Method for controlling gluing of workpiece and gluing system

Abstract

A method for controlling gluing, comprising: allowing a transport apparatus (1410) to move a workpiece to be glued to a gluing station; on the basis of a user instruction from a human-machine interface (1600), determining a mode for gluing the workpiece to be glued; fixing the position of the workpiece to be glued; calling a gluing scheme for the workpiece to be glued; instructing a gluing robot (1100) to execute a gluing operation on the workpiece according to the gluing scheme; and uploading gluing data to a device manufacturing execution system server (2000). A gluing system is also provided, comprising: a control device (1000) of a gluing station for controlling a gluing operation, and a gluing robot for executing a gluing operation; the control device of the gluing station is configured to: call a gluing scheme for a workpiece to be glued, and instruct the gluing robot to execute a gluing operation on the workpiece according to the gluing scheme.

Description

Method for controlling gluing of workpiece and gluing system Technical Field

[0001] The present application relates to gluing workpieces. Background Art

[0002] Gluing refers to the process of applying glue to a workpiece. For example, during the automated assembly of a power battery pack, this process requires gluing. This is used, for example, to secure the power battery pack to a workpiece such as a box.

[0003] Summary of the Invention

[0004] The present application provides a method for controlling gluing and a system for gluing.

[0005] In the first aspect, the present application provides a method for controlling the gluing operation on a workpiece, comprising: allowing a transport device to move the workpiece to be glued to a gluing station; determining a gluing mode for the workpiece to be glued according to user instructions from a human-machine interface; fixing the position of the workpiece to be glued; calling a gluing scheme for the workpiece to be glued; instructing a gluing robot to perform a gluing operation on the workpiece according to the gluing scheme; and uploading the gluing data to an equipment manufacturing execution system server.

[0006] The solution of the present application can improve the efficiency and automation of the gluing work.

[0007] In some embodiments, the method for controlling gluing is applied to a control device of a gluing station.

[0008] In some embodiments, calling a gluing solution for a workpiece to be glued includes: instructing a camera system to identify the model of the workpiece; and obtaining a gluing solution for the model of the workpiece from a memory of a control device of the gluing station or from a device server according to the identified model of the workpiece.

[0009] In some embodiments, a manufacturing execution system (MES) is installed in the equipment server to constitute the equipment MES server.

[0010] In some embodiments, instructing a gluing robot to perform a gluing operation on a workpiece according to a gluing scheme includes communicating information to the gluing robot including at least one of a ratio of glue components, a shape of a gluing track, a width of the gluing track, and an amount of glue to be applied per unit area of ​​the gluing track.

[0011] In some embodiments, the control device of the glue application station instructs the camera system to identify the model of the workpiece.

[0012] The control device of the gluing station obtains a gluing plan for the model of the workpiece from a memory of the control device of the gluing station or from an equipment MES server according to the identified model of the workpiece.

[0013] The camera system identifies the model and position of the workpiece and can adapt to workpieces of different types, sizes and heights.

[0014] In some embodiments, the control device of the gluing station determines whether to allow the transport device to move the workpiece to be glued to the gluing station in response to a request from the transport device, wherein the transport device includes: a workpiece carrying component for carrying the workpiece and fixing the workpiece on the workpiece carrying component, and a moving component for moving the workpiece carrying component.

[0015] In some embodiments, the control device of the gluing station instructs the positioning device to fix the position of the workpiece carrying component at the gluing station.

[0016] In some embodiments, the control device of the gluing station instructs the camera system to identify the position of the workpiece to be fixed; and the control device of the gluing station instructs the positioning device to fix the workpiece to the position to be fixed by fixing the position of the workpiece supporting component.

[0017] Fixing the workpiece to the position to be fixed by fixing the position of the workpiece supporting component makes the operation convenient, and there is no need to provide a hole for inserting the positioning pin on the workpiece.

[0018] In some embodiments, the gluing scheme for the workpiece is pre-stored in the memory of the control device of the gluing station corresponding to the workpiece model, or the gluing scheme for the workpiece is pre-stored in the equipment MES server corresponding to the workpiece model.

[0019] The gluing scheme for the workpiece is pre-stored corresponding to the workpiece model, which helps to obtain the gluing scheme conveniently.

[0020] In some embodiments, the gluing scheme for the workpiece is pre-stored in the equipment MES server corresponding to the workpiece model, and wherein, obtaining the gluing scheme for the workpiece model from the equipment MES server includes: requesting the gluing scheme for the workpiece from the equipment MES server, and receiving the gluing scheme for the workpiece from the equipment MES server.

[0021] The gluing scheme for the workpiece is pre-stored in the equipment MES server corresponding to the workpiece model, which is beneficial to data security and the distribution operation from the equipment MES server to each workstation control device.

[0022] In some embodiments, the control device of the gluing station instructs the gluing robot to discharge glue samples into the glue sample box for testing according to a predetermined plan of timed glue testing.

[0023] Regular glue inspection can ensure that the quality of glue always meets the requirements.

[0024] In some embodiments, when the gluing process for the workpiece is interrupted, the control device of the gluing station instructs the gluing robot to perform a gluing operation.

[0025] Through the glue filling operation, it can be ensured that even if the glue coating process on the workpiece is interrupted, the glue coating operation on the workpiece can be finally completed according to the predetermined design requirements.

[0026] In some embodiments, the control device of the gluing station identifies the gluing area where the gluing operation is not completed, the gluing robot removes the glue from the identified gluing area, and the gluing robot performs the gluing operation on the gluing area from which the glue is removed.

[0027] By performing glue repair operations only on the glued areas where the glue coating operation has not been completed, the glue repair efficiency can be improved and glue can be saved.

[0028] In some embodiments, in response to a user instruction from a human-machine interface, the automatic gluing mode is switched to the manual gluing mode, or in response to a user instruction from a human-machine interface, the manual gluing mode is switched to the automatic gluing mode.

[0029] In the manual gluing mode, the gluing operation is performed on the workpiece according to the gluing scheme indicated by the user from the human-machine interface.

[0030] In some embodiments, when it is necessary to perform a gluing operation on the first piece, the mode is switched to manual gluing according to a user instruction from the human-machine interface.

[0031] By applying the glue on the first piece, it is possible to ensure that the glue application meets the design requirements, for example during a shift change or when the equipment resumes production after maintenance.

[0032] On the second aspect, the present application provides a gluing system, comprising: a control device of a gluing station for controlling the gluing operation, and a gluing robot for performing the gluing operation, wherein the control device of the gluing station is configured to: call a gluing scheme for the workpiece to be glued; and instruct the gluing robot to perform the gluing operation on the workpiece according to the gluing scheme.

