New energy automobile grille sealing method and system, intelligent terminal and storage medium

Abstract

The invention relates to the technical field of new energy automobile manufacturing, in particular to a sealing method and system for a new energy automobile grille, an intelligent terminal and a storage medium, and the method comprises the steps that in response to a grille workpiece sealing request of a target station in multiple stations, a central operation mechanism is dispatched to rotate and move to the target station; the form information of the grille workpiece of the target station is obtained, and the gluing path of a grille workpiece sealing glue channel is calculated based on the form information; based on the gluing path, determining a gluing point and a final gluing point of the gluing path, and synchronously analyzing geometric features of the gluing path; on the basis of the geometrical characteristics of the gluing path, generating a moving speed control instruction and a glue output amount control instruction matched with each position of the gluing path in real time; and controlling a gluing execution unit of the central operation mechanism to execute gluing operation along the gluing path according to the moving speed control instruction and the glue output amount control instruction. The sealing device has the effects that the problem of low single-station sealing operation efficiency is solved, and the production efficiency of a production line is improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of new energy vehicle manufacturing, in particular to a sealing method and system for a new energy vehicle front grille, an intelligent terminal and a storage medium. BACKGROUND

[0002] The front grille of a new energy vehicle is usually designed in a closed manner to optimize aerodynamic performance. The front grille is generally composed of upper and lower bottom plates, and the two plates need to be sealed by applying sealant and pressing together to ensure the protection of the internal components and the quietness of the vehicle. Therefore, the front grille needs to be uniformly, completely and efficiently sealed.

[0003] In related technologies, the sealing operation of the front grille is usually performed in a single-station operation mode, in which the front grille workpiece to be processed is fixed in a single work station, and the operator completes the steps of applying sealant and pressing together. The operation process is carried out around a single workpiece, and after completing the sealing operation of one workpiece, the next workpiece is switched to.

[0004] In view of the related art, the single-station operation mode needs to complete all sealing operation steps (such as feeding, positioning, applying sealant, detecting, pressing together, etc.) in the same station in series, and the processing cycle of a single workpiece is relatively long, which is difficult to meet the requirements of production rhythm in large-scale production. In the flexible production demand of multiple varieties and small batches, a single station is difficult to realize efficient and rapid switching and continuous operation of different specifications of workpieces, which restricts the flexibility of the overall production line. SUMMARY

[0005] In order to improve the low efficiency and poor flexibility of single-station sealing operation, and improve the production efficiency and intelligent level of the production line, the application provides a sealing method, system, intelligent terminal and storage medium for a new energy vehicle front grille.

[0006] In a first aspect, the application provides a sealing method for a new energy vehicle front grille, which adopts the following technical solution: A sealing method for a new energy vehicle front grille, comprising: In response to a front grille workpiece sealing request of a target station of the multi-station, rotating and moving the central operation mechanism to the target station; Obtaining the shape information of the front grille workpiece of the target station, and calculating the sealant path of the front grille workpiece based on the shape information; Based on the sealant path, determining the sealant starting point and the sealant ending point of the sealant path, and synchronously analyzing the geometric characteristics of the sealant path; Based on the geometric characteristics of the sealant path, real-time generation of the movement speed control instruction and the sealant amount control instruction adapted to each position of the sealant path; The glue application unit of the central operating mechanism performs glue application operations along the glue application path according to the movement speed control command and the glue output control command.

[0007] By adopting the above technical solution, a multi-station collaborative scheduling mechanism is established with the central operating mechanism as the core, overcoming the bottleneck of single-station operation. When any station issues a sealing request, the system schedules central operating resources to respond, enabling parallel preparation and serial service of multiple stations, maximizing equipment utilization and shortening the overall production line cycle time. The sealing operation is based on intelligent decision-making based on the real-time shape of the workpiece. By calculating the glue application path and extracting geometric features, a digital foundation is provided for subsequent dynamic control. Differentiated speed and glue dispensing instructions are generated and executed based on the path features, achieving uniformity and consistency of glue filling. This avoids quality defects such as uneven glue volume and weak sealing caused by manual operation or fixed programs, improving production efficiency while ensuring sealing quality.

[0008] Optionally, when the glue dispensing unit performs the glue dispensing operation along the glue dispensing path, the methods to eliminate initial glue overflow include: When the glue dispensing unit moves to the glue initiation point and generates a glue dispensing trigger signal, a flame control signal is generated simultaneously. According to the flame control signal, the flame treatment device is activated to perform instantaneous flame treatment on the adhesive in the glue-starting area. The flame treatment device is set in association with the glue dispensing execution unit. After the instantaneous flame treatment, a visual image of the adhesive point area was obtained; Determine whether the initial glue overflow has been eliminated based on visual images; If so, the glue application unit will continue to perform the glue application operation along the glue application path; If not, adjust the flame parameters and perform supplementary flame treatment.

[0009] By adopting the above technical solution, the problem of glue overflow easily occurs at the beginning of glue application. The flame-spraying treatment and glue dispensing action are triggered simultaneously, and the overflow is eliminated by heat melting the glue the instant it forms. This achieves a shift from passive inspection to proactive prevention, avoiding the problems of difficult-to-clean overflow, appearance issues, and interference with subsequent assembly. A visual feedback mechanism verifies and judges the effect of the initial flame-spraying treatment, forming a closed-loop quality control system of treatment-inspection-re-treatment. If the initial treatment does not meet expectations, the flame-spraying parameters are automatically adjusted for supplementary treatment, ensuring a clean and smooth glue application point, improving the first-pass success rate, reducing manual intervention, and enhancing the reliability of automated production.

[0010] Optionally, during the glue application process, the glue application unit may also include: Real-time acquisition of images of the colloid morphology along the glue application path; Based on the colloidal morphology image, determine whether there is a defect of glue breakage caused by air bubbles trapped in the glue channel; If a glue breakage defect is identified, the first cross-sectional features of the glue channel before the glue breakage location, the second cross-sectional features of the glue channel after the glue breakage location, and the geometric morphology of the glue breakage defect are obtained based on the glue morphology image. Based on the characteristics of the first section, the characteristics of the second section, and the geometric shape of the glue breakage defect, the amount of compensated glue output required to restore the continuity of the glue channel is calculated. The glue dispensing unit is controlled to perform a compensating glue dispensing operation based on the amount of glue dispensed at the glue cut-off position.

[0011] By adopting the above technical solution, the quality defect of glue breakage caused by air bubbles during the glue application process is solved. Real-time visual monitoring of the glue morphology allows for immediate detection of the breakage point, avoiding rework caused by the glue breakage only being exposed during subsequent inspection. The solution does not involve repeated glue refilling; instead, it uses intelligent image analysis to quantitatively identify the cross-sectional characteristics and breakage morphology of the glue channel before and after the breakage. Based on precise geometric parameters, the optimal amount of compensating glue required to restore the continuity of the glue channel is calculated, achieving precise repair. This ensures a smooth transition and mechanical continuity of the glue channel after refilling, avoiding secondary defects such as local glue accumulation or weak connections, and improving the integrity of the sealed glue channel.

[0012] Optionally, during the real-time generation of movement speed control commands and glue dispensing volume control commands based on the geometric features of the glue dispensing path, the handling methods for acute angle turns include: Based on the geometric features of the glue application path, identify the acute angles that exist in the glue application path; Obtain the actual angle value of the acute angle and the cross-sectional width information of the adhesive channel at the acute angle; Based on the deviation between the actual angle value and the preset standard angle threshold, as well as the cross-sectional width information, the target moving speed and target glue output corresponding to the acute angle turning area are dynamically calculated. The greater the deviation, the lower the target moving speed and the less the target glue output. Based on the target moving speed and target glue dispensing amount, corresponding moving speed control commands and glue dispensing amount control commands are generated and executed to control the glue dispensing execution unit to pass through the acute angle turning area.

[0013] By adopting the above technical solution, for acute corner areas in the sealing path, the system automatically identifies corners and obtains precise angle and width information, quantitatively assesses the sharpness of the corner and spatial constraints, and dynamically calculates the speed and adhesive dispensing combination that matches the corner based on the assessment results. The sharper the corner and the more confined the space, the more cautious the execution unit moves (reduced speed) and the more precise the adhesive dispensing (reduced amount). This overcomes the problems of adhesive being thrown out due to centrifugal force (overfill) or insufficient filling due to excessive speed (insufficient adhesive) at acute corners. By transforming experienced worker skills into quantifiable automatic control algorithms, the stability of the sealing quality at acute corners is improved.

