and the quaternion (gyroscope integral) is updated from the angular velocity: ; Gravity vectors are extracted from accelerometer measurements, and the error between the calculated gravity vector and the predicted gravity vector based on the current attitude is fed back to the angular velocity estimate via PI correction, achieving dynamic fusion and ultimately outputting a quaternion. It can be converted into Euler angles in real time. At the same time, the axial angular velocity and angular acceleration are obtained through differential calculation, providing accurate dynamic response data for feedforward control.

[0042] The portable intelligent dispensing pen control system provided in this application effectively suppresses environmental noise and random interference by establishing a discrete-time Kalman filter, significantly reducing the variance of angle estimation and thus significantly improving the signal-to-noise ratio and accuracy of attitude data. At the same time, it uses a complementary filtering structure to fuse the filtered angular velocity and acceleration data, and performs dynamic fusion through a quaternion solution model, which can output high-precision quaternion attitude information in real time and convert it into Euler angles. This provides accurate dynamic response data for the feedforward control algorithm, ensuring the control accuracy and dispensing uniformity of the dispensing process under dynamic motion conditions.

[0043] In another embodiment of this application, the feedforward-feedback composite control algorithm generates a dispensing control signal through the collaborative work of the feedforward control channel and the feedback control channel, with the feedback control channel and the feedforward control channel set in parallel.

[0044] The feedforward control channel is configured to: analyze the axial acceleration change rate of the dispensing pen based on real-time attitude information, and combine it with the glue viscosity coefficient in the predetermined dispensing parameters, and predict the dispensing flow disturbance caused by the change in the motion state of the dispensing pen through a fluid dynamics-based dispensing volume prediction model, thereby generating a feedforward control quantity for advance compensation.

[0045] For example, the viscosity coefficient of the adhesive in the predetermined dispensing parameters ranges as follows: low viscosity 0.1-0.5 Pa·s, medium viscosity 0.5-2.0 Pa·s, and high viscosity 2.0-5.0 Pa·s.

[0046] The glue output prediction model outputs a feedforward compensation coefficient that is linearly correlated with the rate of change of axial acceleration. The threshold range for the compensation coefficient is 0.8-1.2. It is activated when the rate of change of axial acceleration exceeds a preset threshold (e.g., 1.5 m / s³). The expression for calculating the feedforward control variable is as follows: ; Where K_ff is the feedforward gain coefficient (0.05-0.15), Δa_axial is the rate of change of axial acceleration, and η is the viscosity correction factor (0.8-1.5).

[0047] The feedback control channel is configured to: receive displacement feedback information from the position detection unit, calculate the actual dispensing amount based on the displacement feedback information, compare the actual dispensing amount with the target dispensing amount in the predetermined dispensing parameters in real time, generate a dispensing amount deviation signal, adjust the deviation signal through a proportional-integral controller, and generate a feedback control quantity.

[0048] For example, the adhesive volume threshold range is 0.1-10 μL. The proportional-integral controller parameters are set to: Kp = 0.8 - 1.5, Ki = 0.05 - 0.15 s. -1 The dead zone threshold is set to ±1.5%. The feedback control expression is: U_fb = Kp×e(t) + Ki×∫e(t)dt; Where e(t) is the real-time glue dispensing deviation.

[0049] The processor unit is further configured to: weight and fuse the feedforward control quantity and the feedback control quantity to synthesize the final dispensing control signal, and output the final dispensing control signal to the motor drive circuit, thereby driving the dispensing actuator to perform dispensing action, realizing dynamic feedforward compensation and closed-loop precise control of the dispensing process.

[0050] The adaptive weighted fusion strategy is as follows: during vigorous motion, the feedforward weight α = 0.6-0.8 and the feedback weight β = 0.2-0.4; during steady motion, α = 0.3-0.5 and β = 0.5-0.7.

[0051] The final dispensing control signal is output to the motor drive circuit after PWM modulation. The formula for the final dispensing control signal is: U_out = α×U_ff + β×U_fb.

[0052] Figure 4 This is a circuit diagram of a motor drive circuit provided in one embodiment of this application. Figure 4 As shown, the motor drive circuit is an H-bridge drive circuit, using the L9110S motor drive chip (U4).