[0033] The gluing system according to the present application is conducive to improving the efficiency and automation of the gluing operation.

[0034] In some embodiments, the gluing system further comprises: a transport device, wherein the transport device comprises: a workpiece carrying component for carrying the workpiece and fixing the workpiece on the workpiece carrying component, and a moving component for moving the workpiece carrying component.

[0035] In some embodiments, the gluing system further includes: a positioning device for fixing the position of the workpiece by fixing the position of the workpiece supporting component at the gluing station.

[0036] In some embodiments, the positioning device includes: a clamping cylinder for clamping the workpiece carrier in a horizontal direction, a lifting cylinder for lifting the workpiece carrier, and a positioning pin for inserting into a corresponding recess in the workpiece carrier.

[0037] Fixing the workpiece to the position to be fixed by fixing the position of the workpiece supporting component makes the operation convenient, and there is no need to provide a hole for inserting the positioning pin on the workpiece.

[0038] In some embodiments, the gluing system further includes: a camera system configured to automatically identify the model of the workpiece.

[0039] In some embodiments, the glue coating system further includes a camera system configured to automatically identify a position of the workpiece.

[0040] The camera system identifies the model and position of the workpiece and can adapt to workpieces of different types, sizes and heights.

[0041] In some embodiments, the camera system calculates the offset of the workpiece relative to a preset position by detecting a predetermined portion of the workpiece.

[0042] In some embodiments, the predetermined position includes one or more of the four corner positions of the workpiece, and the offset of the position of the workpiece relative to the preset position includes at least one of the following: the offset of the position of the workpiece in the direction of the workpiece movement trajectory relative to the preset value, the offset of the position of the workpiece in the direction perpendicular to the workpiece movement trajectory relative to the preset value, and the offset of the steering angle of the workpiece relative to the direction of the workpiece movement trajectory relative to the preset value.

[0043] Determining the offset of the position of the workpiece relative to the preset position by the camera system makes it possible to eliminate a position sensor for detecting the position of the workpiece and is more conducive to adapting to different types of workpieces.

[0044] In some embodiments, the gluing system also includes: an equipment MES server communicatively connected to the control equipment of the gluing station, a transportation device server communicatively connected to the control equipment and transportation device of the gluing station, and a factory-level MES server communicatively connected to the equipment MES server.

[0045] Equipment MES servers and factory-level MES servers are conducive to centralized data storage, centralized processing and data security.

[0046] In some embodiments, the transport device is communicatively connected to a transport device server, the transport device server is communicatively connected to a control device of the gluing station, the transport device server is configured to forward a request from the transport device to move to the gluing station to the control device of the gluing station, and the control device of the gluing station determines whether the transport device is allowed to move to the gluing station in response to the request from the transport device.

[0047] The transport device server facilitates centralized control of the transport device. Wireless communication can be used between the transport device and the transport device server, which facilitates freer movement of the transport device.

[0048] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0050] FIG1 is a schematic diagram of the exploded structure of a transport device according to some embodiments of the present application;

[0051] FIG2 is a schematic diagram of the exploded structure of a positioning device according to some embodiments of the present application;

[0052] FIG3 is a schematic flow chart of a gluing process according to some embodiments of the present application;

[0053] FIG4 is a schematic flow chart of a transport device entering a gluing station according to some embodiments of the present application;

[0054] FIG5 is a schematic flow chart of calling a gluing solution in some embodiments of the present application;

[0055] FIG6 is a schematic flow chart of performing a timed glue inspection operation according to some embodiments of the present application;

[0056] FIG7 is a schematic flow chart of a glue filling operation according to some embodiments of the present application;

[0057] FIG8 is a schematic flow chart of the first-piece gluing operation in some embodiments of the present application;

[0058] FIG9 is a schematic structural diagram of a gluing system according to some embodiments of the present application;

[0059] FIG10 is a schematic flow chart of the gluing process according to some embodiments of the present application.

[0060] The reference numerals in the detailed description are as follows: Workstation control device 1000, gluing robot 1100, glue supply device 1200, camera system 1300, transport device server 1400, positioning device 1500, HMI 1600. Transport device 1410, workpiece support component 1411, moving component 1412. Clamping cylinder 1510, lifting cylinder 1520, positioning pin 1530. Equipment MES server 2000, plant-level MES server 3000. DETAILED DESCRIPTION

[0061] In the automated assembly production line of power battery packs (PACK), there is a gluing operation station for performing gluing operations on workpieces that need to be glued.

[0062] The gluing process applies glue to the workpiece. In some embodiments, the gluing process is performed on the box housing the power battery pack. After the glue solidifies, it can, for example, secure the power battery pack in the box. In some embodiments, the gluing process is performed on the lower box housing the power battery pack.

[0063] For the convenience of description, the following embodiments are described by taking a gluing station according to an embodiment of the present application as an example.

[0064] In some embodiments, the gluing station is equipped with a station control device 1000 and a gluing robot 1100 .

[0065] In some embodiments, the workstation control device 1000 is implemented as a programmable logic controller (PLC). However, the specific implementation of the workstation control device 1000 is not limited to a PLC, and can also be any other computer capable of executing a control program.

[0066] In some embodiments, the gluing robot 1100 has multiple movable axes. For example, the gluing robot 1100 can be a six-axis robot, an eight-axis robot, or a robot with more or fewer movable axes. In some embodiments, a six-axis robot is used as the gluing robot 1100. For example, the gluing robot 1100 can move in an X direction parallel to the direction of movement of the workpiece in and out of the workstation, in a horizontal direction Y perpendicular to the X direction, and in a vertical direction Z perpendicular to the X direction, and can be positioned by rolling, pitching, and yaw movements.

[0067] Please refer to FIG. 1 , which is a schematic diagram of the exploded structure of the transportation device according to some embodiments of the present application.

[0068] The transport device 1410 can transport the workpiece to be glued to the gluing station.

[0069] According to some embodiments of the present application, the transport device 1410 includes a workpiece carrying component 1411 and a moving component 1412. The transport device 1410 is sometimes referred to as an automatic guided vehicle (AGV). The workpiece carrying component 1411 is sometimes referred to as a pack cart.

[0070] As schematically shown in FIG1 , a workpiece support member 1411 is positioned above a movable member 1412. The movable member 1412 is indicated by dashed lines. The movable member 1412 includes a drive mechanism (not shown), such as a motor, and includes four sliding members, such as wheels, at its corners for movement. According to some embodiments of the present application, the movable member 1412 is, for example, hooked to the workpiece support member 1411, allowing the workpiece support member 1411 to move with the movable member 1412.