[0014] Optionally, after the glue dispensing unit passes through an acute-angle corner area, the method further includes: Collect colloidal morphology images of acute corner areas, and determine the colloidal filling status at acute corners based on the colloidal morphology images. The filling status includes complete filling without overflow, incomplete filling or overflow. If the filling status is determined to be incomplete, a first parameter adjustment instruction is generated. The first parameter adjustment instruction is used to indicate increasing the glue dispensing reference value and / or decreasing the speed reference value. If the filling status indicates that there is overflow, a second parameter adjustment command is generated. The second parameter adjustment command is used to indicate the reduction of the glue output reference value and / or the increase of the speed reference value. Based on the actual angle value and cross-sectional width information of the acute angle, a specific parameter set is generated, wherein the specific parameter set is associated with the angle feature defined by the actual angle value and cross-sectional width information; Update the adjustment amount indicated by the first parameter adjustment command or the second parameter adjustment command to the specific parameter group; When an acute angle is identified again in the glue application path, based on the actual angle value and cross-sectional width information of the current acute angle, a specific parameter group associated with its angle characteristics is found, and the updated glue output benchmark value and speed benchmark value in the specific parameter group are called to dynamically calculate the target moving speed and target glue output.

[0015] By adopting the above technical solution, the sealing effect of completed acute corners is visually verified, and the results (incomplete filling or excess adhesive) are correlated with the control parameters used at the time. The data is used to automatically correct the baseline values ​​used to calculate the control parameters, and this is used to update the process rule library for this type of corner. When encountering corners with similar characteristics in the future, the system can directly call the optimized empirical parameters for control, thus achieving global benefits from a single implementation.

[0016] Optionally, during the real-time generation of movement speed control commands and glue dispensing quantity control commands based on the geometric features of the glue dispensing path, the handling methods for the variable diameter section of the glue path include: Based on the geometric features of the glue application path, identify the variable diameter segments in the glue application path where the width of all glue channels changes. Extract the starting width, ending width, change pattern, and length of each diameter change segment. The change pattern must include at least gradual or abrupt changes. Based on the starting width, ending width, and change pattern of the variable diameter section, a planned colloidal cross-sectional profile curve matching the variable diameter section is designed, wherein the planned colloidal cross-sectional profile curve is a continuous and smooth curve. Based on the expected colloid cross-sectional profile curve and the preset colloid leveling characteristic model, the dispensing execution unit is derived to follow the dispensing amount change curve and the moving speed change curve when traversing the variable diameter section.

[0017] By adopting the above technical solution, for variable-diameter sections with varying adhesive channel widths, a continuous and smooth ideal adhesive cross-sectional profile curve is first pre-planned based on the start and end widths and variation patterns of the variable-diameter section. Then, combining a physical model of the adhesive's leveling properties, the dynamic variation curves of adhesive dispensing volume and movement speed that the dispensing unit must follow to achieve this ideal profile are derived in reverse. This elevates control from "process parameter adjustment" to "final result orientation," ensuring that the adhesive maintains a uniform and smooth filling shape without abrupt changes or depressions, regardless of width variations within the variable-diameter section. It is suitable for sealing complex curved workpieces and handling adhesive channels with continuously varying widths.

[0018] Optionally, before the step of scheduling the central operating mechanism to rotate and move to the target station in response to the sealing request of the mesh workpiece at the target station, the method further includes: Each of the multiple workstations arranged around the central operating unit is assigned a unique workstation identification identifier. Under the work station identity identifier bound to at least one work station, load the process information of the mesh workpiece to be sealed, wherein the process information includes at least the specification parameters of the corresponding mesh workpiece and the standard model of the sealing channel. Receive sealing request signals sent by any workstation and parse the workstation identity identifier corresponding to the sending source from the sealing request signal; Based on the parsed workstation identity, the process information bound to the workstation identity is indexed and called, and the specification parameters and the standard model of the sealing channel are used as the reference data source for subsequent acquisition of morphological information and calculation of the glue application path.

[0019] By adopting the above technical solution, each workstation is assigned a unique identifier and bound to process information containing specifications and standard models, thus mapping production resources to product information. When the central operating mechanism receives a production queue request containing different workpiece models, it can index and call the complete set of process information for the corresponding workpiece through the workstation identifier. This information serves as the benchmark for subsequent intelligent calculations such as shape matching and path planning, solving the problems of frequent manual teaching, parameter resets, and accuracy calibration caused by product switching when producing multiple types of workpieces on a mixed production line. This reduces changeover time and improves production efficiency.

[0020] Secondly, this application provides a sealing system for the grille of a new energy vehicle, adopting the following technical solution: A sealing system for the grille of a new energy vehicle, comprising: The acquisition module is used to acquire the sealing request of the mesh workpiece of the target station, the shape information of the mesh workpiece, the geometric features of the glue application path, the glue dispensing trigger signal, the flame control signal, the visual image of the glue initiation point area, the colloid shape image on the glue application path, the actual angle value and cross-sectional width information of the acute angle corner, the starting width, ending width, change form and length of the variable diameter section where the glue channel width changes, the station identification, and the loaded process information. A memory for storing the sealing program of the new energy vehicle grille as described in any one of claims 1 to 7; The processor and the program in the memory can be loaded and executed by the processor to implement the sealing method of the grille of the new energy vehicle as described in any one of claims 1 to 7.

[0021] By adopting the above technical solution, the intelligent functions involved in the aforementioned method are integrated into both hardware and software. The configuration and acquisition module unifies the input interfaces for all key data, from sealing requests, workpiece morphology, process images to process parameters, ensuring smooth and coordinated information flow. The memory and processor enable a series of complex intelligent algorithms, including multi-station scheduling, path planning, visual recognition, parameter adaptation, process optimization, and data management, to operate stably and execute efficiently on a unified control platform. This constitutes an integrated hardware and software intelligent manufacturing unit, not only achieving full-process automation of the sealing operation of the grille in new energy vehicles, but also improving production quality, efficiency, and flexibility through an intelligent decision-making core, providing a foundation for the implementation of digital workshops and smart factories.

[0022] Thirdly, this application provides a smart terminal, which adopts the following technical solution: A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described above.

[0023] Fourthly, this application provides a computer storage medium, which adopts the following technical solution: A computer-readable storage medium storing a computer program that can be loaded by a processor and executed any of the above-mentioned sealing methods for the grille of a new energy vehicle.

[0024] In summary, this application includes at least one of the following beneficial technical effects: 1. Through a central hub and multiple satellite operational layout, with the central operating mechanism at its core, the system dynamically responds to sealing requests from multiple workstations in the circumferential direction. This overturns the single-workstation serial operation mode, combining multi-workstation parallel material preparation with serial service from central resources. This maximizes the utilization rate of key equipment and shortens the overall production cycle time. By binding an identity identifier to each workstation and associating it with process information (including specifications and gluing line models), the system can switch and match tooling, programs, and process information when receiving a mixed product queue. This solves the problems of cumbersome changeovers and long debugging times in flexible production of multiple varieties and small batches, enabling the production line to combine the efficiency of large-scale production with the agility to respond to market changes. 2. Integrating artificial intelligence and machine vision into all aspects of the sealing operation provides comprehensive protection through pre-operation prevention, in-process control, and post-operation optimization. It handles initial glue overflow in real time through synchronous flame spraying, and uses real-time visual detection and image analysis to accurately locate and quantitatively compensate for glue breakage caused by air bubbles. For process difficulties such as sharp corners and diameter change sections, it performs adaptive speed and glue volume planning based on geometric features. It transforms the fuzzy operation that relies on worker experience into precise control driven by data and algorithms, eliminating common defects such as uneven glue volume, incomplete filling, glue overflow, and insufficient glue, ensuring uniform, complete, and reliable sealing effect of the workpiece, and improving product consistency. 3. By performing post-visual verification of the sealing effect, a closed loop of execution-detection-analysis-optimization is formed. The success or defect result of each operation is associated with the corresponding control parameters, and the control baseline values ​​used for calculation are corrected in reverse, updating the process rule library categorized by features such as angle and width. When processing workpieces with similar characteristics, historical optimization experience is automatically invoked, enabling intelligent recommendation and iteration of process parameters. This learning mechanism allows the production system's process level to accumulate and improve along with the production process, providing a foundation for building a smart factory with autonomous optimization capabilities. Attached Figure Description

[0025] Figure 1 This is a flowchart of a sealing method for the grille of a new energy vehicle according to an embodiment of this application.

[0026] Figure 2 This is a flowchart of a method for eliminating initial glue overflow when the glue dispensing unit performs glue dispensing operations along the glue dispensing path.

[0027] Figure 3 This is a flowchart illustrating the process by which the glue application unit performs the glue application operation along the glue application path.

[0028] Figure 4 This is a flowchart illustrating the handling method for acute angle turns during the real-time generation of movement speed control commands and glue dispensing volume control commands based on the geometric features of the glue dispensing path.

[0029] Figure 5This is a flowchart illustrating the method for controlling the glue dispensing unit after it passes through an acute-angled corner area.

[0030] Figure 6 This is a flowchart illustrating the processing method for the variable diameter section of the glue path during the real-time generation of movement speed control commands and glue dispensing quantity control commands based on the geometric features of the glue dispensing path.

[0031] Figure 7 This is a flowchart of the method prior to the step of scheduling the central operating mechanism to rotate and move to the target station in response to the sealing request of the central mesh workpiece at the target station.

[0032] Figure 8 This is a block diagram of a sealing system for the grille of a new energy vehicle according to an embodiment of this application. Detailed Implementation

[0033] The present application will be further described in detail below with reference to the accompanying drawings.