[0053] Control signal input: The chip's control signal input pins IA (pin 6) and IB (pin 7) correspond to the MA and MB terminals on the left. MA and MB are connected to GND through pull-down resistors R11 (10K) and R15 (10K) respectively, to receive PWM control signals from the main controller and realize the adjustment of motor speed and direction.

[0054] Power supply and filtering: The chip's logic power supply pins VCC (pin 2) and GND (pin 5) are connected to the system logic power supply. A 10μF electrolytic capacitor C14 and C16 are connected in parallel between the drive power supply pins B+ and GND to filter out voltage ripple generated during the drive process and ensure power supply stability.

[0055] Drive output and motor interface: The motor drive output pins OA (pin 1) and OB (pin 4) of the chip are connected to the KA and KB terminals of the motor interface on the right side. KA and KB are directly connected to the two poles of the DC motor. GND of the motor interface on the right side is the common ground, and 3V3 is the auxiliary power supply for the interface.

[0056] The L9110S features a dual H-bridge internal structure, which, in conjunction with the input PWM control signal, enables forward and reverse rotation and speed control of the motor. The RC filter network further enhances the anti-interference capability of the drive circuit, converting the logic control signal output by the main controller into the power drive signal required for motor operation, thus providing reliable power to the motor of the dispensing actuator.

[0057] Figure 5 This is a circuit schematic diagram of an OLED display circuit provided in one embodiment of this application. Figure 5 As shown, the system also includes an OLED display circuit connected to the processor unit for displaying real-time attitude information, dispensing parameters, and system status.

[0058] Power supply section: The system provides a 3.3V main power supply through the 3V3 pin. This power is decoupled and regulated by a multi-stage filter network consisting of capacitors C8 (100nF), C11 (1μF), and C13 (1μF), effectively suppressing power supply ripple and providing a clean operating voltage for the precision circuitry inside the OLED display. C8 filters out high-frequency noise, while C11 and C13 buffer low-frequency fluctuations.

[0059] Signal interface section: The I2C communication lines SDA and SCL are pulled up to the 3.3V power supply through R2 and R5 (5.1KΩ) respectively to ensure that the signals remain at a high level when the bus is idle. The OLED module U2 adopts a standard 14-pin interface, including control pins such as reset (RES), I2C clock (SCL) and data (SDA), forming a complete communication link with the main control chip.

[0060] Protection and control circuit: Resistors R3 (10KΩ) and R6 (1MΩ) form a voltage divider or pull-up network to ensure the stability of the reset signal and reference voltage. The circuit design supports both soldered and FPC interface connections, adapting to different installation requirements through flexible physical interface design.

[0061] This circuit can drive the interface and driving circuit of the OLED display, provide a stable power supply for the OLED display, establish an I2C communication connection, and process reset control signals.

[0062] One embodiment of this application provides a portable smart dispensing pen that integrates the control system provided in any of the above embodiments.

[0063] This dispensing pen specifically includes a pen body, a glue storage unit, and a built-in control system. The control system integrates an attitude detection circuit, a control circuit, a position detection unit, a motor drive circuit, and a dispensing actuator. The pen supports wireless communication with external mobile devices via Wi-Fi or Bluetooth to receive or send predetermined dispensing parameters (such as target glue volume and glue viscosity coefficient), and supports multiple dispensing operation modes, including manual mode, quantitative mode, and save mode.

[0064] The portable intelligent dispensing pen provided in this embodiment, by integrating the aforementioned high-precision control system, actively suppresses the dispensing volume disturbance caused by changes in operational movements during handheld dispensing. By integrating motion posture perception, real-time feedback control, and dynamic feedforward compensation, it can predict and compensate for adhesive flow disturbances caused by changes in pen body speed, direction, and acceleration in advance. This effectively solves the "trailing," "stringing," or "breakpoint" phenomena that occur when traditional dispensing pens start, stop, turn, or change speed, significantly improving dispensing accuracy and uniformity. Secondly, this dispensing pen is small in size, easy to carry and operate, and can be quickly switched between different production lines, meeting the flexibility needs of industries such as automotive parts manufacturing and electronic assembly. Finally, its wireless communication function makes parameter setting and mode switching more convenient, adapting to different adhesive characteristics and dispensing requirements, improving the accuracy and adaptability of the dispensing process.