[0071] According to some embodiments of the present application, the workpiece supporting component 1411 fixes the workpiece to be glued on the workpiece supporting component 1411 by means of, for example, a snap fastener or any other fixing method, so that the position of the workpiece to be glued relative to the workpiece supporting component 1411 is fixed. In Figure 1, the four inner edges of the workpiece supporting component 1411 schematically show fixing components suitable for fixing the workpiece to be glued on the workpiece supporting component 1411. According to some embodiments of the present application, the fixing component is a snap fastener suitable for fixing the workpiece to be glued on the workpiece supporting component 1411, but the method suitable for fixing the workpiece to be glued on the workpiece supporting component 1411 is not limited to the snap fastener method. The workpiece supporting component 1411 can not only carry a workpiece such as a lower box body, but also carry the entire battery pack including the lower box body and the battery assembly contained therein.

[0072] According to some embodiments of the present application, the moving component 1412 has a driving mechanism and can move the workpiece carrying component 1411 by, for example, hanging.

[0073] Please refer to FIG. 2 , which is a schematic diagram of the exploded structure of the positioning device according to some embodiments of the present application.

[0074] According to some embodiments of the present application, after the transport device 1410 moves the workpiece to be glued to the gluing station, the positioning device 1500 indirectly fixes the position of the workpiece relative to the station by fixing the position of the workpiece supporting component 1411 relative to the station.

[0075] According to some embodiments of the present application, the positioning device 1500 includes a clamping cylinder 1510, a lifting cylinder 1520, and a positioning pin 1530. According to some embodiments of the present application, the clamping cylinder 1510 can clamp the workpiece support 1411 horizontally, the lifting cylinder 1520 (e.g., a jacking cylinder) can lift the workpiece support 1411, and the positioning pin 1530 can be inserted into a predetermined opening in the workpiece support 1411 for positioning. The clamping cylinder 1510 clamps the workpiece support 1411 horizontally (e.g., front-to-back clamping) to fix the position of the workpiece support 1411 horizontally. The lifting cylinder 1520 lifts the workpiece support 1411 to fix the position of the workpiece support 1411 vertically. The positioning pin 1530, inserted into a predetermined opening in the workpiece support 1411, can fix the position of the workpiece support 1411 in the horizontal rotational direction.

[0076] The various operations performed at the workstations will be described with reference to Figures 3-8.

[0077] Figure 3 is a schematic flow chart of the gluing process in some embodiments of the present application; Figure 5 is a schematic flow chart of the transportation device entering the gluing station in some embodiments of the present application; Figure 5 is a schematic flow chart of calling the gluing plan in some embodiments of the present application; Figure 6 is a schematic flow chart of performing timed glue inspection operations in some embodiments of the present application; Figure 7 is a schematic flow chart of performing glue replenishment operations in some embodiments of the present application; Figure 8 is a schematic flow chart of performing the first-piece gluing operation in some embodiments of the present application.

[0078] Please refer to FIG. 3 , which shows a schematic flow chart of a gluing method according to some embodiments of the present application.

[0079] In the step of "calling the gluing scheme 401", the workstation control device 1000 calls the gluing scheme for the workpiece to be glued. According to some embodiments of the present application, calling the gluing scheme for the workpiece to be glued is performed automatically by the workstation control device 1000.

[0080] In the step of "instructing the gluing robot to perform the gluing operation 402", the workstation control device 1000 instructs the gluing robot 1100 to perform the gluing operation. According to some embodiments of the present application, the gluing operation is automatically performed by the gluing robot 1100 according to the instruction of the workstation control device 1000.

[0081] A gluing scheme is sometimes also referred to as a recipe, which has the same meaning. According to some embodiments of the present application, the gluing scheme specifies, for a target workpiece model, the gluing track and track width to be followed, the glue composition ratio to be used for gluing, and the amount of glue to be applied per unit area of ​​the gluing track.

[0082] According to some embodiments of the present application, the glue used to perform gluing includes one or more components. In the case where the glue used to perform gluing includes multiple components, the gluing scheme specifies what component ratio of glue is used to perform gluing for the target model of the workpiece. For example, according to some embodiments of the present application, the glue used to perform gluing includes two different components, glue A and glue B, and the gluing scheme specifies the ratio of the weight of component glue A and the weight of glue B in the mixed glue used to perform gluing, such as component glue A: glue B = 20:80, component glue A: glue B = 30:70, component glue A: glue B = 40:60, component glue A: glue B = 50:50, component glue A: glue B = 60:40, component glue A: glue B = 70:30, component glue A: glue B = 80:20. According to some embodiments of the present application, the workstation control device 1000 calculates the ratio of each component glue in the mixed glue used for gluing by using the flow rate of glue with different components supplied by the gluing robot 1100 .

[0083] The gluing trajectory specified in the gluing plan specifies the order in which the gluing robot 1100 performs gluing on various parts of the workpiece.

[0084] The amount of glue applied per unit area of ​​the gluing track as specified in the gluing plan is sometimes referred to as glue weight. According to some embodiments of the present application, the workstation control device 1000 calculates the glue weight by the flow rate of glue supplied by the gluing robot 1100.

[0085] Please refer to Figure 5. Figure 5 is a schematic flow chart of the transport device entering the gluing station in some embodiments of the present application.

[0086] In step "receiving an entry request from a transporter 501," the workstation control device 1000 receives a request from a transporter 1410 to enter the gluing station. According to some embodiments of the present application, the transporter 1410 is communicatively connected to the transporter server 1400. The transporter 1410 and the transporter server 1400 may be connected wirelessly. Compared to wired communication, wireless communication between the transporter 1410 and the transporter server 1400 facilitates more flexible movement of the transporter 1410.

[0087] According to some embodiments of the present application, the transport device 1410 sends a request to enter the gluing station to the transport device server 1400 , and the transport device server 1400 forwards the request of the transport device 1410 to enter the gluing station to the station control device 1000 .

[0088] In step "Whether to allow the transport device to enter the station 502", the work station control device 1000 determines whether to allow the transport device 1410 to enter the gluing station. According to some embodiments of the present application, the work station control device 1000 needs to consider whether the gluing station is occupied. According to some embodiments of the present application, the work station control device 1000 needs to consider whether the gluing robot 1100 is ready to work. According to some embodiments of the present application, the work station control device 1000 needs to consider whether the glue supply device 1200 is ready to supply glue to the gluing robot 1100 according to the gluing plan.

[0089] If the station control device 1000 determines that the transport device 1410 is allowed to enter the station, the transport device 1410 enters the gluing station (504). If the station control device 1000 determines that the transport device 1410 is not allowed to enter the station, the transport device 1410 waits (503) and the transport device 1410 can repeat the request to enter the gluing station.

[0090] Please refer to Figure 5. Figure 5 is a schematic flow chart of calling the gluing solution in some embodiments of the present application.