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the appendices in the embodiments of this application will be described below. Figures 1-8 The technical solutions in the embodiments of this application are clearly and completely described. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] This application discloses a sealing device for the grille of a new energy vehicle. The sealing device for the grille of a new energy vehicle includes a central processing platform, multiple assembled glue application stations arranged around it, a central robotic arm capable of 360-degree circumferential rotation, and a glue application execution unit.

[0036] The central processing unit is fixedly installed on the floor of the workshop, serving as the support and power hub for the entire device. Internally, the central processing unit integrates the main controller, servo drive system, air supply unit, glue pressure supply system (such as a constant pressure glue pump), and electrical distribution cabinet. The robust design of the unit ensures the stability of the central robotic arm during high-precision, highly repeatable movements.

[0037] The prefabricated adhesive application stations are arranged radially and evenly around the central processing table. In this embodiment, there are six stations, with a central angle of 60 degrees between adjacent stations, forming an efficient hexagonal layout. Each station has an independent workpiece positioning and clamping module, a station status identification module, and a trigger interface.

[0038] The workpiece positioning and clamping module is used to fix the mesh workpiece to be sealed, ensuring that the spatial position of the sealing adhesive channels is consistent. The module includes a contour positioning block and pneumatic or electric clamps that match the specific model of the mesh workpiece. The station status indicator module indicates the current status of the station, such as "awaiting loading," "ready for adhesive application," "applying adhesive," or "completed." In this embodiment, the station status indicator module is preferably a signal indicator light. The trigger interface generates and sends the "adhesive application trigger information" for the station to the central controller. The trigger interface can be a button, a workpiece positioning photoelectric sensor, or an interface for communication with the production line MES system.

[0039] A centrally mounted robotic arm, capable of 360-degree circumferential rotation, is fixedly installed at the top center of the central processing station, enabling multi-station operation coverage. The central robotic arm comprises a long-stroke rotary drive unit and a multi-degree-of-freedom robotic arm. The rotary drive unit consists of a high-torque servo motor driving an RV reduction gear, enabling precise 360-degree continuous rotation of the base in the horizontal plane. The rotational positioning accuracy directly affects the accuracy of the glue-applying mechanism switching between different workstations. The multi-degree-of-freedom robotic arm, preferably a six-axis vertical multi-joint industrial robot, is mounted at the output end of the rotary drive unit. It has a large working radius and flexible movement capabilities, capable of covering the working areas of all surrounding workstations. The end of the robotic arm is equipped with a flange interface for mounting the glue-applying mechanism.

[0040] The central robotic arm is controlled by the main controller in the central processing station. Once it receives the "glue application trigger information" of a target workstation, the main controller immediately performs path planning. First, it controls the rotary drive unit to rotate so that the general direction of the robotic arm is aligned with the target workstation. Then, it controls the multi-degree-of-freedom robotic arm to perform a series of spatial movements, and finally accurately moves the glue application mechanism to the predetermined starting position directly above the sealing groove of the mesh workpiece in that workstation.

[0041] The glue application unit is rigidly connected to the end of the central robotic arm via a flange, serving as the final tool for completing the sealing operation. The glue application unit includes a glue spray head, a machine vision unit, an auxiliary processing unit, and process sensors. All units of the glue application mechanism are connected to the control system within the central processing console via cables, enabling data acquisition, command reception, and power supply.

[0042] The spray nozzle has internal precision flow channels and switching valves for uniformly applying sealant to the sealing groove. The spray nozzle's on / off state and flow rate are controlled by a high-precision metering pump or a pressure-flow closed-loop system. The machine vision unit consists of a high-frame-rate industrial camera and a structured light 3D scanner. The machine vision unit performs two main functions: firstly, it quickly scans the workpiece before application to acquire "morphological information" for calculating the application path; secondly, it performs real-time visual inspection during or after application, acquiring "adhesive strip status information" such as continuity, width, and position, providing feedback for adaptive control.

[0043] The auxiliary processing unit includes a miniature flame nozzle for instantaneous high-temperature treatment of the adhesive initiation point before dispensing begins, removing any burrs or moisture that may be present in the sealing channel, and also burning off any initial adhesive overflow at the start of dispensing. Preferably, the auxiliary processing unit also integrates an air nozzle for cleaning dust within the adhesive channel. The process sensor is preferably a laser displacement sensor for non-contact measurement of dispensing height or channel depth.

[0044] When applying the sealing device to the grille of new energy vehicles, operators or automated conveyor lines sequentially load the grille parts into idle workstations and clamp them. After a workstation trigger signal is issued, the central robotic arm, carrying the glue application mechanism, moves to that workstation. The vision unit scans and positions the part, and the main controller plans the path and drives the robotic arm and glue application head to work together to complete the sealing. Meanwhile, other workstations can perform loading and unloading in parallel. After completing the work at one workstation, the central robotic arm can immediately rotate to respond to the next ready workstation, thus enabling continuous equipment operation and improving production efficiency.

[0045] This application discloses a sealing method for the grille of a new energy vehicle. (Refer to...) Figure 1 The sealing methods for the grille of new energy vehicles include: In step S100, in response to the sealing request of the mesh workpiece at the target station in the multi-station operation, the central operating mechanism is scheduled to rotate and move to the target station.

[0046] The workpiece sealing request is an instruction signal to initiate operations at a specific workstation. The request is automatically issued by the workpiece positioning sensor at the assembly glue application station after detecting that the workpiece has been correctly placed and clamped. Alternatively, it can be triggered by the operator manually selecting and confirming a workstation through the human-machine interface (HMI) on the central control console.

[0047] The central operating mechanism is a motion execution unit consisting of a 360-degree rotatable central robotic arm and a glue application execution unit. Upon receiving a sealing request for a specific target workstation (e.g., workstation 2), the main controller immediately executes the scheduling task. Based on the current position of the robotic arm and the target workstation, the controller plans an efficient, collision-free rotation and movement path. The controller coordinates with the rotation drive of the central robotic arm to rotate it, orienting the arm towards the target workstation. It then controls the servo motors of each joint of the multi-degree-of-freedom robotic arm, driving the entire arm's movement and ultimately precisely positioning the glue application execution unit, mounted at the end effector, to the work preparation position above the workpiece in the target workstation. This work preparation position needs to be at a certain height above the workpiece surface to facilitate subsequent visual scanning.

[0048] Step S101: Obtain the shape information of the mesh workpiece at the target station, and calculate the glue application path of the sealing glue channel of the mesh workpiece based on the shape information.

[0049] "Morphological information" refers to the three-dimensional spatial geometric data of the sealing adhesive channel of the target mesh workpiece, including the centerline direction of the adhesive channel, the changes in cross-sectional width and depth, and its absolute position and orientation in space. "Adhesive application path" refers to a continuous and smooth theoretical spatial trajectory that guides the adhesive application execution unit, i.e., the adhesive spray head, to move in space, located at the center of the cross-section of the sealing adhesive channel.

[0050] Morphological information is acquired through a machine vision unit on the glue application execution unit, which is a structured light 3D scanner. After the glue application mechanism is positioned above the target station, the controller triggers the scanner to project an coded grating onto the workpiece surface, and a matching camera captures the deformed grating image. Using the principle of triangulation, dense 3D point cloud data of the workpiece surface is calculated, and this point cloud data contains precise morphological information.

[0051] In another preferred embodiment, for batches of workpieces with known models on the production line, the system can pre-store CAD digital models. After the workpiece model is identified by the code reader at the workstation, the corresponding CAD model can be directly called as the source of morphological information, which is faster and not affected by ambient light, reflections, etc.

[0052] After receiving the morphological information (point cloud or CAD model), the path planning module precisely aligns the measured 3D data to the robot's base coordinate system using the nearest point matching (ICP) algorithm, utilizing feature points such as positioning holes or specific edges on the workpiece, ensuring that the path coordinates are consistent with the manipulator's motion coordinate system. From the registered data, a subset of the point cloud representing the sealing channel region is segmented and extracted using region growing, edge detection, or model matching algorithms. The point cloud is sliced ​​along the direction of the channel region, and a center point is fitted within each slice section. Then, these discrete center point sequences are fitted using a non-uniform rational B-spline curve fitting algorithm to generate a smooth, continuous theoretical center line that reflects the natural curvature of the channel, forming the initial dispensing path.

[0053] Step S102: Based on the glue application path, determine the starting point and ending point of the glue application path, and simultaneously analyze the geometric features of the glue application path.

[0054] "Starting point" and "ending point" are the starting and ending positions of the glue application process. The process rule library includes rules such as "the starting point should avoid the surface", "it is advisable to choose the beginning of a straight section", "the ending point should coincide with the starting point to form a closed loop", or "overlap length should be reserved".

[0055] The starting point and ending point of the adhesive application are determined by the controller based on a preset process rule library. The controller searches along the adhesive application path curve to find the first position parameter value that simultaneously satisfies the starting point rule and sets it as the starting point. If a closed loop is required, the ending point is the same as the starting point; otherwise, the ending point is determined according to the "ending point rule" (such as setting it at the lowest point or in a concealed location).