[0065] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A portable smart glue pen control system, characterized in that, The device comprises a posture detection circuit, a control circuit, a position detection unit, a motor driving circuit and a dispensing execution mechanism. The posture detection circuit is configured to collect motion data of the dispensing pen and process the motion data to obtain posture data. The control circuit comprises a processor unit, which is communicatively connected to the posture detection circuit and configured to receive the posture data. The position detection unit is configured to obtain displacement feedback information of the dispensing execution mechanism. The processor unit is configured to: process the received posture data to obtain real-time posture information; generate a dispensing control signal based on the real-time posture information, predetermined dispensing parameters and the displacement feedback information, so as to dynamically compensate the glue output, by using a feedforward-feedback compound control algorithm; the motor driving circuit, connected to the processor unit, is configured to convert the dispensing control signal into a driving signal; the dispensing execution mechanism, connected to the motor driving circuit, is configured to perform dispensing actions in response to the driving signal, so that the dispensing precision and the glue output uniformity meet the preset requirements, respectively. The posture detection circuit comprises an MPU6050 chip, which is configured to collect acceleration data of the dispensing pen and output the processed posture data to the processor unit.

2. The portable smart glue pen control system of claim 1, wherein, The MPU6050 chip is internally provided with a digital motion processor and a micro-electromechanical sensor, which are configured to output raw measurement data of the dispensing pen to the processor unit.

3. The portable smart glue pen control system of claim 2, wherein, The posture detection circuit is configured to filter and fuse the raw measurement data to monitor the motion posture of the dispensing pen in real time. The processor unit comprises an ESP32 chip of Espressif Systems, 4. The portable smart glue pen control system of claim 3, wherein, The chip is configured to wirelessly communicate with an external mobile device through Wi-Fi and / or Bluetooth, so as to receive or send the predetermined dispensing parameters. The predetermined dispensing parameters comprise a target glue output and a glue viscosity coefficient. The processor unit is configured to use a Kalman filtering algorithm to denoise the posture data and use a quaternion solution model to fuse the data, so as to obtain the real-time posture information.

5. The portable smart glue pen control system of claim 4, wherein, The feedforward-feedback compound control algorithm generates a dispensing control signal through the cooperative work of a feedforward control channel and a feedback control channel.

6. The portable smart glue pen control system of claim 5, wherein, The feedforward control channel is configured to analyze the axial acceleration change rate of the dispensing pen based on the real-time posture information, combine the glue viscosity coefficient in the predetermined dispensing parameters, and use a glue output prediction model based on fluid dynamics to forwardly predict the glue flow disturbance caused by the motion state change of the dispensing pen, so as to generate a feedforward control amount for advance compensation. The feedback control channel, which is arranged in parallel with the feedforward control channel, is configured to receive the displacement feedback information from the position detection unit, convert the actual glue output based on the displacement feedback information, compare the actual glue output with the target glue output in the predetermined dispensing parameters in real time, generate a glue output deviation signal, adjust the deviation signal through a proportional-integral controller, and generate a feedback control amount. ​ The processor unit is further configured to: weight and fuse the feedforward control quantity and the feedback control quantity, synthesize a final dispensing control signal, and output the final dispensing control signal to the motor driving circuit, so as to drive the dispensing execution mechanism to perform a dispensing action, and realize dynamic feedforward compensation and closed-loop precise control on the dispensing process.

7. The portable smart glue pen control system according to any one of claims 1 to 6, wherein, The motor driving circuit is an H-bridge driving circuit, which is used for converting a PWM signal in the dispensing control signal into a power signal for driving the motor.

8. The portable smart glue pen control system according to any one of claims 1 to 6, wherein, The preset error range satisfied by the dispensing precision is within ±5%, and the preset tolerance range satisfied by the dispensing uniformity is within ±5%.

9. The portable smart glue pen control system according to any one of claims 1 to 6, wherein, The system further comprises an OLED display circuit connected with the processor unit, which is used for displaying the real-time posture information, dispensing parameters and system state.

10. A portable smart dispensing pen, characterized by, A control system as claimed in any one of claims 1 to 9.

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