[0091] In step “instructing the camera system to identify the model of the workpiece 601 ”, the workstation control device 1000 instructs the camera system 1300 to identify the model of the workpiece. According to some embodiments of the present application, the camera system 1300 may include one or more cameras, for example, two or four cameras.

[0092] According to some embodiments of the present application, camera system 1300 captures an image of the workpiece to be glued and determines the location of the glued workpiece based on analysis of the captured image. According to some embodiments of the present application, camera system 1300 determines the locations of the four corners of the workpiece to be glued based on analysis of the captured image. Camera system 1300 may also determine the location of any other characteristic portion of the workpiece to be glued based on analysis of the captured image.

[0093] According to some embodiments of the present application, based on the positions of, for example, the four corners of the workpiece to be glued determined by analysis, the camera system 1300 determines the length, width, height and other features related to the workpiece model, thereby determining the model of the workpiece.

[0094] Determining the model of the workpiece by the camera system 1300 can adapt to workpieces of different types, sizes, and heights.

[0095] The camera system 1300 according to some embodiments of the present application can replace a conventional position sensor for detecting a position. According to some embodiments of the present application, it is not necessary to provide a conventional position sensor for detecting the position of a workpiece supporting member.

[0096] The camera system 1300 according to some embodiments of the present application can directly detect the position of the workpiece, rather than indirectly detecting the position of the workpiece by detecting the position of the workpiece supporting member 1411 , which helps to detect the position of the workpiece more accurately.

[0097] According to some embodiments of the present application, the camera system 1300 can analyze and determine the position of the glue-coated workpiece and also analyze and determine the offset data of the position of the workpiece relative to a preset position.

[0098] According to some embodiments of the present application, the preset positions of various types of workpieces are pre-stored in the memory of the control device of the gluing station, or the preset positions of various types of workpieces are pre-stored in the equipment MES server.

[0099] According to some embodiments of the present application, the offset of the position of the glue-coated workpiece relative to the preset position determined by the camera system 1300 includes at least one of the following: the offset of the position of the workpiece in the direction of the workpiece movement trajectory relative to the preset value, the offset of the position of the workpiece in the direction perpendicular to the workpiece movement trajectory relative to the preset value, and the offset of the steering angle of the workpiece relative to the direction of the workpiece movement trajectory relative to the preset value.

[0100] Even between workpieces of the same model, tolerances caused by factors such as manufacturing errors are inevitable.

[0101] According to some embodiments of the present application, the camera system 1300 analyzes and determines the tolerance between the dimensions of workpieces of the same model. Even the tolerance between the dimensions of workpieces of the same model can sometimes reach a level of plus or minus 2 centimeters.

[0102] Based on the tolerances between the workpiece dimensions determined by the camera system 1300, the tolerances between the workpiece dimensions can be taken into account when the gluing robot 1100 executes the gluing plan. For example, for multiple workpieces with tolerances, the position of the gluing trajectory relative to the center of each workpiece remains substantially unchanged.

[0103] Analyzing and determining the model of the workpiece and the tolerance between the workpiece sizes through the camera system 1300 helps to simplify the control logic of the gluing system and helps the workstation control equipment 1000 guide the moving part 1412 and the positioning device 1500 to more accurately position the workpiece to be glued to the preset position.

[0104] In step “obtaining a gluing solution for the model of the workpiece” in FIG. 5 , the workstation control device 1000 obtains a gluing solution for the model of the workpiece.

[0105] According to some embodiments of the present application, each gluing scheme is assigned a unique identification number (ID) for identifying the scheme. Each gluing scheme defines the target model of the workpiece for which the gluing scheme is applied, the gluing track and gluing track width, the composition ratio of the glue, and the weight of glue required per unit area of ​​the gluing track.

[0106] According to some embodiments of the present application, each workpiece model is assigned a unique identification number (ID) for identifying the workpiece model, and each workpiece model defines characteristics of the workpiece of that model, such as length, width, height, shape, etc.

[0107] According to some embodiments of the present application, the gluing scheme for the workpiece is pre-stored in the memory of the workstation control device 1000 corresponding to the workpiece model.

[0108] According to some embodiments of the present application, the gluing scheme for the workpiece is pre-stored in the equipment MES server 2000 corresponding to the workpiece model.

[0109] According to some embodiments of the present application, the workstation control device 1000 searches for a glue coating solution for a workpiece in its memory ( 602 ).

[0110] According to some embodiments of the present application, the workstation control device 1000 requests a gluing solution for the workpiece from the equipment MES server 2000. The equipment MES server 2000 automatically issues the gluing solution for the workpiece in response to the request from the workstation control device 1000 (602).

[0111] According to some embodiments of the present application, the gluing plan is stored in the memory of the workstation control device 1000 and in the equipment MES server 2000 at the same time.

[0112] Storing the gluing plan in the equipment MES server 2000 helps to improve the data security of the gluing system and helps to improve the convenience of the workstation control device 1000 in obtaining the gluing plan.

[0113] Please refer to Figure 6. Figure 6 is a schematic flow chart of performing a timed glue inspection operation in some embodiments of the present application.

[0114] In response to the arrival of the timing for starting the timed glue check, the operation of performing the timed glue check is started (701).

[0115] When the timed glue inspection is started, in step "Program number comparison 702", the station control device 1000 compares the identification number (ID) of the glue coating scheme currently executed by the glue coating station with the identification number (ID) of the glue coating scheme targeted by the timed glue inspection operation.

[0116] If the identification number (ID) of the gluing scheme currently executed by the gluing station is inconsistent with the identification number (ID) of the gluing scheme targeted by the scheduled glue inspection operation, it means that the identification number (ID) of the gluing scheme currently executed by the gluing station is inconsistent with the identification number (ID) of the gluing scheme targeted by the scheduled glue inspection operation, and the glue inspection is abandoned (703).

[0117] If the identification number (ID) of the gluing scheme currently executed by the gluing station is consistent with the identification number (ID) of the gluing scheme targeted by the timed glue inspection operation, it means that the identification number (ID) of the gluing scheme currently executed by the gluing station is consistent with the identification number (ID) of the gluing scheme targeted by the timed glue inspection operation, then enter the step "Start the robot and send the position number 704".

[0118] In step "Start Robot, Send Location Number 704," the workstation control device 1000 sends the location number of the container for receiving glue samples to the gluing robot 1100. According to some embodiments of the present application, multiple containers for receiving glue samples are provided. The gluing robot 1100 dispenses the glue samples into the corresponding container based on the location number of the container.

[0119] In step "Robot work completed 705", the robot returns to the initial position. The initial position of the robot is also called the robot's HOME point.