[0056] "Geometric features" are used to quantitatively describe the glue application path and associated glue channel cross-sectional properties, mainly including path curvature (or corner sharpness) and associated glue channel width. Path curvature characterizes the degree of bending of the path. High curvature points correspond to emergency turns or corners. Associated glue channel width refers to the actual width of the glue channel directly below a certain point on the path.

[0057] Geometric features are obtained by analyzing the glue application path (parametric curve) generated by S101 and its associated morphological information. Path curvature analysis requires differentiating the parametric curve equation of the glue application path, directly calculating the curvature value corresponding to each point on the path, setting a curvature threshold, identifying sections with curvature continuously exceeding the threshold as "curves," and marking the curvature extreme points as "corner feature points," recording the curvature value (or converted to turning radius) and position of each point. Associated glue path width analysis requires, for each point on the path, using its 3D coordinates, querying the morphological information (point cloud or CAD model) obtained from S101 to obtain the width of the glue path cross-section directly below the point and perpendicular to the path tangent, forming a "width-path length" sequence corresponding one-to-one with each path point.

[0058] Step S103: Based on the geometric features of the glue application path, generate in real time movement speed control commands and glue dispensing volume control commands that are adapted to each position of the glue application path.

[0059] The "movement speed control command" is the set value for the instantaneous linear velocity of the glue spray head at the end of the robotic arm as it moves along the path. The "glue dispensing volume control command" is the set value for the volume of sealant extruded by the glue valve per unit time. Both need to be "adapted" to each position on the path, and the command values ​​are functions that dynamically change based on the positional characteristics. The two sets of commands are generated online by the controller's real-time motion and process control module, based on the path point sequence output by S102 and its associated geometric features (curvature, width), through a built-in "speed-flow coordinated control model".

[0060] The method for generating movement speed control commands includes: setting a speed reference value V based on the process cycle time requirements. base When a pathpoint is marked as a "turning feature" or its curvature k is greater than a threshold, the velocity at that point is reduced according to a preset velocity-curvature relationship function. V=V base / (1+K×|κ|), where K is the compensation coefficient. If an acute turning angle is detected, a lower fixed speed V is applied. corner In the transition area where the width of the glue channel changes, the speed is finely adjusted to match the change in glue output, ensuring that the glue strip is uniform.

[0061] The method for generating adhesive dispensing control instructions includes: based on the target cross-sectional area A of the adhesive strip. target And the current moving speed V, according to formula Q base =Atarget Calculate the base glue output using ×V to ensure a constant glue output per unit length. Adjust the target cross-sectional area based on the actual width W of the glue path associated with the current path point. If W is greater than the design baseline width W0, increase A proportionally. target Conversely, the opposite is true. The formula is revised to Q=(A target ×(W / W0))×V. At the starting point, the initial glue output needs to be briefly increased to ensure a full glue head. At the ending point, the glue output needs to be gradually reduced to minimize glue tail accumulation.

[0062] In step S104, the glue application execution unit of the central operating mechanism performs the glue application operation along the glue application path according to the movement speed control command and the glue dispensing volume control command.

[0063] In this step, the "glue dispensing execution unit" mainly refers to the core part that performs the glue dispensing action, namely the glue nozzle and glue supply system. The core of controlling the glue dispensing execution unit is to coordinate the movements of the glue nozzle and the glue supply system to ensure that the movement and glue dispensing are synchronized. During execution, the spatial movement of the robot arm and the extrusion of the glue are synchronized in time, and the motion trajectory tracks the preset theoretical glue dispensing path with high precision. The instructions generated in real time by S103 are directly sent to the corresponding actuators. The movement speed control instructions are converted by the robot motion controller into torque / position instructions for the servo motors of each joint. The glue dispensing amount control instructions are sent to the controller of the glue supply system and converted into the opening signal of the glue valve.

[0064] Reference Figure 2 When the glue dispensing unit performs the glue dispensing operation along the glue dispensing path, the methods to eliminate initial glue overflow include: In step S200, when the glue dispensing unit moves to the glue initiation point and generates a glue dispensing trigger signal, a flame control signal is generated simultaneously.

[0065] The "glue dispensing trigger signal" is an electrical command that instructs the glue dispensing unit to begin extruding sealant. The "flame control signal" is an electrical command that controls the flame treatment device to start. The synchronous generation of the two means that the flame cleaning operation is triggered at the same logical moment or within a very short delay at the start of the glue dispensing action, so as to achieve immediate treatment of the initial glue overflow.

[0066] Once the motion controller confirms that the dispensing unit has reached the dispensing point coordinates, the process logic unit of the main controller automatically generates a "dispensing trigger signal." Simultaneously, this signal is captured by the synchronous trigger thread and generates a "flame control signal." This achieves strong temporal correlation, ensuring that flame processing begins before or at least simultaneously with the glue extrusion, allowing for intervention at the initial stage of glue overflow and preventing the accumulation of problems.

[0067] Step S201: According to the flame control signal, the flame treatment device is activated to perform instantaneous flame treatment on the adhesive in the glue-starting area. The flame treatment device is associated with the glue dispensing execution unit.

[0068] "Flame treatment device" refers to a device that generates a high-temperature flame, such as a miniature propane / natural gas spray gun or an electrically heated high-temperature gas flow generator. "Instantaneous flame treatment" is a short-duration, high-energy pulse operation that instantly melts or vaporizes freshly extruded and potentially overflowing adhesive, rather than involving prolonged heating. "Associated setup" refers to the flame device being physically mounted on the nozzle and moving with it to ensure that the flame's point of action is always near the nozzle outlet.

[0069] The flame control signal directly drives the actuator of the flame treatment device. Parameters such as flame power and duration are retrieved from a preset parameter library by the controller based on process conditions such as adhesive type and quantity. Utilizing the low temperature and good fluidity of the adhesive during the initial extrusion stage, localized instantaneous high temperatures rapidly melt, ablate, or disperse it, thereby eliminating tiny nodules or irregular starting points caused by unstable initial nozzle pressure or adhesive rebound. The associated setup of the flame treatment device and the spray head ensures spatial consistency between the treatment location and the location of the problem.

[0070] Step S202: After the instantaneous flame treatment, obtain a visual image of the adhesive point area.

[0071] "Visual image" refers to a digital image taken of the glue-initiated point and surrounding area after instantaneous flame treatment, used to assess whether the excess glue has been completely removed.

[0072] The visual images are acquired by an industrial camera also integrated into the glue-applying unit. After a very short delay (e.g., 0.1 seconds, allowing any remaining glue fumes to dissipate) following the completion of the flame-spraying action, the controller triggers the camera to take a high-speed image. The processed physical state is transformed into analyzable digital information through the visual images, providing a data foundation for subsequent automated judgments.

[0073] Step S203: Determine whether the initial glue overflow has been eliminated based on the visual image.

[0074] The judgment is automatically completed by image processing software. The software performs a series of processing algorithms on the received visual image: first, it performs preprocessing such as noise reduction and contrast enhancement; then, it uses color, brightness, or texture features to segment the colloidal area and the workpiece substrate area; subsequently, in the core analysis window of the adhesive point, it calculates the area, shape factor (such as roundness), or difference from the "cleaning template" image of the suspected colloidal pixels. The judgment logic is based on threshold comparison: if the area of ​​the colloidal pixels in the analysis area is less than a set threshold (such as 0.5 mm²), or the shape factor indicates that it is a regular starting point rather than an overflow, it is judged as "the overflow has been eliminated" (yes); otherwise, it is judged as "not eliminated" (no).

[0075] Step S204: If yes, then control the glue application execution unit to continue performing the glue application operation along the glue application path.

[0076] Once the initial glue overflow is determined to be eliminated, it indicates that the starting point quality is qualified, and the system allows the main process to continuously apply glue along the path. The control instruction is generated by the main controller based on the "yes" judgment result of S203. The logic belongs to the pass path in the conditional branch. Once the starting point quality is confirmed to be up to standard, the main motion and glue application program are immediately resumed to ensure that the production cycle is not affected.

[0077] Step S205: If not, adjust the flame parameters and perform supplementary flame treatment.

[0078] "Adjusting flame parameters" refers to dynamically changing the intensity or duration of the flame treatment based on the amount of residual adhesive, such as increasing the gas flow rate (increasing the flame temperature) or extending the flame duration. "Supplementary flame treatment" is an additional cleaning operation performed on top of the initial instantaneous flame treatment.

[0079] The adjustment strategy is based on preset rules. According to the size of the residual adhesive area detected in S203, a table is consulted to determine the required increase in flame spraying time (ΔT) or power. The controller then calculates the new parameters based on the original parameters and drives the flame spraying device to operate again. This forms a local adaptive closed loop of "detection-judgment-adjustment-reprocessing," ensuring consistent initial adhesive removal results under various operating conditions (such as batch differences in adhesive).

[0080] Reference Figure 3 During the glue application process, the glue application unit also includes the following: Step S300: Real-time acquisition of images of the colloid morphology along the glue application path.