[0120] According to some embodiments of the present application, the robot discharges the glue sample into a container for receiving the glue sample at an initial position, that is, the glue discharge position of the robot when discharging glue for timed glue inspection is also the initial position of the robot.

[0121] In step "HMI displays glue inspection pop-up window 706," the workstation control device 1000 controls the human-machine interface (HMI) to display a glue inspection pop-up window to remind the user to remove the glue sample for scheduled glue inspection. According to some embodiments of the present application, the human-machine interface (HMI) is implemented as a touch screen that is communicatively connected to the workstation control device 1000.

[0122] If the result of the timed glue inspection is qualified, in step "reset glue inspection signal 707", the glue inspection signal is reset to restart the next timed glue inspection cycle and end the current timed glue inspection cycle (708).

[0123] According to some embodiments of the present application, the time length of the timed glue inspection cycle is set to a time length within the range of 0.5 to 2 hours, for example, the timed glue inspection cycle can be set to 1 hour. A timed glue inspection operation is performed once during each timed glue inspection cycle.

[0124] By setting up a timed glue inspection mechanism in the glue coating system, the probability of missing the glue inspection operation can be reduced, and the timed glue inspection operation can be made more convenient.

[0125] Please refer to Figure 7. Figure 7 is a schematic flow chart of performing glue filling operations in some embodiments of the present application.

[0126] During the operation of the gluing system, the gluing operation may be interrupted. For example, when a component of the gluing system fails or is interfered with, resulting in the gluing operation on the workpiece not being completed smoothly, a glue replenishment operation is required.

[0127] According to some embodiments of the present application, the entire gluing area of ​​a single workpiece is divided into multiple sub-areas, each of which is assigned a position number to identify it. Glue refills can be performed on sub-areas where gluing was not successfully completed, rather than on the entire workpiece. This can save material and time costs.

[0128] According to some embodiments of the present application, when starting the glue patching operation (801), in the step of "manual HMI selects glue patching, selects the corresponding glue patching position number 802", the user selects to perform the glue patching operation through the human-machine interface (HMI), and the user selects the position number corresponding to the position where the glue patching operation needs to be performed through the human-machine interface (HMI), for example, the user specifies the position number of the sub-area where the glue patching operation needs to be performed through the human-machine interface (HMI).

[0129] According to some embodiments of the present application, it is possible to manually confirm whether the position number of the sub-area requiring the glue filling operation is correct. To reduce the error rate, multiple manual confirmations may be performed, for example, three manual confirmations.

[0130] In step “verify whether the recipe matches 803 ”, the station control device 1000 compares the identification number (ID) of the gluing scheme currently executed by the gluing station with the identification number (ID) of the gluing scheme used for the glue filling operation.

[0131] If the identification number (ID) of the gluing scheme currently executed by the gluing station is inconsistent with the identification number (ID) of the gluing scheme used for the glue repair operation, it means that the identification number (ID) of the gluing scheme currently executed by the gluing station is inconsistent with the identification number (ID) of the gluing scheme used for the glue repair operation, then the station control device 1000 reports the error to the user through the human-machine interface (HMI), and the station control device 1000 uploads the error information to the equipment MES server 2000 (804).

[0132] According to some embodiments of the present application, the gluing data, information on whether the gluing data is qualified, and specific error information about unqualified gluing data are centrally stored by the equipment MES server 2000.

[0133] Centrally storing various data in the equipment MES server 2000 helps to improve the data security of the gluing system and facilitates centralized data analysis and processing later.

[0134] If the identification number (ID) of the gluing scheme currently executed by the gluing station is consistent with the identification number (ID) of the gluing scheme adopted for the gluing operation, it means that the identification number (ID) of the gluing scheme currently executed by the gluing station matches the identification number (ID) of the gluing scheme adopted for the gluing operation, and the gluing robot 1100 (805) is started. The gluing robot 1100 performs a gluing operation on the sub-area that needs to be gluing according to the position number of the sub-area that needs to be gluing specified by the user. In the case that the sub-area that needs to be gluing includes glue left from the last unfinished gluing operation, the gluing operation of the gluing robot 1100 on the sub-area includes removing the glue left from the last unfinished gluing operation and re-performing the gluing operation on the sub-area. In the case that the sub-area that needs to be gluing does not include glue left from the last unfinished gluing operation, the gluing robot 1100 directly performs the gluing operation on the sub-area.

[0135] When the gluing of the entire workpiece is completed (806), in the step "Equipment MES data is judged to be qualified", the equipment MES server 2000 judges the gluing data uploaded from the workstation control device 1000 to determine whether the gluing data uploaded from the workstation control device 1000 is qualified.

[0136] According to some embodiments of the present application, whether the gluing data uploaded from the workstation control device 1000 is qualified is determined based on at least one or more of the gluing track, the gluing track width, the glue component ratio, and the glue weight per unit area of ​​the gluing track (807).

[0137] When the equipment MES server 2000 determines that the gluing data uploaded from the work station control device 1000 is unqualified, in step "Equipment MES / work station control device error 808", the equipment MES server 2000 sends the error information to the work station control device 1000, the work station control device 1000 reports the error to the user through the human-machine interface (HMI), and the equipment MES server 2000 records the gluing data and error information.

[0138] When the equipment MES server 2000 determines that the gluing data uploaded from the workstation control device 1000 is qualified, the equipment MES server 2000 notifies the workstation control device 1000 of the qualified gluing data, and the workstation control device 1000 clears the gluing data generated by the gluing operation (809), and the gluing operation is completed (810).

[0139] Please refer to Figure 8. Figure 8 is a schematic flow chart of the first-piece gluing operation in some embodiments of the present application.

[0140] In actual production, first-article gluing is sometimes necessary. For example, when different teams change shifts, the new team will usually perform first-article gluing. Another example is when the gluing system or a component recovers from a failure.

[0141] When the first piece gluing operation (901) is started, in step "manual HMI selection of first piece 902", the user inputs the instruction for the first piece gluing operation through the human-machine interface (HMI) and manually confirms whether the gluing scheme for the first piece gluing operation is correct. To reduce the probability of error, multiple manual confirmations can be performed, for example, three manual confirmations.

[0142] In step "Whether there is a workpiece to be glued 903", the workstation control device 1000 determines whether there is a workpiece to be glued at the workstation. According to some embodiments of the present application, the workstation control device 1000 determines whether there is a workpiece to be glued at the workstation based on information provided by the camera system 1300, and the information provided by the camera system 1300 includes specific location information of the workpiece to be glued.

[0143] If the workstation control device 1000 determines that there is no workpiece to be glued on the workstation, the workstation control device 1000 reports an error to the user through a human-machine interface (HMI) ( 904 ).

[0144] If the workstation control device 1000 determines that there is a workpiece to be glued at the workstation, the workstation control device 1000 instructs the glue coating robot 1100 to start (905).

[0145] The gluing robot 1100 performs the gluing operation according to the gluing plan.

[0146] When the gluing operation is completed (9060), the station control device 1000 uploads the gluing data to the equipment MES server 2000. The equipment MES server 2000 determines whether the gluing data is qualified.

[0147] In the case that the gluing data is unqualified, the equipment MES server 2000 sends an error message to the workstation control device 1000, and the workstation control device 1000 reports the error to the user through the human-machine interface (HMI) (907).

[0148] If the gluing data is qualified, the equipment MES server 2000 sends the qualified information to the workstation control device 1000. In response to the qualified information, the workstation control device 1000 clears the gluing data about the workpiece in the workstation control device 1000 (908) and ends the first piece gluing operation (909).

[0149] Please refer to Figure 9. Figure 9 is a schematic structural diagram of a glue coating system according to some embodiments of the present application.

[0150] According to some embodiments of the present application, a plurality of station control devices 1000 are respectively provided for a plurality of gluing stations.

[0151] According to some embodiments of the present application, the workstation control device 1000 is connected to the equipment MES server 2000 and the long-level MES server 3000 via a communication network. According to some embodiments of the present application, the workstation control device 1000, the equipment MES server 2000, and the long-level MES server 3000 are interconnected via Ethernet. Those skilled in the art will appreciate that the workstation control device 1000, the equipment MES server 2000, and the long-level MES server 3000 may also be interconnected via other types of networks.

[0152] According to some embodiments of the present application, the workstation control device 1000 is connected to the gluing robot 1100, the glue supply device 1200, the camera system 1300, the transport device server 1400, the positioning device 1500, and the HMI 1600 via a communication network. According to some embodiments of the present application, the workstation control device 1000, the gluing robot 1100, the glue supply device 1200, the camera system 1300, the transport device server 1400, the positioning device 1500, and the HMI 1600 are interconnected via Industrial Ethernet (Profinet). Those skilled in the art will appreciate that the workstation control device 1000, the gluing robot 1100, the glue supply device 1200, the camera system 1300, the transport device server 1400, the positioning device 1500, and the HMI 1600 may also be interconnected via other types of networks.

[0153] According to some embodiments of the present application, the transport device 1410 is wirelessly connected to the transport device server 1400. The transport device 1410 moves according to instructions sent by the workstation control device 1000 via the transport device server 1400, including transporting workpieces to be coated with glue to the gluing station and transporting coated workpieces away from the gluing station.

[0154] According to some embodiments of the present application, the transport device 1410 further includes a workpiece carrying component 1411 and a moving component 1412. The workpiece carrying component 1411 can fix the workpiece to the workpiece carrying component 1411 by, for example, snapping.

[0155] According to some embodiments of the present application, the positioning device 1500 further includes a clamping cylinder 1510, a lifting cylinder 1520 and a positioning pin 1530, so that the position of the workpiece supporting component 1411 can be fixed in the horizontal direction, the vertical direction and the horizontal rotation direction.

[0156] According to some embodiments of the present application, the equipment MES server 2000 is communicatively connected to a plurality of workstation control devices 1000. According to some embodiments of the present application, the equipment MES server 2000 provides services for the plurality of workstation control devices 1000 to which it is communicatively connected, including providing a gluing formula distribution service, a gluing data upload service, a gluing data checking service, an error information distribution service, an error information storage service, and the like.

[0157] According to some embodiments of the present application, the services provided by the equipment MES server 2000 to multiple workstation control devices 1000 communicating with it utilize the stronger storage capacity and computing capacity of the equipment MES server 2000 relative to the workstation control devices 1000, and the equipment MES server 2000 can provide stronger data security and convenience of centralized data processing relative to the workstation control devices 1000.

[0158] According to some embodiments of the present application, the factory-level MES server 3000 can provide data upload services, data storage services, data distribution services, data processing services, etc. at the entire factory level.

[0159] Please refer to Figure 10. Figure 10 is a schematic flow chart of the gluing process in some embodiments of the present application.

[0160] When the gluing operation (1101) is started, in step "determining whether it is the first piece 1102", the workstation control device 1000 determines whether the current workpiece is the first piece. According to some embodiments of the present application, the workstation control device 1000 determines that the current workpiece is the first piece based on an instruction input by a user through a human-machine interface (HMI) to perform the first-piece gluing operation.

[0161] When the workstation control device 1000 determines that the current workpiece is the first piece, the first piece mode (1103) is started under the control of the workstation control device 1000, and the glue coating is performed on the current workpiece according to the first piece mode.

[0162] During the gluing process of the current workpiece in the first-article mode, the user manually confirms whether the gluing plan for the first-article gluing operation is correct. The workstation control device 1000 determines whether there is a workpiece to be glued at the workstation. The gluing robot 1100 executes the gluing operation according to the gluing plan. The equipment MES server 2000 determines whether the gluing data is qualified. If the gluing data is unqualified, the equipment MES server 2000 sends an error message to the workstation control device 1000. The workstation control device 1000 reports the error to the user through the human-machine interface (HMI).

[0163] According to some embodiments of the present application, the gluing data, information on whether the gluing data is qualified, and specific error information about unqualified gluing data are centrally stored by the equipment MES server 2000.

[0164] If the workstation control device 1000 determines that the current workpiece is not the first workpiece, the workstation control device 1000 allows the transport device (AGV) 1410 to enter the workstation (enter the station). According to some embodiments of the present application, the workstation control device 1000 transmits a message to the transport device (AGV) 1410 via the transport device server 1400, allowing the transport device (AGV) 1410 to enter the workstation. The transport device (AGV) 1410 enters the workstation (1104).

[0165] In the "Mode Determination 1105" step, the workstation control device 1000 determines whether the current operating mode is "Automatic Mode," "Glue Refill Mode," or "Timed Glue Dispensing Mode." "Automatic Mode" automatically executes the gluing operation. "Glue Refill Mode" allows for re-gluing of workpieces where gluing was interrupted. "Timed Glue Dispensing Mode" allows the gluing robot 1100 to periodically dispense glue when no gluing operation is currently in progress.

[0166] The "timed glue dispensing mode" can prevent glue from deteriorating due to prolonged non-use, such as glue solidifying or deteriorating near the dispensing port. According to some embodiments of the present application, in timed glue dispensing mode, glue is dispensed once every preset time period. According to some embodiments of the present application, the preset time period is a preset value within the range of 3 minutes to 10 minutes, such as 3 minutes, 4 minutes, 5 minutes, 6 minutes, 7 minutes, 8 minutes, 9 minutes, or 10 minutes.