[0081] "Colloid morphology image" refers to a digital image obtained in real time from an uncured sealant strip that has been extruded from the nozzle and deposited within the sealant channel. The image is used to reflect the width, height (through shading or structured light contours), continuity, surface condition, and filling status of the sealant strip within the channel.

[0082] Image acquisition is performed by a machine vision unit integrated into the glue dispensing unit. The camera's optical axis forms a certain angle with the glue path, and a structured light projector is used to enhance the contrast of the glue strip outline, enabling simultaneous glue dispensing and inspection. The vision unit continuously captures images of a glued area behind the glue nozzle at a fixed high frequency (e.g., 100 frames per second) to ensure complete coverage of the glue dispensing path. The images are transmitted to the image processor in real time via a high-speed bus.

[0083] Step S301: Based on the colloidal morphology image, determine whether there is a defect of broken glue caused by air bubbles trapped in the glue channel.

[0084] "Defects caused by air bubbles trapped in the glue channel" refers to local interruptions in a continuous glue strip, and the image characteristics of the interrupted area are those of a complex bursting air bubble, such as the bottom of the glue channel being exposed and the interrupted edge being rounded and concave.

[0085] The judgment is automatically completed by a real-time image processing algorithm. The algorithm processes each frame or every few frames of the image: extracting the adhesive strip area through image difference or background subtraction; continuously scanning and analyzing the width or presence of the adhesive strip area along the center line of the adhesive channel; the judgment logic is to detect "interruption of the adhesive strip area" and combine morphological features to eliminate interference. When the algorithm detects that within a scan window of a preset length, the adhesive strip pixels are completely missing or the width is sharply reduced to near zero, and the edge features of the missing area conform to the typical morphology of a burst bubble, it is judged that "adhesive breakage defect caused by bubble" has occurred.

[0086] Step S302: If a glue breakage defect is identified, the first cross-sectional features of the glue channel before the glue breakage location, the second cross-sectional features of the glue channel after the glue breakage location, and the geometric shape of the glue breakage defect are obtained based on the glue morphology image.

[0087] "First cross-sectional characteristics" and "second cross-sectional characteristics" refer to the cross-sectional geometric parameters of the normal adhesive strip upstream (already coated) and downstream (to be coated or already affected) of the adhesive breakage notch, respectively, including the average width of the cross-section and the approximate area or height of the cross-section. "Geometric morphology of the adhesive breakage defect" refers to the length (along the adhesive channel direction) and average width of the notch.

[0088] The required features are extracted from the colloidal morphology images containing defects acquired by the S300 camera through image analysis. For cross-sectional features, the algorithm selects a small segment of normal adhesive strip image upstream and downstream of the defect, and calculates its average cross-sectional parameters using structured light deformation curves or grayscale profiling. For defect geometry, the pixel length and width of the defect area in the image are directly measured and converted into actual dimensions according to camera calibration parameters. The logic lies in quantifying the defect itself and the state of the normal adhesive strips before and after it, ensuring that the compensated adhesive strip smoothly connects with the preceding and following segments in terms of morphology and size.

[0089] Step S303: Based on the first cross-sectional features, the second cross-sectional features, and the geometric shape of the glue breakage defect, calculate the amount of compensated glue output required to restore the continuity of the glue channel.

[0090] "Compensation glue extrusion" refers to the additional volume of sealant that needs to be extruded to fill in identified glue breakage defects and restore a visually and functionally continuous and full state.

[0091] Compensation for glue output V comp The calculation was performed using a geometric model that treats the glue breakage defect as a three-dimensional cavity that needs to be filled.

[0092] The calculation logic is: V comp =(A1+A2) / 2×L gap +K×(A1-A2). Where A1 and A2 are the cross-sectional areas represented by the first and second cross-sectional features, respectively, and L gap Where is the defect length, and K is an empirical coefficient related to the system response and adhesive flow characteristics. The first part of the formula is (A1+A2) / 2×L. gap Estimate the basic volume for filling the gap; the latter part, K×(A1-A2), is used to compensate for the potential imbalance in upstream and downstream glue volume caused by glue interruption, making the transition smoother. Calculate the required parameters (A1, A2, L). gap (Originated from S302)

[0093] Step S304: Control the glue dispensing unit to perform a compensation glue dispensing operation based on the compensation glue dispensing amount at the glue cut-off position.

[0094] "Compensation glue application" refers to a non-continuous, point-to-point, or low-speed covering glue application procedure that allows the calculated amount of compensation glue to be accurately applied to the defect area.

[0095] The controller first transforms the coordinates of the identified glue-broken pixels in the image, combined with the robot's real-time pose and hand-eye calibration data, into a three-dimensional spatial position in the robot's base coordinate system. Then, it plans a short path that allows the glue nozzle to briefly pause or pass through at a low speed at this position. Simultaneously, the controller calculates the compensated glue dispensing amount (V). comp The system calculates the time required for compensating glue application or the corresponding glue valve control signal based on the preset compensation glue application speed, thereby achieving the synergy between "spatial positioning" and "glue quantity control" to complete the repair of defects.

[0096] Reference Figure 4 In the process of generating real-time movement speed control commands and glue dispensing volume control commands based on the geometric features of the glue dispensing path, the handling methods for acute angle turns include: Step S400: Based on the geometric features of the glue application path, identify the acute angles present in the glue application path.

[0097] "Acute angle corner" refers to a path section with a curvature exceeding a certain threshold, a small turning radius, and a sharp angle (usually less than 90°) from the perspective of glue application process. Such corners are prone to causing the glue to be thrown away from the inside of the glue channel due to centrifugal force, or to cause incomplete filling due to insufficient glue flow.

[0098] The system identifies the geometric features of the glue application path obtained from the analysis in S102, particularly the path curvature sequence. A curvature threshold k is preset within the system. t This threshold is set based on the colloidal rheological properties and process experience. The algorithm iterates through the curvature values ​​at each point along the dispensing path, and selects points with curvature continuously exceeding k. t The path segment is marked as a "curve area". Further, for each curve area, its overall turning angle (i.e., the angle between the entrance tangential vector and the exit tangential vector) is calculated. If this angle is less than a preset angle threshold (e.g., 90°), then this curve area is ultimately identified as an "acute angle turn" requiring the execution of this method.

[0099] Step S401: Obtain the actual angle value of the acute angle and the cross-sectional width information of the adhesive channel at the acute angle.

[0100] "Actual angle value" refers to the steering angle corresponding to the identified acute angle, and is a direct measure of the "sharpness" of the angle. "Cross-section width information" refers to the physical width of the sealing channel itself in the acute angle region, especially near the point of maximum curvature. This width may vary depending on the design and directly affects the volume of adhesive that can be accommodated at that location. For simplicity, "channel width" will be the same as "cross-section width information" in the following description.

[0101] The actual angle value (α) can be obtained from the identification results of S400, i.e., the calculated angle between the inlet and outlet tangential vectors. The cross-sectional width information (W) is extracted from the "associated glue path width" sequence obtained in S102. The system locates the parameter position of the acute angle region (such as the point of maximum curvature) on the glue application path, and then queries or interpolates to obtain the glue path width value corresponding to that position. This provides two key input variables for the next step of dynamic control calculation: the sharpness of the angle (α) and the spatial capacity (W) of the glue path at that location.

[0102] Step S402: Based on the deviation between the actual angle value and the preset standard angle threshold and the cross-sectional width information, dynamically calculate the target moving speed and target glue output corresponding to the acute angle turning area. The greater the deviation, the lower the target moving speed and the less the target glue output.

[0103] "Preset standard angle threshold (α0)" is a process reference angle. Setting it to 120° represents a relatively gentle turning angle that requires no special speed reduction. "Degree of deviation" can be quantified as |α0-α| or (α0 / α), used to measure the "sharpness" of the turning angle relative to a gentle state. "Target moving speed (V)" target "Q" refers to the ideal speed curve (usually a reduced speed) that the glue nozzle should follow when passing through an acute angle. "Target glue output (Q)" target ")" corresponds to V target W represents the dynamically adjusted amount of adhesive extruded per unit time to maintain adhesive strip quality. The rule "the greater the deviation, the lower the target moving speed" is to reduce the influence of centrifugal force; "the less the target adhesive output" is to avoid adhesive accumulation at low speeds. The calculation is performed using a speed-flow coordinated control model, which includes compensation functions based on angular deviation and adhesive run width.

[0104] The calculation of the target's moving speed includes: first, setting a baseline value V for the speed on a straight segment. base Then, a velocity attenuation factor f is calculated based on the degree of angular deviation. V(α) For example: f V(α) =1 / (1+K v ×(α0 / α-1)), where K v This is the velocity attenuation coefficient. The sharper the turning angle (the smaller α), the greater the velocity attenuation. V(α) The smaller the value. Within the turning area (from the starting point to the ending point), V target It can be designed as a curve with the lowest speed at the corner vertex and a smooth transition towards both ends, with a vertex speed V. min =V base ×f V(α) .