[0167] According to some embodiments of the present application, in the "timed glue dispensing mode," the timed glue application (1109) is started, and the glue application robot 1100 is located at the initial position (HOME point) during the timed glue application. By operating in the timed glue dispensing mode, it is possible to always ensure that the quality of the glue used to apply glue to the workpiece does not deteriorate.

[0168] In the "glue filling mode", the user selects to perform a glue filling operation (1108) through the human-machine interface (HMI), and the user specifies the position number of the sub-area where the glue filling operation is required through the human-machine interface (HMI).

[0169] According to some embodiments of the present application, it may be manually confirmed multiple times (for example, three times) whether the position number of the sub-area requiring the glue filling operation is correct.

[0170] According to some embodiments of the present application, the workstation control device 1000 compares the identification number (ID) of the gluing scheme currently executed by the gluing station with the identification number (ID) of the gluing scheme used in the glue filling operation.

[0171] If the identification number (ID) of the gluing scheme currently executed by the gluing station is inconsistent with the identification number (ID) of the gluing scheme adopted for the glue filling operation, the station control device 1000 reports the error to the user through the human-machine interface (HMI), and the station control device 1000 uploads the error information to the equipment MES server 2000.

[0172] If the identification number (ID) of the gluing scheme currently executed by the gluing station is consistent with the identification number (ID) of the gluing scheme adopted for the gluing operation, the gluing robot 1100 is started to perform the gluing operation on the sub-area that needs to be gluing according to the position number of the sub-area that needs to be gluing specified by the user.

[0173] According to some embodiments of the present application, the workstation control device 1000 uploads the gluing data to the equipment MES server 2000 .

[0174] According to some embodiments of the present application, the equipment MES server 2000 stores the gluing data uploaded from the workstation control device 1000, and judges the gluing data uploaded from the workstation control device 1000 to determine whether the gluing data uploaded from the workstation control device 1000 is qualified.

[0175] According to some embodiments of the present application, whether the gluing data uploaded from the workstation control device 1000 is qualified is determined based on at least one or more of the gluing track, the gluing track width, the glue component ratio, and the glue weight per unit area of ​​the gluing track.

[0176] When the equipment MES server 2000 determines that the gluing data uploaded from the work station control device 1000 is unqualified, in step "Equipment MES / work station control device error 1107", the equipment MES server 2000 sends the error information to the work station control device 1000, the work station control device 1000 reports the error to the user through the human-machine interface (HMI), and the equipment MES server 2000 records the gluing data and error information.

[0177] In the case of "automatic mode", in step "Equipment MES determines whether to work 1106", the equipment MES server 2000 determines whether to perform an automatic gluing operation. According to some embodiments of the present application, the equipment MES server 2000 determines whether to perform an automatic gluing operation based on the status of at least one or more of the work station control device 1000, the gluing robot 1100, the glue supply device 1200, the camera system 1300, the transportation device server 1400, the positioning device 1500, and the HMI 1600. According to some embodiments of the present application, the automatic gluing operation is determined to be performed based on the work station control device 1000, the gluing robot 1100, the glue supply device 1200, the camera system 1300, the transportation device server 1400, and the positioning device 1500 being in normal working conditions. According to some embodiments of the present application, the automatic gluing operation is determined to be performed based on the work station control equipment 1000, the gluing robot 1100, the glue supply equipment 1200, the camera system 1300, the transportation device server 1400, the positioning device 1500 and the HMI 1600 being in normal working state.

[0178] According to some embodiments of the present application, the workstation control device 1000 determines whether the workstation is in operation ( 1106 ).

[0179] When the equipment MES server 2000 determines that the workstation is not working, the workstation control device 1000 reports the error to the user through the human-machine interface (HMI), and the workstation control device 1000 uploads the error information to the equipment MES server 2000.

[0180] When the equipment MES server 2000 determines that the workstation is in operation, the positioning device 1500 fixes the position of the workpiece (1110). According to some embodiments of the present application, the clamping cylinder 1510 clamps the workpiece support member 1411 via front and rear clamping cylinders, the positioning pin 1530 is inserted into a preset hole of the workpiece support member 1411 via the positioning pin cylinder for positioning, and the lifting cylinder 1520 lifts the workpiece support member 1411 via the lifting cylinder.

[0181] According to some embodiments of the present application, the workstation control device 1000 determines whether the gluing robot 1100 is online. If the gluing robot 1100 is online, the workstation control device 1000 instructs the gluing robot 1100 to start (1111) to perform the gluing operation according to the gluing plan.

[0182] According to some embodiments of the present application, when the gluing robot 1100 completes the gluing operation ( 1112 ), the workstation control device 1000 uploads ( 1113 ) the gluing data for each workpiece to the device MES server 2000 .

[0183] According to some embodiments of the present application, the equipment MES server 2000 determines whether the gluing data uploaded from the workstation control device 1000 is qualified (1114).

[0184] If the equipment MES server 2000 determines that the gluing data is unqualified, the equipment MES server 2000 sends an error message to the workstation control device 1000. The workstation control device 1000 reports the error to the user through the human-machine interface (HMI) (1115), and the equipment MES server 2000 records the gluing data and the error message. In response to the equipment MES server 2000 determining that the gluing data is unqualified, the user receives the error message and can decide how to handle the error message based on the error message.

[0185] According to some embodiments of the present application, when the equipment MES server 2000 determines that the gluing data is qualified ( 1114 ), the equipment MES server 2000 uploads the gluing data to the factory-level MES server 3000 .

[0186] According to some embodiments of the present application, when the gluing data is uploaded successfully, the positioning device 1500 releases the workpiece supporting member 1411 (1116). According to some embodiments of the present application, when the gluing data is uploaded successfully, the positioning pin 1530 retracts, the lifting cylinder 1520 retracts, and the clamping cylinder 1510 for front and rear clamping retracts, thereby the positioning device 1500 releases the workpiece supporting member 1411.

[0187] According to some embodiments of the present application, when the equipment MES server 2000 determines that the gluing data is qualified, the positioning device 1500 releases the workpiece supporting component 1411 (1116).

[0188] According to some embodiments of the present application, when the equipment MES server 2000 determines that the gluing data is qualified, the workstation control device 1000 instructs the transportation device 1410 to move out of the workstation (1117).

[0189] According to some embodiments of the present application, the workstation control device 1000 transmits an instruction to the transport device 1410 via the transport device server 1400. In response to the instruction from the workstation control device 1000, the transport device 1410 moves away from the workstation, and the transport device 1410 sends a leaving signal to the workstation control device 1000 via the transport device server 1400. After the transport device 1410 leaves the workstation, the transport device 1410 sends a leaving completion signal to the workstation control device 1000 via the transport device server 1400.