[0105] The calculation of the target adhesive output includes: the basic objective is to maintain a constant adhesive output per unit length (cross-sectional area of ​​the adhesive strip). The baseline adhesive output per unit length is determined by the nominal cross-sectional area A of the adhesive strip. nom (Corresponding to the baseline glue run width W0) is determined. At corners, two compensations need to be considered: speed compensation (because the speed decreases, the length traveled per unit time becomes shorter, and to maintain the glue amount per unit length, the glue output needs to be reduced proportionally) and width compensation (the actual glue run width W may not be equal to W0). Therefore, a simplified model is: Q target =A nom ×(W / W0)×V target Therefore, Q target Directly proportional to V target and (W / W0). When the angle is sharp, causing V target When Q decreases, target The amount of glue dispensed is reduced year-on-year; however, if the glue channel is widened (W / W0>1), the reduction in glue output will be partially offset.

[0106] The V used in the above calculation base This is the current workpiece speed reference value; using A nom This is the reference value for the amount of adhesive dispensed, which corresponds to the current reference width of the adhesive channel (reflected in the cross-sectional area of ​​the reference adhesive strip).

[0107] Step S403: Based on the target moving speed and the target dispensing amount, generate and execute the corresponding moving speed control command and dispensing amount control command to control the dispensing execution unit to pass through the acute angle corner area.

[0108] The controller will use the target velocity curve (V) calculated by S402 target (As a function of path position) is integrated into the overall glue application path motion planning, generating a smooth flow of movement speed control commands. Simultaneously, based on Q... target =f(V target The relationship between V and W is used to calculate the corresponding glue dispensing control command flow in real time. When the robotic arm drives the glue spray head into the corner area, the actual moving speed changes from V to W according to the command. base Smoothly decrease to V min Then it rises again; at the same time, the instruction received by the glue valve also drives the glue quantity to change synchronously according to the preset relationship. This ensures that when passing through acute corners, the application of the glue strip can keep up with the change in movement speed and adapt to the change in the cross-section of the glue channel, ensuring that the glue strip at the corner is full, without overflow or missing glue.

[0109] Reference Figure 5 After the glue dispensing unit passes through an acute-angle corner area, the method further includes: Step S500: Acquire the colloid morphology image of the acute corner area, and determine the colloid filling status at the acute corner based on the colloid morphology image. The filling status includes complete filling without overflow, incomplete filling or overflow.

[0110] "Colloid filling status" is a qualitative judgment of the forming quality of the adhesive strip at the corner. "Complete filling without overflow" means that the adhesive strip continuously and evenly fills the cross section of the adhesive channel and does not exceed the boundary of the adhesive channel; "Incomplete filling" means that the cross section of the adhesive channel is not completely filled, and there are depressions or insufficient adhesive; "Overflow" means that the adhesive exceeds the boundary of the adhesive channel, forming excess adhesive accumulation.

[0111] The data acquisition is performed by the machine vision unit. Immediately after the glue application unit has completely passed through the acute-angled corner area, one or more images are captured to obtain high-resolution images of the glue morphology. The judgment logic is executed by an image processing algorithm: First, image segmentation technology accurately identifies the glued area and the glue channel boundary area; then, the percentage of the area filled with glue within the glue channel (fill rate) is calculated, and it is detected whether the glued area significantly exceeds the known glue channel boundary contour. The logic is based on threshold judgments of fill rate and boundary fit: if the fill rate is higher than the first threshold (e.g., 98%) and no obvious boundary overflow is detected, it is judged as "completely filled with no glue overflow"; if the fill rate is lower than the second threshold (e.g., 90%), it is judged as "incompletely filled"; if the fill rate meets the standard but significant boundary overflow is detected, it is judged as "glue overflow exists".

[0112] Step S501: If the filling status is determined to be incomplete, a first parameter adjustment instruction is generated. The first parameter adjustment instruction is used to indicate increasing the glue dispensing reference value and / or decreasing the speed reference value.

[0113] The "First Parameter Adjustment Instruction" is a logical instruction that suggests adjusting the basic parameters in the control model by increasing the glue supply or extending the action time. The "Glue Supply Reference Value" refers to the nominal glue supply per unit length or the target cross-sectional area of ​​the glue strip in the model. The "Velocity Reference Value" refers to the reference velocity (V) of the straight segment used to calculate the target velocity when passing through this type of corner. base ) or velocity decay coefficient (K v ).

[0114] The instruction is generated by the controller based on the "incomplete filling" judgment result of S500. The adjustment direction is based on the process mechanism: incomplete filling is usually caused by insufficient glue quantity or the glue being "thinned" due to excessive speed. The adjustment logic is to either increase the glue supply positively or decrease the moving speed negatively. The specific adjustment amount is calculated proportionally to the difference between the filling rate and the target value, resulting in an increment ΔA (used to increase the glue quantity benchmark) or a decrement ΔV (used to decrease the speed benchmark).

[0115] In step S502, if it is determined that there is overflow in the filling state, a second parameter adjustment instruction is generated. The second parameter adjustment instruction is used to indicate the reduction of the glue output reference value and / or the increase of the speed reference value.

[0116] The "Second Parameter Adjustment Instruction" is the opposite of the first instruction, suggesting adjustments to the basic parameters such as reducing the amount of adhesive supplied or shortening the action time.

[0117] The instruction is generated by the controller based on the "overflow of adhesive" determination. The adjustment direction is based on the process mechanism: overflow is mainly caused by a relatively excessive amount of adhesive or by adhesive accumulation due to excessively slow speed. The adjustment logic is to negatively reduce the adhesive supply or positively increase the moving speed. The adjustment amount is calculated based on the severity of the overflow (e.g., the area of ​​overflow).

[0118] Step S503: Based on the actual angle value of the acute angle and the cross-sectional width information, a specific parameter set is generated, wherein the specific parameter set is associated with the angle feature defined by the actual angle value and the cross-sectional width information.

[0119] A "specific parameter group" is a data structure that stores all adjustable process parameters applicable to a specific type of corner (uniquely defined by angle α and cross-sectional width information W), such as the speed reference value and glue output reference value specific to this type of corner. "Associated" means that the system uses (α, W) as the key to index or store the corresponding parameter group.

[0120] Whenever the system processes an acute angle with a specific (α, W) combination for the first time, the controller automatically creates and initializes a corresponding specific parameter set, with initial values ​​of global default parameters. If the characteristic angle already exists, the existing parameter set is directly called. The logic implements the "characterization" and "instantiation" management of parameters, allowing angles of different shapes and positions to have independent parameter sets that can be learned and optimized individually, improving the system's adaptability to different designed workpieces and the precision of process optimization.

[0121] Step S504: Update the adjustment amount indicated by the first parameter adjustment instruction or the second parameter adjustment instruction to the specific parameter group.

[0122] "Update" refers to making permanent or semi-permanent modifications to the corresponding parameter values ​​(such as speed reference value and glue output reference value) stored in the specific parameter group described in S503 according to the adjustment instructions generated by S501 or S502.

[0123] The controller executes an iterative parameter update algorithm. For example, if it receives a 'first parameter adjustment instruction' for the (85°, 10mm) corner parameter group (increase the glue dispensing baseline value by 5% and decrease the speed baseline value by 5%), it updates the corresponding parameters stored in the parameter group (i.e., the glue dispensing baseline value and the speed baseline value) to 1.05 times and 0.95 times their original values, respectively. The logic is closed-loop adaptive optimization: the system continuously utilizes quality feedback from actual production through a cycle of "execution-detection-judgment-adjustment" to fine-tune the process parameters corresponding to specific geometric features. This allows the system to automatically adapt to changes in glue batches, environmental fluctuations, or equipment wear, and to continuously bring the process parameters toward their optimal values, achieving intelligent production that becomes more refined with use.

[0124] Step S505: When an acute angle is identified again in the glue application path, based on the actual angle value and cross-sectional width information of the current acute angle, a specific parameter group associated with its angle characteristics is found, and the updated glue output reference value and speed reference value in the specific parameter group are called to dynamically calculate the target moving speed and target glue output.

[0125] "Search" refers to performing an index match in the system's stored database or parameter table. "Retrieve" refers to retrieving and using the latest parameter value from the parameter group after the S504 step update, rather than the original global default value.

[0126] When the system identifies another acute angle based on S400, and obtains its actual angle value (α) through S401, new ) and cross-sectional width information (W new After that, the controller's parameter management module will perform the following operations: First, with (α) new W new Using the characteristic key, the system searches through all stored "specific parameter groups" to find an existing associated group whose corresponding angle and width match the current corner feature within acceptable tolerances. These tolerances are based on workpiece manufacturing tolerances and visual measurement errors, such as an angle tolerance of ±2° and a width tolerance of ±0.5mm, to ensure reliable identification of the same design feature. If a match is found, the search is successful. Next, the module retrieves the stored, historically optimized glue dispensing and speed baseline values ​​from the matched specific parameter group. The core logic is "experience reuse" and "feature matching." The system uses the current corner feature as a query condition and directly calls up the better process parameters for that specific feature, skipping the re-exploration process.

[0127] Reference Figure 6 Based on the geometric features of the glue application path, during the real-time generation of movement speed control commands and glue dispensing quantity control commands, the handling methods for the variable diameter section of the glue path include: Step S600: Based on the geometric features of the glue application path, identify all variable diameter sections in the glue application path where the width of the glue path changes.

[0128] A "variable diameter section" refers to a path segment where the width of the sealing channel changes continuously or abruptly along the glue application path. Control strategies for uniform glue channels are not applicable to variable diameter sections and require specific control measures.

[0129] The algorithm identifies the width-path length sequence of the adhesive channel obtained from S102 analysis. It traverses this sequence, detecting points where the width value changes. Through width gradient detection and classification, it calculates the first-order difference of the width sequence with respect to the path length (i.e., the rate of width change between adjacent points). When the absolute value of the difference consistently exceeds a set small fluctuation threshold but is below a step abrupt change threshold, the segment is considered a gradual transition segment; when the absolute value of the difference exceeds the step abrupt change threshold, a sudden change point is considered to exist. The system marks continuous gradual transition regions or the boundaries of uniform segments with significantly different widths separated by abrupt change points as "variable diameter segments" requiring special handling, and records the start and end positions.

[0130] Step S601: Extract the starting width, ending width, change form, and length of each diameter change segment. The change form includes at least gradual or abrupt changes.

[0131] "Starting width (W)" start ")" and "Termination Width (W)" end ")" refers to the width of the rubber track at the beginning and end points of the variable diameter section. "Change pattern" is a qualitative description of the width change pattern; "gradual change" refers to a smooth and continuous change in width over a relatively long distance, while "abrupt change" refers to an approximately step-like change in width over a very short distance. "Variable diameter section length (L)" trans ")" refers to the length of the curve traversed along the glue application path, from the starting width point to the ending width point.

[0132] These parameters are directly extracted from the geometric feature data of S102. For a transition segment, the start and end widths are taken as the width values ​​of the beginning and end of the segment, and the length is the path length of the segment. For a transition defined by a mutation point, the start width is the stable width before the mutation point, and the end width is the stable width after the mutation point. Its length is theoretically extremely short (such as the distance between path points), but in control, it can be regarded as a "zero-length" transition requiring a special response or an extremely short virtual transition segment. The determination of the change form has been completed in the logic of S600.

[0133] Step S602: Based on the starting width, ending width and change pattern of the variable diameter section, plan the expected colloidal cross-sectional profile curve that matches the variable diameter section, wherein the expected colloidal cross-sectional profile curve is a continuous smooth curve.

[0134] The "expected colloid cross-sectional profile curve" refers to the curve showing the change in the cross-sectional area (or equivalent average height) of the adhesive strip under ideal, target conditions along the path length within the variable diameter section, defining the desired final shape of the colloid. The "continuous and smooth curve" requires that the curve not only be continuous, but its first derivative (i.e., the rate of change of cross-sectional area) should also be continuous or avoid abrupt changes, which helps to ensure uniform internal stress and a smooth appearance of the adhesive strip.

[0135] For the gradient section, the goal is to make the cross-sectional area of ​​the adhesive strip change from W... start Matching value A start Smooth transition to W end Matching value A end Using a spline interpolation function (such as a cubic spline), with path length as the independent variable and the target cross-sectional area as the dependent variable, a smooth transition curve is generated under the condition of ensuring the endpoint values ​​and endpoint slopes (which can be set according to process requirements). For abrupt transition sections, although the colloid width changes abruptly, the colloid itself cannot instantly complete the cross-sectional area jump, which can easily lead to defects. Therefore, the planning logic is to artificially design a fast, but still smooth, transition curve, such as using a high-order smoothing function to achieve the transition from A within a very short virtual length. start To A end A quick but continuous transition avoids tearing or piling of the adhesive strips.

[0136] Step S603: Based on the expected colloid cross-sectional profile curve and the preset colloid leveling characteristic model, derive the glue dispensing execution unit's glue dispensing volume change curve and moving speed change curve when traversing the variable diameter section.

[0137] The "preset colloid leveling characteristic model" describes how the shape of a specific sealant evolves with time, gravity, surface tension, and other factors after extrusion. It considers the relationship between the cross-sectional shape of the sealant at the moment of extrusion and the amount and speed of the extruded material. This model can be a simplified mathematical model based on rheological test data of a specific sealant. For example, under the assumption of neglecting rapid leveling due to gravity, it simplifies to the instantaneous balance relationship between the extruded amount Q, the cross-sectional area A of the adhesive strip, and the moving speed V: Q = A × V. The "exploded amount variation curve (Q(t))" and the "moving speed variation curve (V(t))" are ideal functions controlling the extrusion rate and movement speed of the spray nozzle as it passes through the variable diameter section, varying with time (or with path position).

[0138] The derivation process is based on the inverse solution of the model. First, the "expected colloid cross-sectional profile curve A(s)" planned in S602, with path length s as the independent variable, is combined with the colloid leveling model. In the simplified steady-state model (ignoring leveling time), assuming that the extruded strip instantaneously forms the target cross-section, then according to mass conservation, we have Q(s) = A(s) × V(s). The equation contains two unknown functions, Q(s) and V(s). To solve this, an additional constraint is required.

[0139] Planning the moving speed variation curve V(s): It is generally desirable for the speed change to be smooth to avoid mechanical shock and rubber strip vibration. A smooth V(s) curve can be planned according to the length of the diameter change section and the process cycle, for example, by maintaining a constant speed in the gradual change section, or by arranging a small speed adjustment in the abrupt virtual change section.

[0140] The rubber quantity change curve Q(s) can be calculated by multiplying the planned A(s) and V(s) according to the formula Q(s)=A(s)×V(s) to obtain the rubber quantity change curve Q(s) required to achieve the expected profile.

[0141] For more complex leveling models, iterative calculations or solving of differential equations are required to determine the combination of Q(s) and V(s) that will allow the colloid to eventually approximate A(s) after leveling.

[0142] Reference Figure 7 Before the step of scheduling the central operating mechanism to rotate and move to the target station in response to the sealing request of the mesh workpiece at the target station, the following steps are also included: Step S700: Each of the multiple workstations arranged circumferentially around the central operating mechanism is assigned a unique workstation identification identifier.

[0143] "Station identification" refers to a globally unique identifier or numerical label assigned to each physical workstation within the system, such as "Station01" or "StationA". Its function is to enable the system to accurately distinguish and track each independent assembly glue application workstation.

[0144] The binding operation is completed during system initialization or production line configuration. Operators associate and store unique identifiers (such as numbers or character sequences) with the physical addresses (such as I / O module addresses or network node numbers) of each workstation in the control system via the human-machine interface (HMI) on the central control console or by reading preset codes on the workstation hardware (such as DIP switches or memory chips). The core is establishing a mapping relationship between "physical location and logical identifier." This provides the addressing basis for subsequent precise task scheduling, process data matching, and production status monitoring, and is a prerequisite for the orderly parallel operation of multi-workstation systems.

[0145] Step S701: Load the process information of the mesh workpiece to be sealed under the workpiece identity identifier bound to at least one workstation. The process information includes at least the specification parameters of the corresponding mesh workpiece and the standard model of the sealing channel.

[0146] "Loading" refers to pre-storing the production data of a specific workpiece in a storage area or task queue associated with the workstation's identity. "Process information" is a set of digital instructions and data packages that guide automated equipment to complete the sealing operation of the workpiece. "Specification parameters" include the workpiece's basic geometric dimensions, material type, etc.; "Sealing channel standard model" is a precise digital representation of the sealing channel of this model of workpiece, such as a parametric CAD model, a 3D point cloud template, or a data set characterizing the centerline equation and cross-sectional changes of the sealing channel.

[0147] There are two loading methods: The first is through the upper-level Manufacturing Execution System (MES) or manually by the operator, associating the workpiece model information (such as part number) to be produced at the workstation with the workstation's identification identifier. The system automatically retrieves the corresponding "specification parameters" and "sealing channel standard model" data packages from the central process database based on the part number and downloads them to the workstation's task cache. The second method is by scanning the barcode or RFID tag attached to the workpiece placed at the workstation, automatically obtaining the part number and triggering the aforementioned data loading process. The logic is to achieve flexible binding of "task-data-workstation," enabling the same hardware system to flexibly handle the production of different workpiece models by loading different process information, supporting mixed-line production modes.

[0148] Step S702: Receive a sealing request signal sent by any workstation, and parse the workstation identity identifier corresponding to the sending source from the sealing request signal.

[0149] A "sealing request signal" is an electrical signal or message issued by a workstation indicating that it is ready and requests the central operating mechanism to perform the sealing operation. "Analysis" refers to extracting the identification information from the received signal that can uniquely identify the workstation from which the signal originated.

[0150] The central controller continuously monitors the status of all workstations. When the workpiece clamping sensor at a certain workstation is triggered, or the "start" button at that workstation is pressed, the control unit of that workstation will generate a request message containing its "workstation identification" and send it to the central controller via fieldbus or I / O signal.

[0151] After receiving the signal, the communication module or I / O driver module of the central controller maps and parses the corresponding workstation identity based on the source address field defined in the communication protocol or the input port number determined by the physical wiring, ensuring that the work instruction is correctly dispatched to the requesting workstation.