[0190] According to some embodiments of the present application, when the work station control device 1000 receives a departure completion signal from the transportation device 1410 , the work station control device 1000 clears the gluing data in the work station control device 1000 ( 1117 ).

[0191] According to some embodiments of the present application, when the equipment MES server 2000 determines that the gluing data is qualified, the workstation control device 1000 clears the gluing data in the workstation control device 1000 in response to the gluing data qualified notification from the equipment MES server 2000 (1117).

[0192] In the "automatic mode", the gluing system automatically cycles through each step of the gluing operation for multiple workpieces, including but not limited to workpiece entry, fixing the position of the workpiece, calling the gluing plan, executing gluing, retracting the lifting cylinder, workpiece exit, clearing the workstation gluing data, etc.

[0193] When the gluing operation for all workpieces is completed, the cycle of the automatic gluing operation ends ( 1118 ).

[0194] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A method for controlling the gluing of a workpiece, comprising: Allow the transport device to move the workpiece to be glued to the gluing station; Determine the mode of gluing the workpiece to be glued according to the user instruction from the human-machine interface; Fix the position of the workpiece to be glued; Calling the gluing plan for the workpiece to be glued; Instructing the gluing robot to perform a gluing operation on the workpiece according to the gluing scheme; as well as Upload the glue coating data to the equipment manufacturing execution system server.

2. The method according to claim 1, applied to the control equipment of the gluing station, in, Calling the gluing plan for the workpiece to be glued includes: instructing the camera system to identify the model of the workpiece; According to the identified model of the workpiece, a gluing solution for the model of the workpiece is obtained from a memory of a control device of a gluing station or from a device manufacturing execution system server, and Among them, instructing the gluing robot to perform the gluing operation on the workpiece according to the gluing scheme includes: communicating information including at least one of the composition ratio of glue, the shape of the gluing track, the width of the gluing track, and the amount of glue to be applied per unit area of ​​the gluing track to the gluing robot.

3. The method according to claim 2, further comprising: The control device of the gluing station determines whether to allow the transportation device to move the workpiece to be glued to the gluing station in response to a request from the transportation device.

4. The method according to claim 3, further comprising: The control device of the gluing station instructs the positioning device to fix the position of the workpiece carrying component of the transport device at the gluing station.

5. The method according to claim 3, further comprising: The control device of the gluing station instructs the camera system to identify the position of the workpiece to be fixed.

6. The method according to any one of claims 1 to 5, wherein: In the case where the workpiece is the first piece, the mode is switched to the manual gluing mode according to a user instruction from the human-machine interface.

7. The method according to claim 6, wherein: The gluing scheme for the workpiece is pre-stored in the equipment manufacturing execution system server corresponding to the workpiece model, and the method further includes: Requesting a gluing solution for the workpiece from a manufacturing execution system server, and A gluing plan for the workpiece is received from a device manufacturing execution system server.

8. The method according to claim 7, further comprising: Send the location number of the glue sample box used to hold the glue sample for timed glue inspection to the glue coating robot, instructing the glue coating robot to discharge the glue sample into the glue sample box, and The location number of the glue sample box is notified to the user.

9. The method according to claim 7, further comprising: In case the gluing process for the workpiece is interrupted, a gluing operation is performed.

10. The method according to claim 9, wherein: The glue filling operation further includes: Determine the glue filling position number according to the user instruction from the human-machine interface, instructing the glue-spreading robot to remove glue from the area corresponding to the glue-filling position number, and The glue coating robot is instructed to perform glue coating operation on the area corresponding to the glue filling position number.

11. The method according to any one of claims 1 to 10, further comprising: In response to a user instruction from the human-machine interface, the automatic gluing mode is switched to the manual gluing mode, or In response to a user instruction from the human-machine interface, the manual gluing mode is switched to the automatic gluing mode. In the manual gluing mode, the gluing operation is performed on the workpiece according to the gluing scheme indicated by the user from the human-machine interface.

12. A glue coating system, comprising: Control equipment for the gluing station used to control the gluing operation, and Gluing robot for performing gluing operations, Wherein, the control device of the gluing station is configured as follows: Calling a gluing plan for a workpiece to be glued; and Instruct the gluing robot to perform a gluing operation on the workpiece according to the gluing scheme.

13. The glue coating system according to claim 12, further comprising: Transport devices, Wherein, the transport device comprises: a workpiece carrier for carrying a workpiece and fixing the workpiece on the workpiece carrier, and A moving component is used to move the workpiece bearing component.

14. The glue coating system according to any one of claims 13, further comprising: The positioning device is used to fix the position of the workpiece by fixing the position of the workpiece carrying component at the gluing station.

15. The gluing system according to any one of claims 14, wherein the positioning device comprises: a clamping cylinder for clamping the workpiece bearing member in a horizontal direction, a lifting cylinder for lifting the workpiece carrying member, and Locating pins for insertion into corresponding recesses in the workpiece carrier.

16. The gluing system according to any one of claims 13 to 15, further comprising: A camera system captures an image containing the workpiece, recognizes the length, width, and height of the workpiece based on the image, and determines the model of the workpiece.

17. The gluing system according to any one of claims 13 to 15, further comprising: A camera system captures an image including the workpiece, recognizes the position of a predetermined portion of the workpiece based on the image, and thereby determines the position of the workpiece.

18. The glue coating system according to claim 17, wherein: The camera system calculates the offset of the position of the workpiece relative to a preset position by detecting a predetermined position of the workpiece.

19. The glue coating system according to claim 18, wherein: The predetermined portion includes one or more of the four corner portions of the workpiece, and The offset of the workpiece position relative to the preset position includes at least one of: the offset of the workpiece position in the direction of the workpiece movement trajectory relative to the preset value, the offset of the workpiece position in a direction perpendicular to the workpiece movement trajectory relative to the preset value, and the offset of the workpiece steering angle relative to the direction of the workpiece movement trajectory relative to the preset value.

20. The glue coating system according to any one of claims 12 to 19, further comprising: The equipment manufacturing execution system server is connected to the control equipment of the glue coating station, a transport device server that is in communication with the control device of the gluing station and the transport device, and A factory-level manufacturing execution system server that is in communication with the equipment manufacturing execution system server.

21. The glue coating system according to claim 20, wherein: The transport device is in communication connection with the transport device server, The transport device server is connected to the control device of the gluing station in communication. The transport device server is configured to forward a request from the transport device to move to the gluing station to the control device of the gluing station, The control device of the gluing station determines whether to allow the transport device to move to the gluing station in response to the request from the transport device.

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