[0152] Step S703: Based on the parsed workstation identity, index and call the process information bound to the workstation identity, and use the specification parameters and the standard model of the sealing glue channel as the reference data source for subsequent acquisition of morphological information and calculation of glue application path.

[0153] "Index and Retrieve" refers to using the parsed workstation identity as a query key to quickly locate and retrieve the process information belonging to that workstation, which was pre-loaded in step S701, from the system storage. "Baseline Data Source" indicates that this pre-loaded information will serve as a reference benchmark or comparison template for subsequent intelligent calculations (such as visual positioning compensation and path planning), which can improve processing speed and accuracy.

[0154] After parsing the request station identifier (e.g., "POS3"), the central controller immediately searches for the data in its memory or cache database using that identifier as the index key. Once found, the corresponding "specification parameters" and "standard model of the sealing channel" data are loaded into the current task processing thread. This "data search by identifier" eliminates the need for workpiece identification upon receiving the request; it directly calls upon the known model, providing a precise comparison template for visual scanning and enabling high-precision pose compensation. Simultaneously, it ensures that the data used for the operation strictly matches the current physical workpiece, avoiding misoperation.

[0155] Based on the same inventive concept, embodiments of this application provide a sealing system for the grille of a new energy vehicle, comprising: The acquisition module is used to acquire the sealing request of the mesh workpiece of the target station, the shape information of the mesh workpiece, the geometric features of the glue application path, the glue dispensing trigger signal, the flame control signal, the visual image of the glue initiation point area, the colloid shape image on the glue application path, the actual angle value and cross-sectional width information of the acute angle corner, the starting width, ending width, change form and length of the variable diameter section where the glue channel width changes, the station identification, and the loaded process information. A memory for storing the sealing program of the new energy vehicle grille as described above; The processor and the program in the memory can be loaded and executed by the processor to implement the sealing method of the new energy vehicle grille as described above.

[0156] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed to perform a sealing method for the grille of a new energy vehicle.

[0157] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0158] Based on the same inventive concept, this application provides a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed to seal a method for sealing the grille of a new energy vehicle.

Claims

1. A sealing method for a new energy vehicle net, characterized in that, The method comprises the following steps: In response to the request for sealing the workpiece in the target station in the multi-station, the central operation mechanism is rotated and moved to the target station; Obtain the shape information of the workpiece in the target station, and calculate the glue path of the workpiece sealing glue channel based on the shape information; Based on the glue path, the starting point and the ending point of the glue path are determined, and the geometric characteristics of the glue path are analyzed synchronously; Based on the geometric characteristics of the glue path, real-time generation of the moving speed control instruction and the glue output control instruction adapted to each position of the glue path; Control the glue execution unit of the central operation mechanism to execute the glue operation along the glue path according to the moving speed control instruction and the glue output control instruction.

2. The sealing method of a net in a new energy vehicle according to claim 1, characterized in that, When the glue execution unit executes the glue operation along the glue path, the method for eliminating the initial overflow glue comprises the following steps: When the glue execution unit moves to the starting point and generates a glue output trigger signal, a fire control signal is generated synchronously; According to the fire control signal, the fire processing device is started for instant fire processing of the glue in the starting point area, wherein the fire processing device is arranged in association with the glue execution unit; After the instant fire processing, a visual image of the starting point area is obtained; Based on the visual image, it is judged whether the initial overflow glue is eliminated; If yes, the glue execution unit continues to execute the glue operation along the glue path; If not, adjust the fire parameters and perform supplementary fire processing.

3. The sealing method of a net in a new energy vehicle according to claim 1, characterized in that, In the process of executing the glue operation along the glue path by the glue execution unit, the method further comprises the following steps: Real-time acquisition of the glue shape image on the glue path; Based on the glue shape image, it is judged whether a glue break defect caused by air bubbles wrapped in the glue channel occurs; If the glue break defect is identified, the first cross-section feature of the glue channel before the glue break position, the second cross-section feature of the glue channel after the glue break position, and the geometric shape of the glue break defect are obtained based on the glue shape image; Based on the first cross-section feature, the second cross-section feature and the geometric shape of the glue break defect, the compensation glue output required to restore the continuity of the glue channel is calculated; Control the glue execution unit to perform compensation glue operation based on the compensation glue output at the glue break position.

4. The sealing method of a net in a new energy vehicle according to claim 1, characterized in that, In the process of generating the moving speed control instruction and the glue output control instruction based on the geometric characteristics of the glue path, the processing method for the acute angle corner comprises the following steps: Based on the geometric characteristics of the glue path, the existence of the acute angle corner in the glue path is identified; The actual angle value of the acute angle corner and the cross-section width information of the glue channel at the acute angle corner are obtained; According to the deviation degree of the actual angle value from the preset standard angle threshold and the cross-section width information, the target moving speed and the target glue output corresponding to the acute angle corner region are dynamically calculated, wherein the greater the deviation degree, the lower the target moving speed, and the less the target glue output; Based on the target moving speed and the target glue output, the corresponding moving speed control instruction and glue output control instruction are generated and executed to control the glue execution unit to pass through the acute angle corner region.

5. The sealing method of a net in a new energy vehicle according to claim 4, characterized in that, After controlling the glue execution unit to pass through the acute angle corner region, the method further comprises the following steps: Collect the glue shape image of the acute angle corner region, and judge the glue filling state of the acute angle corner based on the glue shape image, including complete filling without overflow, incomplete filling or overflow; If the filling state is determined to be incomplete, a first parameter adjustment instruction is generated, which is used to indicate increasing the glue output reference value and / or reducing the speed reference value; If the filling state is determined to be glue overflow, a second parameter adjustment instruction is generated, which is used to indicate reducing the glue output reference value and / or increasing the speed reference value; Based on the actual angle value of the acute corner and the cross-sectional width information, a specific parameter group is generated, wherein the specific parameter group is associated with the corner feature defined by the actual angle value and the cross-sectional width information; The adjustment amount indicated by the first parameter adjustment instruction or the second parameter adjustment instruction is updated in the specific parameter group; When the acute corner is recognized again in the glue application path, the specific parameter group associated with the corner feature of the current acute corner is searched according to the actual angle value and the cross-sectional width information, and the updated glue output reference value and speed reference value in the specific parameter group are called to dynamically calculate the target moving speed and the target glue output.

6. The sealing method of a net in a new energy vehicle according to claim 1, characterized in that, In the process of generating the moving speed control instruction and the glue output control instruction based on the geometric characteristics of the glue application path, the processing method for the glue channel variable diameter section includes: Based on the geometric characteristics of the glue application path, all variable diameter sections in the glue application path where the glue channel width changes are identified; The starting width, ending width, change form and variable diameter section length of each variable diameter section are extracted, and the change form at least includes gradual change or sudden change; Based on the starting width, ending width and change form of the variable diameter section, an expected glue cross-sectional profile curve matching the variable diameter section is planned, wherein the expected glue cross-sectional profile curve is a continuous and smooth curve; Based on the expected glue cross-sectional profile curve and the preset glue flow flatness characteristic model, the glue output change curve and the moving speed change curve required to be followed by the glue application execution unit when traversing the variable diameter section are derived.

7. The sealing method of a net in a new energy vehicle according to any one of claims 1-6, characterized in that, In response to the mesh workpiece sealing request of the target station, before the step of scheduling the central working mechanism to rotate and move to the target station, further comprising: Binding a unique station identity for each of the plurality of stations arranged circumferentially around the central working mechanism; Loading the process information of the mesh workpiece to be sealed into the station identity bound to at least one station, wherein the process information at least includes the specification parameters and the sealing glue channel standard model corresponding to the mesh workpiece; Receiving a sealing request signal sent by any station, and parsing the station identity corresponding to the sending source from the sealing request signal; Based on the parsed station identity, indexing and calling the process information bound to the station identity, and taking the specification parameters and the sealing glue channel standard model as the reference data source for subsequent acquisition of the shape information and calculation of the glue application path.

8. A sealing system for a new energy vehicle net, characterized in that, Comprising: The acquisition module is used to acquire the mesh workpiece sealing request of the target station, the shape information of the mesh workpiece, the geometric characteristics of the glue application path, the glue output trigger signal, the fire control signal, the visual image of the glue starting point area, the glue shape image on the glue application path, the actual angle value of the acute corner and the cross-sectional width information, the starting width, the ending width, the change form and the variable diameter section length of the variable diameter section where the glue channel width changes, the station identity and the loaded process information; A memory for storing a sealed program of the new energy vehicle in-network as claimed in any one of claims 1 to 7; A processor, the program in the memory can be loaded and executed by the processor to implement the sealing method of the new energy vehicle in-network as claimed in any one of claims 1 to 7.

9. A smart terminal, characterized by A computer program comprising a memory and a processor, the memory has a computer program capable of being loaded and executed by the processor to implement any one of the methods of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, A computer program capable of being loaded and executed by the processor to implement any one of the methods of claims 1 to 7. A computer program capable of being loaded and executed by the processor to implement any one of the methods of claims 1 to 7.

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